2022-02-20T14:57:08.133Z,1645369028.133 [Supervisor](DEBUG): Initializing supervisor.
2022-02-20T14:57:08.137Z,1645369028.137 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-02-20T14:57:08.138Z,1645369028.138 [SyncHandler](INFO): Protected caller Thread ID is 850
2022-02-20T14:57:08.138Z,1645369028.138 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-02-20T14:57:08.139Z,1645369028.139 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-02-20T14:57:08.140Z,1645369028.140 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 851
2022-02-20T14:57:08.144Z,1645369028.144 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-02-20T14:57:08.162Z,1645369028.162 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-02-20T14:57:08.163Z,1645369028.163 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-02-20T14:57:08.163Z,1645369028.163 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 852
2022-02-20T14:57:08.167Z,1645369028.167 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-02-20T14:57:08.168Z,1645369028.168 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-02-20T14:57:08.169Z,1645369028.169 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 853
2022-02-20T14:57:08.171Z,1645369028.171 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-02-20T14:57:08.172Z,1645369028.172 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-02-20T14:57:08.172Z,1645369028.172 [logger ThreadHandler](INFO): Protected caller Thread ID is 854
2022-02-20T14:57:08.176Z,1645369028.176 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-02-20T14:57:08.177Z,1645369028.177 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-02-20T14:57:08.178Z,1645369028.178 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-02-20T14:57:08.276Z,1645369028.276 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-02-20T14:57:08.277Z,1645369028.277 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-02-20T14:57:08.497Z,1645369028.497 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-02-20T14:57:08.497Z,1645369028.497 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-02-20T14:57:08.765Z,1645369028.765 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-02-20T14:57:08.766Z,1645369028.766 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-02-20T14:57:08.875Z,1645369028.875 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-02-20T14:57:08.876Z,1645369028.876 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-02-20T14:57:09.549Z,1645369029.549 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-02-20T14:57:09.549Z,1645369029.549 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-02-20T14:57:10.012Z,1645369030.012 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-02-20T14:57:10.012Z,1645369030.012 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-02-20T14:57:10.610Z,1645369030.610 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-02-20T14:57:10.611Z,1645369030.611 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-02-20T14:57:11.002Z,1645369031.002 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-02-20T14:57:11.003Z,1645369031.003 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-02-20T14:57:11.359Z,1645369031.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-02-20T14:57:11.360Z,1645369031.360 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-02-20T14:57:11.732Z,1645369031.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-02-20T14:57:11.732Z,1645369031.732 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-02-20T14:57:11.888Z,1645369031.888 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-02-20T14:57:11.889Z,1645369031.889 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-02-20T14:57:12.022Z,1645369032.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-02-20T14:57:12.022Z,1645369032.022 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-02-20T14:57:12.105Z,1645369032.105 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-02-20T14:57:12.187Z,1645369032.187 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-02-20T14:57:12.392Z,1645369032.392 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-02-20T14:57:12.393Z,1645369032.393 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-02-20T14:57:12.618Z,1645369032.618 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-02-20T14:57:12.620Z,1645369032.620 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2022-02-20T14:57:12.621Z,1645369032.621 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2022-02-20T14:57:12.706Z,1645369032.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2022-02-20T14:57:13.024Z,1645369033.024 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-02-20T14:57:13.025Z,1645369033.025 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2022-02-20T14:57:13.165Z,1645369033.165 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2022-02-20T14:57:13.492Z,1645369033.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2022-02-20T14:57:13.921Z,1645369033.921 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2022-02-20T14:57:14.087Z,1645369034.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2022-02-20T14:57:14.193Z,1645369034.193 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2022-02-20T14:57:14.298Z,1645369034.298 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2022-02-20T14:57:14.464Z,1645369034.464 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2022-02-20T14:57:14.570Z,1645369034.570 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2022-02-20T14:57:14.673Z,1645369034.673 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2022-02-20T14:57:14.673Z,1645369034.673 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
2022-02-20T14:57:14.674Z,1645369034.674 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
2022-02-20T14:57:14.758Z,1645369034.758 [Supervisor](INFO): Opening Config file at: Config/sim/Navigation.cfg
2022-02-20T14:57:14.834Z,1645369034.834 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
2022-02-20T14:57:14.947Z,1645369034.947 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
2022-02-20T14:57:15.032Z,1645369035.032 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
2022-02-20T14:57:15.145Z,1645369035.145 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
2022-02-20T14:57:15.234Z,1645369035.234 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
2022-02-20T14:57:15.326Z,1645369035.326 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
2022-02-20T14:57:15.411Z,1645369035.411 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/sim/
2022-02-20T14:57:15.411Z,1645369035.411 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/sim/
2022-02-20T14:57:15.411Z,1645369035.411 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-02-20T14:57:15.419Z,1645369035.419 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-02-20T14:57:15.599Z,1645369035.599 [ExternalSim] Loaded
2022-02-20T14:57:15.600Z,1645369035.600 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2022-02-20T14:57:15.610Z,1645369035.610 [InternalEnvSim] Loaded
2022-02-20T14:57:15.610Z,1645369035.610 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-02-20T14:57:15.611Z,1645369035.611 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-02-20T14:57:15.611Z,1645369035.611 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-02-20T14:57:15.729Z,1645369035.729 [BuoyancyServo] Loaded
2022-02-20T14:57:15.730Z,1645369035.730 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-02-20T14:57:15.747Z,1645369035.747 [MassServo] Loaded
2022-02-20T14:57:15.747Z,1645369035.747 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-02-20T14:57:15.748Z,1645369035.748 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-02-20T14:57:15.748Z,1645369035.748 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-02-20T14:57:15.884Z,1645369035.884 [SBIT](DEBUG): Construct Startup Built In Test.
2022-02-20T14:57:15.899Z,1645369035.899 [SBIT] Loaded
2022-02-20T14:57:15.900Z,1645369035.900 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-02-20T14:57:15.902Z,1645369035.902 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-02-20T14:57:15.923Z,1645369035.923 [IBIT] Loaded
2022-02-20T14:57:15.923Z,1645369035.923 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-02-20T14:57:15.928Z,1645369035.928 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-02-20T14:57:16.137Z,1645369036.137 [CBIT] Loaded
2022-02-20T14:57:16.137Z,1645369036.137 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-02-20T14:57:16.138Z,1645369036.138 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-02-20T14:57:16.138Z,1645369036.138 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-02-20T14:57:16.267Z,1645369036.267 [Aanderaa_O2] Loaded
2022-02-20T14:57:16.267Z,1645369036.267 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2022-02-20T14:57:16.299Z,1645369036.299 [ESPComponent] Loaded
2022-02-20T14:57:16.299Z,1645369036.299 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2022-02-20T14:57:16.317Z,1645369036.317 [PAR_Licor] Loaded
2022-02-20T14:57:16.318Z,1645369036.318 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-02-20T14:57:16.348Z,1645369036.348 [WetLabsSeaOWL_UV_A] Loaded
2022-02-20T14:57:16.348Z,1645369036.348 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-02-20T14:57:16.350Z,1645369036.350 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 406614E0
2022-02-20T14:57:16.350Z,1645369036.350 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 960
2022-02-20T14:57:16.351Z,1645369036.351 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-02-20T14:57:16.351Z,1645369036.351 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-02-20T14:57:16.393Z,1645369036.393 [DepthRateCalculator] Loaded
2022-02-20T14:57:16.393Z,1645369036.393 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-02-20T14:57:16.398Z,1645369036.398 [PitchRateCalculator] Loaded
2022-02-20T14:57:16.398Z,1645369036.398 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-02-20T14:57:16.409Z,1645369036.409 [SpeedCalculator] Loaded
2022-02-20T14:57:16.409Z,1645369036.409 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-02-20T14:57:16.422Z,1645369036.422 [TempGradientCalculator] Loaded
2022-02-20T14:57:16.422Z,1645369036.422 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-02-20T14:57:16.427Z,1645369036.427 [YawRateCalculator] Loaded
2022-02-20T14:57:16.427Z,1645369036.427 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-02-20T14:57:16.446Z,1645369036.446 [ElevatorOffsetCalculator] Loaded
2022-02-20T14:57:16.446Z,1645369036.446 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-02-20T14:57:16.446Z,1645369036.446 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-02-20T14:57:16.447Z,1645369036.447 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-02-20T14:57:16.537Z,1645369036.537 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-02-20T14:57:16.537Z,1645369036.537 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-02-20T14:57:16.563Z,1645369036.563 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-02-20T14:57:16.563Z,1645369036.563 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-02-20T14:57:16.671Z,1645369036.671 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-02-20T14:57:16.671Z,1645369036.671 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-02-20T14:57:16.699Z,1645369036.699 [LBLNavigation] Loaded
2022-02-20T14:57:16.700Z,1645369036.700 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-02-20T14:57:16.712Z,1645369036.712 [NavChart] Loaded
2022-02-20T14:57:16.712Z,1645369036.712 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-02-20T14:57:16.718Z,1645369036.718 [UniversalFixResidualReporter] Loaded
2022-02-20T14:57:16.718Z,1645369036.718 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-02-20T14:57:16.719Z,1645369036.719 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-02-20T14:57:16.719Z,1645369036.719 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-02-20T14:57:17.087Z,1645369037.087 [BackseatComponent] Loaded
2022-02-20T14:57:17.088Z,1645369037.088 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-02-20T14:57:17.089Z,1645369037.089 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409D54E0
2022-02-20T14:57:17.089Z,1645369037.089 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 961
2022-02-20T14:57:17.092Z,1645369037.092 [LcmUniversalReporter] Loaded
2022-02-20T14:57:17.092Z,1645369037.092 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-02-20T14:57:17.112Z,1645369037.112 [Depth_Keller] Loaded
2022-02-20T14:57:17.112Z,1645369037.112 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-02-20T14:57:17.116Z,1645369037.116 [DropWeight] Loaded
2022-02-20T14:57:17.116Z,1645369037.116 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-02-20T14:57:17.159Z,1645369037.159 [Micromodem] Loaded
2022-02-20T14:57:17.159Z,1645369037.159 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-02-20T14:57:17.214Z,1645369037.214 [NAL9602] Loaded
2022-02-20T14:57:17.215Z,1645369037.215 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-02-20T14:57:17.239Z,1645369037.239 [Onboard] Loaded
2022-02-20T14:57:17.239Z,1645369037.239 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-02-20T14:57:17.240Z,1645369037.240 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A054E0
2022-02-20T14:57:17.241Z,1645369037.241 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 962
2022-02-20T14:57:17.252Z,1645369037.252 [Power24vConverter] Loaded
2022-02-20T14:57:17.252Z,1645369037.252 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-02-20T14:57:17.266Z,1645369037.266 [Radio_Surface] Loaded
2022-02-20T14:57:17.266Z,1645369037.266 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-02-20T14:57:17.267Z,1645369037.267 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A354E0
2022-02-20T14:57:17.267Z,1645369037.267 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 963
2022-02-20T14:57:17.268Z,1645369037.268 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-02-20T14:57:17.269Z,1645369037.269 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-02-20T14:57:17.323Z,1645369037.323 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-02-20T14:57:17.324Z,1645369037.324 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-02-20T14:57:17.375Z,1645369037.375 [VerticalControl](DEBUG): Construct VerticalControl.
