2022-02-20T18:18:53.793Z,1645381133.793 [Supervisor](DEBUG): Initializing supervisor.
2022-02-20T18:18:53.797Z,1645381133.797 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-02-20T18:18:53.797Z,1645381133.797 [SyncHandler](INFO): Protected caller Thread ID is 5499
2022-02-20T18:18:53.798Z,1645381133.798 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-02-20T18:18:53.799Z,1645381133.799 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-02-20T18:18:53.799Z,1645381133.799 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5500
2022-02-20T18:18:53.803Z,1645381133.803 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-02-20T18:18:53.822Z,1645381133.822 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-02-20T18:18:53.823Z,1645381133.823 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-02-20T18:18:53.823Z,1645381133.823 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5501
2022-02-20T18:18:53.924Z,1645381133.924 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-02-20T18:18:53.926Z,1645381133.926 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-02-20T18:18:53.927Z,1645381133.927 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5504
2022-02-20T18:18:53.929Z,1645381133.929 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-02-20T18:18:53.930Z,1645381133.930 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-02-20T18:18:53.930Z,1645381133.930 [logger ThreadHandler](INFO): Protected caller Thread ID is 5505
2022-02-20T18:18:53.934Z,1645381133.934 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-02-20T18:18:53.935Z,1645381133.935 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-02-20T18:18:53.936Z,1645381133.936 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-02-20T18:18:54.036Z,1645381134.036 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-02-20T18:18:54.036Z,1645381134.036 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-02-20T18:18:54.282Z,1645381134.282 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-02-20T18:18:54.282Z,1645381134.282 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-02-20T18:18:54.554Z,1645381134.554 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-02-20T18:18:54.554Z,1645381134.554 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-02-20T18:18:54.701Z,1645381134.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-02-20T18:18:54.702Z,1645381134.702 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-02-20T18:18:55.431Z,1645381135.431 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-02-20T18:18:55.432Z,1645381135.432 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-02-20T18:18:55.927Z,1645381135.927 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-02-20T18:18:55.927Z,1645381135.927 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-02-20T18:18:56.593Z,1645381136.593 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-02-20T18:18:56.594Z,1645381136.594 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-02-20T18:18:57.013Z,1645381137.013 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-02-20T18:18:57.013Z,1645381137.013 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-02-20T18:18:57.398Z,1645381137.398 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-02-20T18:18:57.398Z,1645381137.398 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-02-20T18:18:57.826Z,1645381137.826 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-02-20T18:18:57.826Z,1645381137.826 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-02-20T18:18:57.996Z,1645381137.996 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-02-20T18:18:57.997Z,1645381137.997 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-02-20T18:18:58.130Z,1645381138.130 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-02-20T18:18:58.131Z,1645381138.131 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-02-20T18:18:58.253Z,1645381138.253 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-02-20T18:18:58.336Z,1645381138.336 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-02-20T18:18:58.645Z,1645381138.645 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-02-20T18:18:58.646Z,1645381138.646 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-02-20T18:18:59.386Z,1645381139.386 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-02-20T18:18:59.388Z,1645381139.388 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2022-02-20T18:18:59.389Z,1645381139.389 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2022-02-20T18:18:59.478Z,1645381139.478 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2022-02-20T18:18:59.780Z,1645381139.780 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-02-20T18:18:59.781Z,1645381139.781 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2022-02-20T18:18:59.881Z,1645381139.881 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2022-02-20T18:19:00.081Z,1645381140.081 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2022-02-20T18:19:00.309Z,1645381140.309 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2022-02-20T18:19:00.397Z,1645381140.397 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2022-02-20T18:19:00.503Z,1645381140.503 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2022-02-20T18:19:00.636Z,1645381140.636 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2022-02-20T18:19:00.809Z,1645381140.809 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2022-02-20T18:19:00.916Z,1645381140.916 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2022-02-20T18:19:01.056Z,1645381141.056 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/LOGIN/
2022-02-20T18:19:01.056Z,1645381141.056 [Supervisor](INFO): Looking for Config files in directory: Config/sim/
2022-02-20T18:19:01.057Z,1645381141.057 [Supervisor](INFO): Opening Config file at: Config/sim/secure.cfg
2022-02-20T18:19:01.143Z,1645381141.143 [Supervisor](INFO): Opening Config file at: Config/sim/Navigation.cfg
2022-02-20T18:19:01.219Z,1645381141.219 [Supervisor](INFO): Opening Config file at: Config/sim/Sensor.cfg
2022-02-20T18:19:01.370Z,1645381141.370 [Supervisor](INFO): Opening Config file at: Config/sim/vehicle.cfg
2022-02-20T18:19:01.456Z,1645381141.456 [Supervisor](INFO): Opening Config file at: Config/sim/Simulator.cfg
2022-02-20T18:19:01.570Z,1645381141.570 [Supervisor](INFO): Opening Config file at: Config/sim/Servo.cfg
2022-02-20T18:19:01.659Z,1645381141.659 [Supervisor](INFO): Opening Config file at: Config/sim/Science.cfg
2022-02-20T18:19:01.790Z,1645381141.790 [Supervisor](INFO): Opening Config file at: Config/sim/Derivation.cfg
2022-02-20T18:19:01.875Z,1645381141.875 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/sim/
2022-02-20T18:19:01.876Z,1645381141.876 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/LOGIN/sim/
2022-02-20T18:19:01.876Z,1645381141.876 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-02-20T18:19:01.884Z,1645381141.884 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-02-20T18:19:02.101Z,1645381142.101 [ExternalSim] Loaded
2022-02-20T18:19:02.102Z,1645381142.102 [ComponentRegistry](DEBUG): SyncComponent "ExternalSim" handled in the control thread.