2022-02-20T14:57:17.425Z,1645369037.425 [VerticalControl] Loaded
2022-02-20T14:57:17.425Z,1645369037.425 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-02-20T14:57:17.428Z,1645369037.428 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-02-20T14:57:17.464Z,1645369037.464 [HorizontalControl] Loaded
2022-02-20T14:57:17.464Z,1645369037.464 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-02-20T14:57:17.466Z,1645369037.466 [SpeedControl](DEBUG): Construct SpeedControl.
2022-02-20T14:57:17.468Z,1645369037.468 [SpeedControl] Loaded
2022-02-20T14:57:17.468Z,1645369037.468 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-02-20T14:57:17.471Z,1645369037.471 [LoopControl](DEBUG): Construct LoopControl.
2022-02-20T14:57:17.471Z,1645369037.471 [LoopControl] Loaded
2022-02-20T14:57:17.472Z,1645369037.472 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-02-20T14:57:17.472Z,1645369037.472 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-02-20T14:57:17.473Z,1645369037.473 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-02-20T14:57:17.483Z,1645369037.483 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-02-20T14:57:17.483Z,1645369037.483 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-02-20T14:57:17.786Z,1645369037.786 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-02-20T14:57:17.792Z,1645369037.792 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-02-20T14:57:17.795Z,1645369037.795 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-02-20T14:57:17.806Z,1645369037.806 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-02-20T14:57:17.807Z,1645369037.807 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B3B4E0
2022-02-20T14:57:17.807Z,1645369037.807 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 964
2022-02-20T14:57:17.812Z,1645369037.812 [Supervisor](INFO): Main Thread ID is 849
2022-02-20T14:57:17.812Z,1645369037.812 [Supervisor](DEBUG): Running supervisor.
2022-02-20T14:57:17.812Z,1645369037.812 [CommandExec ThreadHandler](INFO): Handler Thread ID is 965
2022-02-20T14:57:17.813Z,1645369037.813 [CommandExec](INFO): Initializing the command executive.
2022-02-20T14:57:17.815Z,1645369037.815 [CommandLine ThreadHandler](INFO): Handler Thread ID is 966
2022-02-20T14:57:17.818Z,1645369037.818 [controlThread ThreadHandler](INFO): Handler Thread ID is 967
2022-02-20T14:57:17.818Z,1645369037.818 [controlThread](DEBUG): Initializing ControlThread
2022-02-20T14:57:17.819Z,1645369037.819 [ExternalSim](INFO): ExternalSim initializing...
2022-02-20T14:57:17.835Z,1645369037.835 [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
2022-02-20T14:57:17.842Z,1645369037.842 [ExternalSim](DEBUG): oceanModelVarCount=0
2022-02-20T14:57:17.852Z,1645369037.852 [logger ThreadHandler](INFO): Handler Thread ID is 968
2022-02-20T14:57:17.892Z,1645369037.892 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 969
2022-02-20T14:57:17.904Z,1645369037.904 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 970
2022-02-20T14:57:17.909Z,1645369037.909 [ExternalSim](DEBUG): beaconLat = 36.80340
2022-02-20T14:57:17.909Z,1645369037.909 [ExternalSim](DEBUG): beaconLon = -121.82230
2022-02-20T14:57:17.909Z,1645369037.909 [ExternalSim](DEBUG): beaconDepth = 25.00
2022-02-20T14:57:17.925Z,1645369037.925 [Onboard ThreadHandler](INFO): Handler Thread ID is 971
2022-02-20T14:57:17.927Z,1645369037.927 [ExternalSim](DEBUG): Simulator initialized
2022-02-20T14:57:17.930Z,1645369037.930 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-02-20T14:57:17.944Z,1645369037.944 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 972
2022-02-20T14:57:17.960Z,1645369037.960 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 973
2022-02-20T14:57:17.963Z,1645369037.963 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-20T14:57:17.963Z,1645369037.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2022-02-20T14:57:17.963Z,1645369037.963 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-20T14:57:17.963Z,1645369037.963 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2022-02-20T14:57:17.963Z,1645369037.963 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-20T14:57:17.964Z,1645369037.964 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2022-02-20T14:57:17.964Z,1645369037.964 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-20T14:57:17.964Z,1645369037.964 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2022-02-20T14:57:17.964Z,1645369037.964 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-20T14:57:17.964Z,1645369037.964 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2022-02-20T14:57:17.965Z,1645369037.965 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-20T14:57:17.965Z,1645369037.965 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2022-02-20T14:57:18.022Z,1645369038.022 [CommandExec](IMPORTANT): got command fileExec testing.d
2022-02-20T14:57:18.124Z,1645369038.124 [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


2022-02-20T14:57:18.259Z,1645369038.259 [SBIT](INFO): Initialize SBIT Component.
2022-02-20T14:57:18.292Z,1645369038.292 [SBIT](IMPORTANT): git: 2022-02-01-12-g115cb7fe7
2022-02-20T14:57:18.292Z,1645369038.292 [SBIT](INFO): git hash: 115cb7fe7453500f2fb50c4726d394f7fc64f755
2022-02-20T14:57:18.293Z,1645369038.293 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-02-20T14:57:18.321Z,1645369038.321 [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
2022-02-20T14:57:18.322Z,1645369038.322 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2022-02-20T14:57:18.322Z,1645369038.322 [IBIT](INFO): Initialize IBIT Component.
2022-02-20T14:57:18.323Z,1645369038.323 [CBIT](DEBUG): Initialize CBIT Component.
2022-02-20T14:57:18.336Z,1645369038.336 [CBIT](DEBUG): Initialized mux pins.
2022-02-20T14:57:18.336Z,1645369038.336 [CBIT](DEBUG): Initializing the watchdog timer.
2022-02-20T14:57:18.360Z,1645369038.360 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2022-02-20T14:57:18.360Z,1645369038.360 [CBIT](DEBUG): Initializing heartbeat.
2022-02-20T14:57:18.432Z,1645369038.432 [CBIT](DEBUG): Deactivating GF circuits.
2022-02-20T14:57:18.432Z,1645369038.432 [CBIT](DEBUG): Deactivating emergency mode.
2022-02-20T14:57:18.468Z,1645369038.468 [CBIT](DEBUG): Backplane powered.
2022-02-20T14:57:18.472Z,1645369038.472 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-02-20T14:57:18.473Z,1645369038.473 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-02-20T14:57:18.473Z,1645369038.473 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-02-20T14:57:18.473Z,1645369038.473 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-02-20T14:57:18.474Z,1645369038.474 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-02-20T14:57:18.474Z,1645369038.474 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-02-20T14:57:18.476Z,1645369038.476 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-02-20T14:57:18.476Z,1645369038.476 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-02-20T14:57:18.479Z,1645369038.479 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-02-20T14:57:18.481Z,1645369038.481 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-02-20T14:57:18.482Z,1645369038.482 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-02-20T14:57:18.482Z,1645369038.482 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-02-20T14:57:18.483Z,1645369038.483 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-02-20T14:57:18.511Z,1645369038.511 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:57:18.550Z,1645369038.550 [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>


2022-02-20T14:57:18.550Z,1645369038.550 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-02-20T14:57:18.656Z,1645369038.656 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-02-20T14:57:18.657Z,1645369038.657 [Default:A.Wait](DEBUG): Construct Wait.
2022-02-20T14:57:18.659Z,1645369038.659 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:57:18.727Z,1645369038.727 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-02-20T14:57:18.730Z,1645369038.730 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-02-20T14:57:18.763Z,1645369038.763 [Default:E.Execute](DEBUG): Construct Execute.
2022-02-20T14:57:18.791Z,1645369038.791 [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>


2022-02-20T14:57:18.796Z,1645369038.796 [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,
2022-02-20T14:57:18.846Z,1645369038.846 [Power24vConverter](INFO): Powering up.
2022-02-20T14:57:18.848Z,1645369038.848 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:18.885Z,1645369038.885 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-02-20T14:57:18.886Z,1645369038.886 [MassServo](DEBUG): Initializing MassServo.
2022-02-20T14:57:18.888Z,1645369038.888 [CommandExec](FAULT): Scheduling is paused
2022-02-20T14:57:18.889Z,1645369038.889 [CBIT](INFO): Critical error at 20220220T145718
2022-02-20T14:57:18.889Z,1645369038.889 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-02-20T14:57:19.240Z,1645369039.240 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:19.616Z,1645369039.616 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:20.024Z,1645369040.024 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:20.046Z,1645369040.046 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.7 degree
2022-02-20T14:57:20.065Z,1645369040.065 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2022-02-20T14:57:20.424Z,1645369040.424 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:20.449Z,1645369040.449 [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,
2022-02-20T14:57:20.829Z,1645369040.829 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:21.233Z,1645369041.233 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:21.649Z,1645369041.649 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:21.738Z,1645369041.738 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.19 degree
2022-02-20T14:57:21.749Z,1645369041.749 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2022-02-20T14:57:22.053Z,1645369042.053 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:22.085Z,1645369042.085 [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,
2022-02-20T14:57:22.445Z,1645369042.445 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T14:57:22.451Z,1645369042.451 [LBLNavigation](INFO): Reset ping filters
2022-02-20T14:57:22.451Z,1645369042.451 [LBLNavigation](INFO): Reset fix filter
2022-02-20T14:57:23.173Z,1645369043.173 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1 meter
2022-02-20T14:57:23.177Z,1645369043.177 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2022-02-20T14:57:23.269Z,1645369043.269 [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,
2022-02-20T14:57:24.062Z,1645369044.062 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-02-20T14:57:25.818Z,1645369045.818 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1234567890 second
2022-02-20T14:57:29.314Z,1645369049.314 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-02-20T14:57:29.314Z,1645369049.314 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-02-20T14:57:30.325Z,1645369050.325 [CommandExec](IMPORTANT): got command report mod mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T14:57:30.402Z,1645369050.402 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T14:57:30.402Z,1645369050.402 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T14:57:30.913Z,1645369050.913 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T14:57:30.946Z,1645369050.946 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T14:57:30.950Z,1645369050.950 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T14:57:30.969Z,1645369050.969 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T14:57:30.988Z,1645369050.988 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T14:57:30.991Z,1645369050.991 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T14:57:30.994Z,1645369050.994 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T14:57:31.003Z,1645369051.003 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T14:57:31.006Z,1645369051.006 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T14:57:31.029Z,1645369051.029 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T14:57:31.032Z,1645369051.032 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T14:57:31.035Z,1645369051.035 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T14:57:31.054Z,1645369051.054 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T14:57:31.057Z,1645369051.057 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T14:57:31.084Z,1645369051.084 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T14:57:31.087Z,1645369051.087 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T14:57:31.090Z,1645369051.090 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T14:57:31.102Z,1645369051.102 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T14:57:31.113Z,1645369051.113 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T14:57:31.116Z,1645369051.116 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T14:57:31.118Z,1645369051.118 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T14:57:31.138Z,1645369051.138 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T14:57:31.141Z,1645369051.141 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T14:57:31.160Z,1645369051.160 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T14:57:31.163Z,1645369051.163 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T14:57:31.182Z,1645369051.182 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T14:57:31.205Z,1645369051.205 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T14:57:31.216Z,1645369051.216 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T14:57:31.219Z,1645369051.219 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T14:57:31.222Z,1645369051.222 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T14:57:31.240Z,1645369051.240 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T14:57:31.260Z,1645369051.260 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T14:57:31.284Z,1645369051.284 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T14:57:31.378Z,1645369051.378 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T14:57:31.389Z,1645369051.389 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T14:57:31.392Z,1645369051.392 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T14:57:31.395Z,1645369051.395 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T14:57:31.419Z,1645369051.419 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T14:57:31.420Z,1645369051.420 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:57:31.477Z,1645369051.477 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T14:57:31.479Z,1645369051.479 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T14:57:31.509Z,1645369051.509 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T14:57:31.510Z,1645369051.510 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T14:57:31.572Z,1645369051.572 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T14:57:31.575Z,1645369051.575 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T14:57:31.578Z,1645369051.578 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T14:57:31.590Z,1645369051.590 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T14:57:31.592Z,1645369051.592 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T14:57:31.594Z,1645369051.594 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:57:31.669Z,1645369051.669 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T14:57:31.671Z,1645369051.671 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T14:57:31.698Z,1645369051.698 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T14:57:31.750Z,1645369051.750 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T14:57:31.778Z,1645369051.778 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T14:57:31.800Z,1645369051.800 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T14:57:31.803Z,1645369051.803 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T14:57:32.466Z,1645369052.466 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T14:57:32.490Z,1645369052.490 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T14:57:32.505Z,1645369052.505 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T14:57:32.507Z,1645369052.507 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T14:57:32.510Z,1645369052.510 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T14:57:32.556Z,1645369052.556 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T14:57:32.559Z,1645369052.559 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T14:57:32.570Z,1645369052.570 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T14:57:32.587Z,1645369052.587 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T14:57:32.602Z,1645369052.602 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T14:57:32.609Z,1645369052.609 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T14:57:32.624Z,1645369052.624 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T14:57:32.627Z,1645369052.627 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T14:57:32.634Z,1645369052.634 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T14:57:32.653Z,1645369052.653 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T14:57:32.661Z,1645369052.661 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T14:57:32.670Z,1645369052.670 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T14:57:32.686Z,1645369052.686 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T14:57:32.693Z,1645369052.693 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T14:57:32.713Z,1645369052.713 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T14:57:32.721Z,1645369052.721 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T14:57:32.733Z,1645369052.733 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T14:57:32.748Z,1645369052.748 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T14:57:32.751Z,1645369052.751 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T14:57:32.763Z,1645369052.763 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T14:57:32.766Z,1645369052.766 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T14:57:32.789Z,1645369052.789 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T14:57:32.793Z,1645369052.793 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T14:57:32.812Z,1645369052.812 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T14:57:32.815Z,1645369052.815 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T14:57:32.818Z,1645369052.818 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T14:57:32.830Z,1645369052.830 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T14:57:32.833Z,1645369052.833 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T14:57:32.860Z,1645369052.860 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T14:57:32.864Z,1645369052.864 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T14:57:32.867Z,1645369052.867 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T14:57:32.886Z,1645369052.886 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T14:57:32.889Z,1645369052.889 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T14:57:32.908Z,1645369052.908 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T14:57:32.911Z,1645369052.911 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T14:57:32.915Z,1645369052.915 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T14:57:32.926Z,1645369052.926 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T14:57:32.929Z,1645369052.929 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T14:57:32.996Z,1645369052.996 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T14:57:32.999Z,1645369052.999 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T14:57:33.011Z,1645369053.011 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T14:57:33.014Z,1645369053.014 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T14:57:33.029Z,1645369053.029 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T14:57:33.032Z,1645369053.032 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T14:57:33.035Z,1645369053.035 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T14:57:33.062Z,1645369053.062 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T14:57:33.066Z,1645369053.066 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T14:57:33.085Z,1645369053.085 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T14:57:33.089Z,1645369053.089 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T14:57:33.104Z,1645369053.104 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T14:57:33.107Z,1645369053.107 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T14:57:33.110Z,1645369053.110 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T14:57:33.126Z,1645369053.126 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T14:57:33.129Z,1645369053.129 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T14:57:33.160Z,1645369053.160 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T14:57:33.164Z,1645369053.164 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T14:57:33.167Z,1645369053.167 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T14:57:33.186Z,1645369053.186 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T14:57:33.197Z,1645369053.197 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T14:57:33.201Z,1645369053.201 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T14:57:33.295Z,1645369053.295 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:57:33.382Z,1645369053.382 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:57:33.440Z,1645369053.440 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:57:33.463Z,1645369053.463 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:57:33.490Z,1645369053.490 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:57:33.539Z,1645369053.539 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:57:33.578Z,1645369053.578 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:57:33.611Z,1645369053.611 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:57:33.651Z,1645369053.651 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T14:57:33.654Z,1645369053.654 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T14:57:33.682Z,1645369053.682 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T14:57:33.775Z,1645369053.775 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:57:33.807Z,1645369053.807 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:57:33.857Z,1645369053.857 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:57:33.903Z,1645369053.903 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:57:34.045Z,1645369054.045 [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>


2022-02-20T14:57:34.049Z,1645369054.049 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T14:57:34.566Z,1645369054.566 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-02-20T14:57:34.566Z,1645369054.566 [Micromodem](INFO): Nmea out: $CCCFG,SRC,0*30

2022-02-20T14:57:39.830Z,1645369059.830 [Micromodem](INFO): Nmea in: $CACFG,SRC,0*32

2022-02-20T14:57:39.830Z,1645369059.830 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-02-20T14:57:45.070Z,1645369065.070 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-02-20T14:57:45.070Z,1645369065.070 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-02-20T14:57:50.322Z,1645369070.322 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-02-20T14:57:50.322Z,1645369070.322 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-02-20T14:57:55.574Z,1645369075.574 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-02-20T14:57:55.574Z,1645369075.574 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-02-20T14:58:00.830Z,1645369080.830 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-02-20T14:58:00.830Z,1645369080.830 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-02-20T14:58:06.082Z,1645369086.082 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-02-20T14:58:06.082Z,1645369086.082 [Micromodem](INFO): Nmea out: $CCCLK,2022,02,20,14,58,07*49

2022-02-20T14:58:11.334Z,1645369091.334 [Micromodem](INFO): Nmea in: $CACLK,2022,02,20,14,58,07*4B

2022-02-20T14:58:17.810Z,1645369097.810 [SBIT](IMPORTANT): Beginning Startup BIT
2022-02-20T14:58:17.814Z,1645369097.814 [CBIT](IMPORTANT): Beginning ground fault scan
2022-02-20T14:58:19.010Z,1645369099.010 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T14:58:28.722Z,1645369108.722 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.007230
CHAN A1 (24V): 0.000182
CHAN A2 (12V): -0.005267
CHAN A3 (5V): -0.002495
CHAN B0 (3.3V): -0.001507
CHAN B1 (3.15aV): -0.001112
CHAN B2 (3.15bV): -0.000763
CHAN B3 (GND): 0.000147
OPEN: -0.001316
Full Scale: +/- 1 mA
2022-02-20T14:58:31.142Z,1645369111.142 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T14:58:31.142Z,1645369111.142 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T14:58:31.142Z,1645369111.142 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T14:58:57.807Z,1645369137.807 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T14:58:57.807Z,1645369137.807 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T14:58:57.807Z,1645369137.807 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T14:58:57.808Z,1645369137.808 [SBIT](FAULT): Control surface position failure.
2022-02-20T14:59:07.976Z,1645369147.976 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T14:59:07.976Z,1645369147.976 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T14:59:08.038Z,1645369148.038 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T14:59:08.250Z,1645369148.250 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T14:59:08.252Z,1645369148.252 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T14:59:08.254Z,1645369148.254 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T14:59:08.256Z,1645369148.256 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T14:59:08.258Z,1645369148.258 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T14:59:08.261Z,1645369148.261 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T14:59:08.263Z,1645369148.263 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T14:59:08.266Z,1645369148.266 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T14:59:08.268Z,1645369148.268 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T14:59:08.270Z,1645369148.270 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T14:59:08.273Z,1645369148.273 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T14:59:08.275Z,1645369148.275 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T14:59:08.277Z,1645369148.277 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T14:59:08.279Z,1645369148.279 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T14:59:08.334Z,1645369148.334 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T14:59:08.348Z,1645369148.348 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T14:59:08.351Z,1645369148.351 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T14:59:08.361Z,1645369148.361 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T14:59:08.363Z,1645369148.363 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T14:59:08.391Z,1645369148.391 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T14:59:08.399Z,1645369148.399 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T14:59:08.415Z,1645369148.415 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T14:59:08.422Z,1645369148.422 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T14:59:08.424Z,1645369148.424 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T14:59:08.426Z,1645369148.426 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T14:59:08.429Z,1645369148.429 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T14:59:08.431Z,1645369148.431 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T14:59:08.450Z,1645369148.450 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T14:59:08.461Z,1645369148.461 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T14:59:08.463Z,1645369148.463 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T14:59:08.474Z,1645369148.474 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T14:59:08.481Z,1645369148.481 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T14:59:08.491Z,1645369148.491 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T14:59:08.546Z,1645369148.546 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T14:59:08.549Z,1645369148.549 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T14:59:08.551Z,1645369148.551 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T14:59:08.578Z,1645369148.578 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T14:59:08.580Z,1645369148.580 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T14:59:08.581Z,1645369148.581 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:59:08.614Z,1645369148.614 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T14:59:08.639Z,1645369148.639 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T14:59:08.645Z,1645369148.645 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T14:59:08.647Z,1645369148.647 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T14:59:08.762Z,1645369148.762 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T14:59:08.765Z,1645369148.765 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T14:59:08.767Z,1645369148.767 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T14:59:08.769Z,1645369148.769 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T14:59:08.771Z,1645369148.771 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T14:59:08.797Z,1645369148.797 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:59:08.838Z,1645369148.838 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T14:59:08.839Z,1645369148.839 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T14:59:08.858Z,1645369148.858 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T14:59:08.862Z,1645369148.862 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T14:59:08.866Z,1645369148.866 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T14:59:08.899Z,1645369148.899 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T14:59:08.901Z,1645369148.901 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T14:59:09.200Z,1645369149.200 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T14:59:09.202Z,1645369149.202 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T14:59:09.204Z,1645369149.204 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T14:59:09.206Z,1645369149.206 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T14:59:09.208Z,1645369149.208 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T14:59:09.210Z,1645369149.210 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T14:59:09.212Z,1645369149.212 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T14:59:09.214Z,1645369149.214 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T14:59:09.216Z,1645369149.216 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T14:59:09.218Z,1645369149.218 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T14:59:09.220Z,1645369149.220 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T14:59:09.222Z,1645369149.222 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T14:59:09.269Z,1645369149.269 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T14:59:09.271Z,1645369149.271 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T14:59:09.273Z,1645369149.273 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T14:59:09.275Z,1645369149.275 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T14:59:09.278Z,1645369149.278 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T14:59:09.301Z,1645369149.301 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T14:59:09.303Z,1645369149.303 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T14:59:09.313Z,1645369149.313 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T14:59:09.315Z,1645369149.315 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T14:59:09.318Z,1645369149.318 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T14:59:09.320Z,1645369149.320 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T14:59:09.322Z,1645369149.322 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T14:59:09.339Z,1645369149.339 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T14:59:09.359Z,1645369149.359 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T14:59:09.361Z,1645369149.361 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T14:59:09.364Z,1645369149.364 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T14:59:09.366Z,1645369149.366 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T14:59:09.392Z,1645369149.392 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T14:59:09.394Z,1645369149.394 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T14:59:09.397Z,1645369149.397 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T14:59:09.399Z,1645369149.399 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T14:59:09.426Z,1645369149.426 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T14:59:09.428Z,1645369149.428 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T14:59:09.430Z,1645369149.430 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T14:59:09.451Z,1645369149.451 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T14:59:09.453Z,1645369149.453 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T14:59:09.456Z,1645369149.456 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T14:59:09.458Z,1645369149.458 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T14:59:09.481Z,1645369149.481 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T14:59:09.484Z,1645369149.484 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T14:59:09.486Z,1645369149.486 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T14:59:09.488Z,1645369149.488 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T14:59:09.491Z,1645369149.491 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T14:59:09.525Z,1645369149.525 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T14:59:09.540Z,1645369149.540 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T14:59:09.542Z,1645369149.542 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T14:59:09.555Z,1645369149.555 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T14:59:09.558Z,1645369149.558 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T14:59:09.584Z,1645369149.584 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T14:59:09.586Z,1645369149.586 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T14:59:09.597Z,1645369149.597 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T14:59:09.599Z,1645369149.599 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T14:59:09.613Z,1645369149.613 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T14:59:09.621Z,1645369149.621 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T14:59:09.628Z,1645369149.628 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T14:59:09.630Z,1645369149.630 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T14:59:09.634Z,1645369149.634 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T14:59:09.652Z,1645369149.652 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T14:59:09.655Z,1645369149.655 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T14:59:09.665Z,1645369149.665 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T14:59:09.680Z,1645369149.680 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T14:59:09.682Z,1645369149.682 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T14:59:09.689Z,1645369149.689 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T14:59:09.738Z,1645369149.738 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:09.762Z,1645369149.762 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:59:09.786Z,1645369149.786 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:09.812Z,1645369149.812 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:09.850Z,1645369149.850 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:59:09.875Z,1645369149.875 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:09.955Z,1645369149.955 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:09.994Z,1645369149.994 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:59:10.036Z,1645369150.036 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T14:59:10.039Z,1645369150.039 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T14:59:10.046Z,1645369150.046 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T14:59:10.087Z,1645369150.087 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:10.094Z,1645369150.094 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:10.103Z,1645369150.103 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:10.120Z,1645369150.120 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:10.166Z,1645369150.166 [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>


2022-02-20T14:59:10.168Z,1645369150.168 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T14:59:11.538Z,1645369151.538 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T14:59:11.538Z,1645369151.538 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T14:59:11.539Z,1645369151.539 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T14:59:11.539Z,1645369151.539 [SBIT](FAULT): Control surface position failure.
2022-02-20T14:59:11.945Z,1645369151.945 [SBIT](CRITICAL): SBIT FAILED
2022-02-20T14:59:11.945Z,1645369151.945 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): RudderServo.loadAtStartup=0 bool;

2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): ThrusterServo.loadAtStartup=0 bool;

2022-02-20T14:59:11.946Z,1645369151.946 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2022-02-20T14:59:11.948Z,1645369151.948 [CBIT](INFO): Critical error at 20220220T145911
2022-02-20T14:59:11.949Z,1645369151.949 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-02-20T14:59:12.340Z,1645369152.340 [MissionManager](IMPORTANT): Started mission Startup
2022-02-20T14:59:12.340Z,1645369152.340 [Startup] Running Loop=1
2022-02-20T14:59:12.341Z,1645369152.341 [Startup](DEBUG): Aggregate::initialize Startup
2022-02-20T14:59:12.341Z,1645369152.341 [Startup:A.GoToSurface] Running Loop=1
2022-02-20T14:59:12.341Z,1645369152.341 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T14:59:12.341Z,1645369152.341 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T14:59:12.342Z,1645369152.342 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T14:59:12.342Z,1645369152.342 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T14:59:12.342Z,1645369152.342 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T14:59:12.343Z,1645369152.343 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T14:59:12.344Z,1645369152.344 [Startup:StartupSatComms] Running Loop=1
2022-02-20T14:59:12.345Z,1645369152.345 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-02-20T14:59:12.345Z,1645369152.345 [Startup:StartupSatComms:A] Running Loop=1
2022-02-20T14:59:12.743Z,1645369152.743 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T14:59:12.743Z,1645369152.743 [Startup:StartupSatComms:A] Stopped
2022-02-20T14:59:12.744Z,1645369152.744 [Startup:StartupSatComms:B] Running Loop=1
2022-02-20T14:59:13.151Z,1645369153.151 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T14:59:13.544Z,1645369153.544 [Micromodem](INFO): No more packets to send
2022-02-20T14:59:13.552Z,1645369153.552 [Startup:StartupSatComms:B] Stopped
2022-02-20T14:59:13.552Z,1645369153.552 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-02-20T14:59:13.552Z,1645369153.552 [Startup:StartupSatComms] Stopped
2022-02-20T14:59:13.553Z,1645369153.553 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-02-20T14:59:13.553Z,1645369153.553 [Startup](INFO): Completed Startup
2022-02-20T14:59:13.553Z,1645369153.553 [MissionManager](INFO): Startup is completed.
2022-02-20T14:59:13.554Z,1645369153.554 [MissionManager](INFO): Uninitializing Mission Startup
2022-02-20T14:59:13.554Z,1645369153.554 [Startup] Stopped
2022-02-20T14:59:13.554Z,1645369153.554 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-02-20T14:59:13.554Z,1645369153.554 [Startup:A.GoToSurface] Stopped
2022-02-20T14:59:13.554Z,1645369153.554 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T14:59:13.956Z,1645369153.956 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-20T14:59:13.956Z,1645369153.956 [trackPatchOil] Running Loop=1
2022-02-20T14:59:13.956Z,1645369153.956 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-20T14:59:13.956Z,1645369153.956 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T14:59:13.956Z,1645369153.956 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T14:59:13.957Z,1645369153.957 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:B] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:C] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:D] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:E] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:F] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-20T14:59:13.958Z,1645369153.958 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-20T14:59:13.959Z,1645369153.959 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:13.959Z,1645369153.959 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:13.961Z,1645369153.961 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-20T14:59:13.961Z,1645369153.961 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T14:59:13.961Z,1645369153.961 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T14:59:13.961Z,1645369153.961 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T14:59:13.962Z,1645369153.962 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-20T14:59:13.962Z,1645369153.962 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T14:59:13.962Z,1645369153.962 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:13.962Z,1645369153.962 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:13.964Z,1645369153.964 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-20T14:59:13.964Z,1645369153.964 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-20T14:59:13.964Z,1645369153.964 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:13.964Z,1645369153.964 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:13.966Z,1645369153.966 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-20T14:59:13.966Z,1645369153.966 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T14:59:13.966Z,1645369153.966 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T14:59:13.966Z,1645369153.966 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T14:59:13.966Z,1645369153.966 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-20T14:59:13.966Z,1645369153.966 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T14:59:13.967Z,1645369153.967 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:13.967Z,1645369153.967 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:13.968Z,1645369153.968 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-20T14:59:13.968Z,1645369153.968 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T14:59:13.968Z,1645369153.968 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:13.968Z,1645369153.968 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:13.970Z,1645369153.970 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-20T14:59:13.970Z,1645369153.970 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T14:59:13.970Z,1645369153.970 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T14:59:13.970Z,1645369153.970 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T14:59:13.971Z,1645369153.971 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-20T14:59:13.971Z,1645369153.971 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-20T14:59:13.971Z,1645369153.971 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T14:59:13.971Z,1645369153.971 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-20T14:59:13.971Z,1645369153.971 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T14:59:13.971Z,1645369153.971 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-20T14:59:13.972Z,1645369153.972 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T14:59:13.972Z,1645369153.972 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-20T14:59:13.972Z,1645369153.972 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-20T14:59:13.972Z,1645369153.972 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-20T14:59:13.972Z,1645369153.972 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-20T14:59:13.972Z,1645369153.972 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T14:59:13.973Z,1645369153.973 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-20T14:59:13.973Z,1645369153.973 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-20T14:59:13.973Z,1645369153.973 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-20T14:59:13.974Z,1645369153.974 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T14:59:13.974Z,1645369153.974 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T14:59:13.975Z,1645369153.975 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T14:59:13.996Z,1645369153.996 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T14:59:13.996Z,1645369153.996 [trackPatchOil:Science] Running Loop=1
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T14:59:13.997Z,1645369153.997 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-20T14:59:13.998Z,1645369153.998 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-20T14:59:13.999Z,1645369153.999 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-20T14:59:14.000Z,1645369154.000 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:14.000Z,1645369154.000 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:14.000Z,1645369154.000 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T14:59:14.000Z,1645369154.000 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T14:59:14.001Z,1645369154.001 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T14:59:14.001Z,1645369154.001 [trackPatchOil:Science:F] Stopped
2022-02-20T14:59:14.001Z,1645369154.001 [trackPatchOil:Science:E] Stopped
2022-02-20T14:59:14.001Z,1645369154.001 [trackPatchOil:Science:D] Stopped
2022-02-20T14:59:14.001Z,1645369154.001 [trackPatchOil:Science:C] Stopped
2022-02-20T14:59:14.002Z,1645369154.002 [trackPatchOil:Science:B] Stopped
2022-02-20T14:59:14.002Z,1645369154.002 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T14:59:14.002Z,1645369154.002 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-20T14:59:14.002Z,1645369154.002 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T14:59:14.003Z,1645369154.003 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T14:59:14.003Z,1645369154.003 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T14:59:14.003Z,1645369154.003 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T14:59:14.005Z,1645369154.005 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-20T14:59:14.005Z,1645369154.005 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T14:59:14.005Z,1645369154.005 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-20T14:59:14.005Z,1645369154.005 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T14:59:14.006Z,1645369154.006 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T14:59:14.007Z,1645369154.007 [MissionManager](INFO): MissionManager is completed.
2022-02-20T14:59:14.007Z,1645369154.007 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil] Stopped
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-20T14:59:14.007Z,1645369154.007 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:H.Pitch] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:I.Buoyancy] Stopped
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-20T14:59:14.008Z,1645369154.008 [trackPatchOil:Science] Stopped
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:Science:A] Stopped
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:K.SetSpeed] Stopped
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-20T14:59:14.009Z,1645369154.009 [trackPatchOil:L.Pitch] Stopped
2022-02-20T14:59:14.361Z,1645369154.361 [MissionManager](IMPORTANT): Started mission Default
2022-02-20T14:59:14.362Z,1645369154.362 [Default] Running Loop=1
2022-02-20T14:59:14.362Z,1645369154.362 [Default](DEBUG): Aggregate::initialize Default
2022-02-20T14:59:14.362Z,1645369154.362 [Default:B.GoToSurface] Running Loop=1
2022-02-20T14:59:14.362Z,1645369154.362 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T14:59:14.362Z,1645369154.362 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T14:59:14.362Z,1645369154.362 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T14:59:14.363Z,1645369154.363 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T14:59:14.363Z,1645369154.363 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T14:59:14.363Z,1645369154.363 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T14:59:14.364Z,1645369154.364 [Default:A.Wait] Running Loop=1
2022-02-20T14:59:14.364Z,1645369154.364 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-20T14:59:18.804Z,1645369158.804 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T14:59:18.804Z,1645369158.804 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T14:59:18.804Z,1645369158.804 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T14:59:18.816Z,1645369158.816 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T14:59:19.222Z,1645369159.222 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T14:59:19.222Z,1645369159.222 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T14:59:27.696Z,1645369167.696 [Default:A.Wait](INFO): Done Waiting.
2022-02-20T14:59:27.696Z,1645369167.696 [Default:A.Wait] Stopped
2022-02-20T14:59:27.696Z,1645369167.696 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T14:59:28.102Z,1645369168.102 [Default:CheckIn] Running Loop=1
2022-02-20T14:59:28.103Z,1645369168.103 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T14:59:28.103Z,1645369168.103 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T14:59:28.506Z,1645369168.506 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-02-20T14:59:29.367Z,1645369169.367 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T14:59:29.380Z,1645369169.380 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T14:59:29.541Z,1645369169.541 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T14:59:29.543Z,1645369169.543 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T14:59:29.545Z,1645369169.545 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T14:59:29.549Z,1645369169.549 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T14:59:29.552Z,1645369169.552 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T14:59:29.554Z,1645369169.554 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T14:59:29.556Z,1645369169.556 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T14:59:29.559Z,1645369169.559 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T14:59:29.607Z,1645369169.607 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T14:59:29.610Z,1645369169.610 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T14:59:29.612Z,1645369169.612 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T14:59:29.614Z,1645369169.614 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T14:59:29.637Z,1645369169.637 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T14:59:29.639Z,1645369169.639 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T14:59:29.641Z,1645369169.641 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T14:59:29.643Z,1645369169.643 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T14:59:29.645Z,1645369169.645 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T14:59:29.675Z,1645369169.675 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T14:59:29.678Z,1645369169.678 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T14:59:29.680Z,1645369169.680 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T14:59:29.682Z,1645369169.682 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T14:59:29.717Z,1645369169.717 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T14:59:29.719Z,1645369169.719 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T14:59:29.721Z,1645369169.721 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T14:59:29.723Z,1645369169.723 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T14:59:29.750Z,1645369169.750 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T14:59:29.753Z,1645369169.753 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T14:59:29.755Z,1645369169.755 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T14:59:29.771Z,1645369169.771 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T14:59:29.773Z,1645369169.773 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T14:59:29.774Z,1645369169.774 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T14:59:29.779Z,1645369169.779 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T14:59:29.815Z,1645369169.815 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T14:59:29.875Z,1645369169.875 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T14:59:29.877Z,1645369169.877 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T14:59:29.879Z,1645369169.879 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T14:59:29.906Z,1645369169.906 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T14:59:29.908Z,1645369169.908 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T14:59:29.910Z,1645369169.910 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:59:29.946Z,1645369169.946 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T14:59:29.948Z,1645369169.948 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T14:59:29.950Z,1645369169.950 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T14:59:29.951Z,1645369169.951 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T14:59:30.003Z,1645369170.003 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T14:59:30.006Z,1645369170.006 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T14:59:30.026Z,1645369170.026 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T14:59:30.029Z,1645369170.029 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T14:59:30.031Z,1645369170.031 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T14:59:30.032Z,1645369170.032 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T14:59:30.073Z,1645369170.073 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T14:59:30.074Z,1645369170.074 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T14:59:30.133Z,1645369170.133 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T14:59:30.150Z,1645369170.150 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T14:59:30.162Z,1645369170.162 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T14:59:30.175Z,1645369170.175 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T14:59:30.177Z,1645369170.177 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T14:59:30.408Z,1645369170.408 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T14:59:30.410Z,1645369170.410 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T14:59:30.412Z,1645369170.412 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T14:59:30.414Z,1645369170.414 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T14:59:30.416Z,1645369170.416 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T14:59:30.417Z,1645369170.417 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T14:59:30.419Z,1645369170.419 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T14:59:30.421Z,1645369170.421 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T14:59:30.424Z,1645369170.424 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T14:59:30.426Z,1645369170.426 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T14:59:30.428Z,1645369170.428 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T14:59:30.430Z,1645369170.430 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T14:59:30.431Z,1645369170.431 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T14:59:30.433Z,1645369170.433 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T14:59:30.435Z,1645369170.435 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T14:59:30.438Z,1645369170.438 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T14:59:30.440Z,1645369170.440 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T14:59:30.442Z,1645369170.442 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T14:59:30.445Z,1645369170.445 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T14:59:30.447Z,1645369170.447 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T14:59:30.450Z,1645369170.450 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T14:59:30.452Z,1645369170.452 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T14:59:30.454Z,1645369170.454 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T14:59:30.558Z,1645369170.558 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T14:59:30.560Z,1645369170.560 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T14:59:30.562Z,1645369170.562 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T14:59:30.579Z,1645369170.579 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T14:59:30.581Z,1645369170.581 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T14:59:30.583Z,1645369170.583 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T14:59:30.600Z,1645369170.600 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T14:59:30.602Z,1645369170.602 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T14:59:30.604Z,1645369170.604 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T14:59:30.606Z,1645369170.606 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T14:59:30.631Z,1645369170.631 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T14:59:30.633Z,1645369170.633 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T14:59:30.636Z,1645369170.636 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T14:59:30.638Z,1645369170.638 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T14:59:30.676Z,1645369170.676 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T14:59:30.679Z,1645369170.679 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T14:59:30.681Z,1645369170.681 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T14:59:30.683Z,1645369170.683 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T14:59:30.685Z,1645369170.685 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T14:59:30.704Z,1645369170.704 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T14:59:30.707Z,1645369170.707 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T14:59:30.709Z,1645369170.709 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T14:59:30.711Z,1645369170.711 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T14:59:30.713Z,1645369170.713 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T14:59:30.731Z,1645369170.731 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T14:59:30.733Z,1645369170.733 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T14:59:30.736Z,1645369170.736 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T14:59:30.738Z,1645369170.738 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T14:59:30.762Z,1645369170.762 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T14:59:30.764Z,1645369170.764 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T14:59:30.767Z,1645369170.767 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T14:59:30.769Z,1645369170.769 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T14:59:30.771Z,1645369170.771 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T14:59:30.802Z,1645369170.802 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T14:59:30.804Z,1645369170.804 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T14:59:30.806Z,1645369170.806 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T14:59:30.833Z,1645369170.833 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T14:59:30.835Z,1645369170.835 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T14:59:30.837Z,1645369170.837 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T14:59:30.860Z,1645369170.860 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T14:59:30.863Z,1645369170.863 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T14:59:30.865Z,1645369170.865 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T14:59:30.958Z,1645369170.958 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:30.979Z,1645369170.979 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:59:31.005Z,1645369171.005 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:31.033Z,1645369171.033 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:31.083Z,1645369171.083 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:59:31.135Z,1645369171.135 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:31.177Z,1645369171.177 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T14:59:31.205Z,1645369171.205 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T14:59:31.228Z,1645369171.228 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T14:59:31.230Z,1645369171.230 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T14:59:31.247Z,1645369171.247 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T14:59:31.267Z,1645369171.267 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:31.274Z,1645369171.274 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:31.283Z,1645369171.283 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:31.294Z,1645369171.294 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T14:59:31.388Z,1645369171.388 [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>


2022-02-20T14:59:31.393Z,1645369171.393 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T14:59:31.742Z,1645369171.742 [Default] Stopped
2022-02-20T14:59:31.742Z,1645369171.742 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-20T14:59:31.742Z,1645369171.742 [Default:B.GoToSurface] Stopped
2022-02-20T14:59:31.742Z,1645369171.742 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T14:59:31.742Z,1645369171.742 [Default:CheckIn] Stopped
2022-02-20T14:59:31.743Z,1645369171.743 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T14:59:31.743Z,1645369171.743 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T14:59:31.743Z,1645369171.743 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-20T14:59:31.743Z,1645369171.743 [trackPatchOil] Running Loop=1
2022-02-20T14:59:31.743Z,1645369171.743 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-20T14:59:31.743Z,1645369171.743 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T14:59:31.743Z,1645369171.743 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-20T14:59:31.744Z,1645369171.744 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:B] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:C] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:D] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:E] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:F] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-20T14:59:31.745Z,1645369171.745 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-20T14:59:31.746Z,1645369171.746 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:31.746Z,1645369171.746 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:31.747Z,1645369171.747 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-20T14:59:31.747Z,1645369171.747 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T14:59:31.747Z,1645369171.747 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T14:59:31.747Z,1645369171.747 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T14:59:31.748Z,1645369171.748 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-20T14:59:31.748Z,1645369171.748 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T14:59:31.748Z,1645369171.748 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:31.748Z,1645369171.748 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:31.749Z,1645369171.749 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-20T14:59:31.749Z,1645369171.749 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-20T14:59:31.749Z,1645369171.749 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:31.749Z,1645369171.749 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:31.750Z,1645369171.750 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-20T14:59:31.751Z,1645369171.751 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T14:59:31.751Z,1645369171.751 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T14:59:31.751Z,1645369171.751 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T14:59:31.751Z,1645369171.751 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-20T14:59:31.751Z,1645369171.751 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T14:59:31.751Z,1645369171.751 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:31.752Z,1645369171.752 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:31.753Z,1645369171.753 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-20T14:59:31.753Z,1645369171.753 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T14:59:31.753Z,1645369171.753 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T14:59:31.753Z,1645369171.753 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T14:59:31.754Z,1645369171.754 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-20T14:59:31.754Z,1645369171.754 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T14:59:31.754Z,1645369171.754 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T14:59:31.754Z,1645369171.754 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-20T14:59:31.755Z,1645369171.755 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T14:59:31.756Z,1645369171.756 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-20T14:59:31.756Z,1645369171.756 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-20T14:59:31.756Z,1645369171.756 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-20T14:59:31.756Z,1645369171.756 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-20T14:59:31.756Z,1645369171.756 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T14:59:31.756Z,1645369171.756 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-20T14:59:31.757Z,1645369171.757 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-20T14:59:31.757Z,1645369171.757 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-20T14:59:31.757Z,1645369171.757 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T14:59:31.758Z,1645369171.758 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T14:59:31.759Z,1645369171.759 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T14:59:31.759Z,1645369171.759 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T14:59:31.759Z,1645369171.759 [trackPatchOil:Science] Running Loop=1
2022-02-20T14:59:31.760Z,1645369171.760 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-20T14:59:31.760Z,1645369171.760 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T14:59:31.760Z,1645369171.760 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T14:59:31.760Z,1645369171.760 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T14:59:31.761Z,1645369171.761 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T14:59:31.762Z,1645369171.762 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T14:59:31.763Z,1645369171.763 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-20T14:59:31.763Z,1645369171.763 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-20T14:59:31.763Z,1645369171.763 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-20T14:59:31.763Z,1645369171.763 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T14:59:31.763Z,1645369171.763 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T14:59:31.763Z,1645369171.763 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:F] Stopped
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:E] Stopped
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:D] Stopped
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:C] Stopped
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:B] Stopped
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T14:59:31.764Z,1645369171.764 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-20T14:59:31.765Z,1645369171.765 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T14:59:31.765Z,1645369171.765 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T14:59:31.765Z,1645369171.765 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T14:59:31.765Z,1645369171.765 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T14:59:31.767Z,1645369171.767 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-20T14:59:31.767Z,1645369171.767 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T14:59:31.767Z,1645369171.767 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-20T14:59:31.767Z,1645369171.767 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T14:59:31.768Z,1645369171.768 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T14:59:31.812Z,1645369171.812 [WetLabsSeaOWL_UV_A](INFO): Start
2022-02-20T14:59:31.813Z,1645369171.813 [WetLabsSeaOWL_UV_A](INFO): Starting
2022-02-20T14:59:31.814Z,1645369171.814 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:31.815Z,1645369171.815 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:31.917Z,1645369171.917 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:31.917Z,1645369171.917 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:32.023Z,1645369172.023 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:32.024Z,1645369172.024 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:32.126Z,1645369172.126 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:32.126Z,1645369172.126 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:32.141Z,1645369172.141 [trackPatchOil:SurfaceCommsSplit:B:A](INFO): ##UnpackSplit##
2022-02-20T14:59:32.141Z,1645369172.141 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-20T14:59:32.141Z,1645369172.141 [trackPatchOil:SurfaceCommsSplit:B](INFO): Completed trackPatchOil:SurfaceCommsSplit:B
2022-02-20T14:59:32.142Z,1645369172.142 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-20T14:59:32.142Z,1645369172.142 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T14:59:32.142Z,1645369172.142 [trackPatchOil:SurfaceCommsSplit:C] Running Loop=1
2022-02-20T14:59:32.142Z,1645369172.142 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:C
2022-02-20T14:59:32.142Z,1645369172.142 [trackPatchOil:SurfaceCommsSplit:C:A] Running Loop=1
2022-02-20T14:59:32.163Z,1645369172.163 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.079871 kg/m3
2022-02-20T14:59:32.231Z,1645369172.231 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:32.232Z,1645369172.232 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:32.335Z,1645369172.335 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:32.336Z,1645369172.336 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:32.439Z,1645369172.439 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:32.440Z,1645369172.440 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:L.Pitch] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:K.SetSpeed] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:Science] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:Science:A] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:Science:Read_Oil] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:I.Buoyancy] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:H.Pitch] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:G.WaterDepthEnvelope] Preempted
2022-02-20T14:59:32.538Z,1645369172.538 [trackPatchOil:F.OffshoreEnvelope] Preempted
2022-02-20T14:59:32.541Z,1645369172.541 [WetLabsSeaOWL_UV_A](INFO): Stop
2022-02-20T14:59:32.539Z,1645369172.539 [trackPatchOil:SurfaceCommsSplit:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T14:59:32.543Z,1645369172.543 [trackPatchOil:SurfaceCommsSplit:C:A] Stopped
2022-02-20T14:59:32.543Z,1645369172.543 [trackPatchOil:SurfaceCommsSplit:C:B] Running Loop=1
2022-02-20T14:59:32.554Z,1645369172.554 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3
2022-02-20T14:59:32.644Z,1645369172.644 [WetLabsSeaOWL_UV_A](INFO): Stopping
2022-02-20T14:59:32.951Z,1645369172.951 [trackPatchOil:SurfaceCommsSplit:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T14:59:33.340Z,1645369173.340 [Micromodem](INFO): No more packets to send
2022-02-20T14:59:33.362Z,1645369173.362 [trackPatchOil:SurfaceCommsSplit:C:B] Stopped
2022-02-20T14:59:33.362Z,1645369173.362 [trackPatchOil:SurfaceCommsSplit:C:C] Running Loop=1
2022-02-20T14:59:33.363Z,1645369173.363 [trackPatchOil:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2022-02-20T14:59:33.754Z,1645369173.754 [trackPatchOil:SurfaceCommsSplit:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T14:59:33.754Z,1645369173.754 [trackPatchOil:SurfaceCommsSplit:C:C] Stopped
2022-02-20T14:59:33.754Z,1645369173.754 [trackPatchOil:SurfaceCommsSplit:C](INFO): Completed trackPatchOil:SurfaceCommsSplit:C
2022-02-20T14:59:33.754Z,1645369173.754 [trackPatchOil:SurfaceCommsSplit:C] Stopped
2022-02-20T14:59:33.754Z,1645369173.754 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:C
2022-02-20T14:59:33.755Z,1645369173.755 [trackPatchOil:SurfaceCommsSplit](INFO): Completed trackPatchOil:SurfaceCommsSplit
2022-02-20T14:59:33.755Z,1645369173.755 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-20T14:59:33.755Z,1645369173.755 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-20T14:59:33.755Z,1645369173.755 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-20T14:59:33.755Z,1645369173.755 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T14:59:33.755Z,1645369173.755 [trackPatchOil:PatchDetectHorizontal] Running Loop=1
2022-02-20T14:59:33.756Z,1645369173.756 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal
2022-02-20T14:59:33.756Z,1645369173.756 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Running Loop=1
2022-02-20T14:59:35.701Z,1645369175.701 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Stopped
2022-02-20T14:59:35.701Z,1645369175.701 [trackPatchOil:PatchDetectHorizontal:C] Running Loop=1
2022-02-20T14:59:35.701Z,1645369175.701 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T14:59:35.702Z,1645369175.702 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T14:59:35.702Z,1645369175.702 [trackPatchOil:Science] Running Loop=1
2022-02-20T14:59:35.703Z,1645369175.703 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T14:59:35.703Z,1645369175.703 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T14:59:35.703Z,1645369175.703 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T14:59:35.703Z,1645369175.703 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T14:59:35.704Z,1645369175.704 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T14:59:35.704Z,1645369175.704 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T14:59:35.764Z,1645369175.764 [WetLabsSeaOWL_UV_A](INFO): Start
2022-02-20T14:59:35.765Z,1645369175.765 [WetLabsSeaOWL_UV_A](INFO): Starting
2022-02-20T14:59:35.766Z,1645369175.766 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:35.766Z,1645369175.766 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:35.828Z,1645369175.828 [trackPatchOil:PatchDetectHorizontal:C](INFO): Bearing for CrossLeg: 90.000000 arcdeg 
2022-02-20T14:59:35.828Z,1645369175.828 [trackPatchOil:PatchDetectHorizontal:C] Stopped
2022-02-20T14:59:35.828Z,1645369175.828 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Running Loop=1
2022-02-20T14:59:35.828Z,1645369175.828 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-20T14:59:35.828Z,1645369175.828 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Running Loop=1
2022-02-20T14:59:35.828Z,1645369175.828 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Initialize WaypointComponent.
2022-02-20T14:59:35.829Z,1645369175.829 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Running Loop=1
2022-02-20T14:59:35.830Z,1645369175.830 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-20T14:59:35.830Z,1645369175.830 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Running Loop=1
2022-02-20T14:59:35.830Z,1645369175.830 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](INFO): Initialize.
2022-02-20T14:59:35.865Z,1645369175.865 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.079871 kg/m3
2022-02-20T14:59:35.872Z,1645369175.872 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:35.872Z,1645369175.872 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:35.972Z,1645369175.972 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:35.973Z,1645369175.973 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.080Z,1645369176.080 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.080Z,1645369176.080 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.182Z,1645369176.182 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.182Z,1645369176.182 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.287Z,1645369176.287 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.287Z,1645369176.287 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.388Z,1645369176.388 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.389Z,1645369176.389 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.495Z,1645369176.495 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.495Z,1645369176.495 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.597Z,1645369176.597 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.597Z,1645369176.597 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.703Z,1645369176.703 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.703Z,1645369176.703 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.807Z,1645369176.807 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.807Z,1645369176.807 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:36.908Z,1645369176.908 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:36.909Z,1645369176.909 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.015Z,1645369177.015 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.017Z,1645369177.017 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.119Z,1645369177.119 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.120Z,1645369177.120 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.223Z,1645369177.223 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.223Z,1645369177.223 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.327Z,1645369177.327 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.327Z,1645369177.327 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.431Z,1645369177.431 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.432Z,1645369177.432 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.535Z,1645369177.535 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.536Z,1645369177.536 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.639Z,1645369177.639 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.640Z,1645369177.640 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.745Z,1645369177.745 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.745Z,1645369177.745 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.848Z,1645369177.848 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.849Z,1645369177.849 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:37.956Z,1645369177.956 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:37.956Z,1645369177.956 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.059Z,1645369178.059 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.059Z,1645369178.059 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.161Z,1645369178.161 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.161Z,1645369178.161 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.267Z,1645369178.267 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.268Z,1645369178.268 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.371Z,1645369178.371 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.371Z,1645369178.371 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.475Z,1645369178.475 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.475Z,1645369178.475 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.577Z,1645369178.577 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.577Z,1645369178.577 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.683Z,1645369178.683 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.684Z,1645369178.684 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.787Z,1645369178.787 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.788Z,1645369178.788 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.889Z,1645369178.889 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.889Z,1645369178.889 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:38.992Z,1645369178.992 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:38.993Z,1645369178.993 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.099Z,1645369179.099 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.099Z,1645369179.099 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.200Z,1645369179.200 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.201Z,1645369179.201 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.307Z,1645369179.307 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.307Z,1645369179.307 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.409Z,1645369179.409 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.409Z,1645369179.409 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.515Z,1645369179.515 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.516Z,1645369179.516 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.619Z,1645369179.619 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.619Z,1645369179.619 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.720Z,1645369179.720 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.721Z,1645369179.721 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.826Z,1645369179.826 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.826Z,1645369179.826 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:39.931Z,1645369179.931 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:39.931Z,1645369179.931 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.035Z,1645369180.035 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.035Z,1645369180.035 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.136Z,1645369180.136 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.137Z,1645369180.137 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.243Z,1645369180.243 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.244Z,1645369180.244 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.347Z,1645369180.347 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.348Z,1645369180.348 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.451Z,1645369180.451 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.452Z,1645369180.452 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.555Z,1645369180.555 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.556Z,1645369180.556 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.659Z,1645369180.659 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.661Z,1645369180.661 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.763Z,1645369180.763 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.764Z,1645369180.764 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.867Z,1645369180.867 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.867Z,1645369180.867 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:40.981Z,1645369180.981 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:40.981Z,1645369180.981 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.087Z,1645369181.087 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.088Z,1645369181.088 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.191Z,1645369181.191 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.191Z,1645369181.191 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.295Z,1645369181.295 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.296Z,1645369181.296 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.396Z,1645369181.397 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.397Z,1645369181.397 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.503Z,1645369181.503 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.503Z,1645369181.503 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.607Z,1645369181.607 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.607Z,1645369181.607 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.711Z,1645369181.711 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.711Z,1645369181.711 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.813Z,1645369181.813 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.813Z,1645369181.813 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:41.919Z,1645369181.919 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:41.920Z,1645369181.920 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.023Z,1645369182.023 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.024Z,1645369182.024 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.127Z,1645369182.127 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.127Z,1645369182.127 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.231Z,1645369182.231 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.231Z,1645369182.231 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.335Z,1645369182.335 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.335Z,1645369182.335 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.439Z,1645369182.439 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.439Z,1645369182.439 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.540Z,1645369182.540 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.541Z,1645369182.541 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.647Z,1645369182.647 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.648Z,1645369182.648 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.751Z,1645369182.751 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.751Z,1645369182.751 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.855Z,1645369182.855 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.855Z,1645369182.855 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:42.958Z,1645369182.958 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:42.958Z,1645369182.958 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.063Z,1645369183.063 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.064Z,1645369183.064 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.167Z,1645369183.167 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.168Z,1645369183.168 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.271Z,1645369183.271 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.271Z,1645369183.271 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.373Z,1645369183.373 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.373Z,1645369183.373 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.479Z,1645369183.479 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.480Z,1645369183.480 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.580Z,1645369183.580 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.581Z,1645369183.581 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.684Z,1645369183.684 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.685Z,1645369183.685 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.791Z,1645369183.791 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.791Z,1645369183.791 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.885Z,1645369183.885 [CommandExec](IMPORTANT): got command stop
2022-02-20T14:59:43.885Z,1645369183.885 [CommandExec](IMPORTANT): Scheduling is paused
2022-02-20T14:59:43.885Z,1645369183.885 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-02-20T14:59:43.892Z,1645369183.892 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.893Z,1645369183.893 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:43.996Z,1645369183.996 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:43.997Z,1645369183.997 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:44.103Z,1645369184.103 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:44.103Z,1645369184.103 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:44.210Z,1645369184.210 [WetLabsSeaOWL_UV_A](INFO): From ReadScience got oilConc_=79870.703125
2022-02-20T14:59:44.210Z,1645369184.210 [WetLabsSeaOWL_UV_A](INFO): Str( oilConc_ )=79870.703125
2022-02-20T14:59:44.227Z,1645369184.227 [MissionManager](INFO): MissionManager is completed.
2022-02-20T14:59:44.227Z,1645369184.227 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T14:59:44.227Z,1645369184.227 [trackPatchOil] Stopped
2022-02-20T14:59:44.227Z,1645369184.227 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-20T14:59:44.227Z,1645369184.227 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-20T14:59:44.237Z,1645369184.237 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-20T14:59:44.237Z,1645369184.237 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-20T14:59:44.237Z,1645369184.237 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-20T14:59:44.237Z,1645369184.237 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:H.Pitch] Stopped
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:I.Buoyancy] Stopped
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:Science] Stopped
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:Science:A] Stopped
2022-02-20T14:59:44.238Z,1645369184.238 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:K.SetSpeed] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:L.Pitch] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:PatchDetectHorizontal] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Stopped
2022-02-20T14:59:44.239Z,1645369184.239 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Uninitialize.
2022-02-20T14:59:44.240Z,1645369184.240 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Stopped
2022-02-20T14:59:44.240Z,1645369184.240 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-20T14:59:44.241Z,1645369184.241 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Stopped
2022-02-20T14:59:44.241Z,1645369184.241 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-02-20T14:59:44.312Z,1645369184.312 [WetLabsSeaOWL_UV_A](INFO): Stop
2022-02-20T14:59:44.353Z,1645369184.353 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3
2022-02-20T14:59:44.416Z,1645369184.416 [WetLabsSeaOWL_UV_A](INFO): Stopping
2022-02-20T14:59:44.617Z,1645369184.617 [MissionManager](IMPORTANT): Started mission Default
2022-02-20T14:59:44.617Z,1645369184.617 [Default] Running Loop=1
2022-02-20T14:59:44.617Z,1645369184.617 [Default](DEBUG): Aggregate::initialize Default
2022-02-20T14:59:44.617Z,1645369184.617 [Default:B.GoToSurface] Running Loop=1
2022-02-20T14:59:44.618Z,1645369184.618 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T14:59:44.618Z,1645369184.618 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T14:59:44.618Z,1645369184.618 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T14:59:44.619Z,1645369184.619 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T14:59:44.619Z,1645369184.619 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T14:59:44.619Z,1645369184.619 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T14:59:44.620Z,1645369184.620 [Default:A.Wait] Running Loop=1
2022-02-20T14:59:44.620Z,1645369184.620 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-20T14:59:47.333Z,1645369187.333 [CommandExec](IMPORTANT): got command quit
2022-02-20T14:59:48.336Z,1645369188.336 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:48.336Z,1645369188.336 [CommandExec](INFO): Uninitializing the command executive.
2022-02-20T14:59:48.336Z,1645369188.336 [CommandExec](INFO): Uninitializing the command scheduler.
2022-02-20T14:59:48.336Z,1645369188.336 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:48.344Z,1645369188.344 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-02-20T14:59:48.345Z,1645369188.345 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-02-20T14:59:48.345Z,1645369188.345 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:48.346Z,1645369188.346 [NavChartDb](INFO): Join timeout helper Thread ID is 974
2022-02-20T14:59:48.536Z,1645369188.536 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:48.536Z,1645369188.536 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:48.556Z,1645369188.556 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-02-20T14:59:48.556Z,1645369188.556 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:48.558Z,1645369188.558 [Radio_Surface](INFO): Join timeout helper Thread ID is 975
2022-02-20T14:59:48.720Z,1645369188.720 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:48.720Z,1645369188.720 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:48.736Z,1645369188.736 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-02-20T14:59:48.736Z,1645369188.736 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:48.736Z,1645369188.736 [Onboard](INFO): Join timeout helper Thread ID is 976
2022-02-20T14:59:53.072Z,1645369193.072 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:53.072Z,1645369193.072 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.088Z,1645369193.088 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-02-20T14:59:53.088Z,1645369193.088 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.088Z,1645369193.088 [BackseatComponent](INFO): Join timeout helper Thread ID is 977
2022-02-20T14:59:53.116Z,1645369193.116 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:53.116Z,1645369193.116 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.132Z,1645369193.132 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2022-02-20T14:59:53.132Z,1645369193.132 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.132Z,1645369193.132 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 978
2022-02-20T14:59:53.156Z,1645369193.156 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:53.157Z,1645369193.157 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.158Z,1645369193.158 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-02-20T14:59:53.158Z,1645369193.158 [logger ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.159Z,1645369193.159 [logger](INFO): Join timeout helper Thread ID is 979
2022-02-20T14:59:53.206Z,1645369193.206 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:53.207Z,1645369193.207 [logger ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.216Z,1645369193.216 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-02-20T14:59:53.217Z,1645369193.217 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.217Z,1645369193.217 [CommandLine](INFO): Join timeout helper Thread ID is 980
2022-02-20T14:59:53.240Z,1645369193.240 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:53.240Z,1645369193.240 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.256Z,1645369193.256 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-02-20T14:59:53.257Z,1645369193.257 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.257Z,1645369193.257 [CommandExec](INFO): Join timeout helper Thread ID is 981
2022-02-20T14:59:53.258Z,1645369193.258 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-02-20T14:59:53.258Z,1645369193.258 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.259Z,1645369193.259 [controlThread](INFO): Join timeout helper Thread ID is 982
2022-02-20T14:59:53.488Z,1645369193.488 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T14:59:53.488Z,1645369193.488 [controlThread](DEBUG): Uninitializing ControlThread
2022-02-20T14:59:53.492Z,1645369193.492 [NAL9602](INFO): Powering down
2022-02-20T14:59:53.493Z,1645369193.493 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-02-20T14:59:53.494Z,1645369193.494 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-02-20T14:59:53.494Z,1645369193.494 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-02-20T14:59:53.495Z,1645369193.495 [MissionManager](INFO): Uninitializing Mission Default
2022-02-20T14:59:53.495Z,1645369193.495 [Default] Stopped
2022-02-20T14:59:53.495Z,1645369193.495 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-20T14:59:53.495Z,1645369193.495 [Default:A.Wait] Stopped
2022-02-20T14:59:53.495Z,1645369193.495 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T14:59:53.495Z,1645369193.495 [Default:B.GoToSurface] Stopped
2022-02-20T14:59:53.495Z,1645369193.495 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T14:59:53.498Z,1645369193.498 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-02-20T14:59:53.498Z,1645369193.498 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-02-20T14:59:53.498Z,1645369193.498 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-02-20T14:59:53.499Z,1645369193.499 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-02-20T14:59:53.499Z,1645369193.499 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-02-20T14:59:53.499Z,1645369193.499 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-02-20T14:59:53.500Z,1645369193.500 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-02-20T14:59:53.500Z,1645369193.500 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-02-20T14:59:53.500Z,1645369193.500 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-02-20T14:59:53.500Z,1645369193.500 [CBIT](DEBUG): Powering off loads.
2022-02-20T14:59:53.512Z,1645369193.512 [CBIT](DEBUG): Disabling WDT.
2022-02-20T14:59:53.524Z,1645369193.524 [CBIT](DEBUG): Opening all GF detection circuits.
2022-02-20T14:59:53.525Z,1645369193.525 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.571Z,1645369193.571 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.603Z,1645369193.603 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.606Z,1645369193.606 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.614Z,1645369193.614 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.658Z,1645369193.658 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-20T14:59:53.707Z,1645369193.707 [logger ThreadHandler](INFO): Thread cancelled.