2022-02-20T18:19:02.112Z,1645381142.112 [InternalEnvSim] Loaded
2022-02-20T18:19:02.112Z,1645381142.112 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-02-20T18:19:02.113Z,1645381142.113 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-02-20T18:19:02.113Z,1645381142.113 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-02-20T18:19:02.233Z,1645381142.233 [BuoyancyServo] Loaded
2022-02-20T18:19:02.233Z,1645381142.233 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-02-20T18:19:02.250Z,1645381142.250 [MassServo] Loaded
2022-02-20T18:19:02.251Z,1645381142.251 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-02-20T18:19:02.251Z,1645381142.251 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-02-20T18:19:02.252Z,1645381142.252 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-02-20T18:19:02.429Z,1645381142.429 [SBIT](DEBUG): Construct Startup Built In Test.
2022-02-20T18:19:02.444Z,1645381142.444 [SBIT] Loaded
2022-02-20T18:19:02.444Z,1645381142.444 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-02-20T18:19:02.447Z,1645381142.447 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-02-20T18:19:02.467Z,1645381142.467 [IBIT] Loaded
2022-02-20T18:19:02.468Z,1645381142.468 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-02-20T18:19:02.473Z,1645381142.473 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-02-20T18:19:02.683Z,1645381142.683 [CBIT] Loaded
2022-02-20T18:19:02.683Z,1645381142.683 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-02-20T18:19:02.683Z,1645381142.683 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-02-20T18:19:02.684Z,1645381142.684 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-02-20T18:19:02.852Z,1645381142.852 [Aanderaa_O2] Loaded
2022-02-20T18:19:02.852Z,1645381142.852 [ComponentRegistry](DEBUG): SyncComponent "Aanderaa_O2" handled in the control thread.
2022-02-20T18:19:02.883Z,1645381142.883 [ESPComponent] Loaded
2022-02-20T18:19:02.883Z,1645381142.883 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2022-02-20T18:19:02.901Z,1645381142.901 [PAR_Licor] Loaded
2022-02-20T18:19:02.902Z,1645381142.902 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-02-20T18:19:02.932Z,1645381142.932 [WetLabsSeaOWL_UV_A] Loaded
2022-02-20T18:19:02.933Z,1645381142.933 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-02-20T18:19:02.934Z,1645381142.934 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 406614E0
2022-02-20T18:19:02.934Z,1645381142.934 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5661
2022-02-20T18:19:02.935Z,1645381142.935 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-02-20T18:19:02.935Z,1645381142.935 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-02-20T18:19:02.978Z,1645381142.978 [DepthRateCalculator] Loaded
2022-02-20T18:19:02.978Z,1645381142.978 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-02-20T18:19:02.983Z,1645381142.983 [PitchRateCalculator] Loaded
2022-02-20T18:19:02.983Z,1645381142.983 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-02-20T18:19:02.994Z,1645381142.994 [SpeedCalculator] Loaded
2022-02-20T18:19:02.994Z,1645381142.994 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-02-20T18:19:03.007Z,1645381143.007 [TempGradientCalculator] Loaded
2022-02-20T18:19:03.008Z,1645381143.008 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-02-20T18:19:03.012Z,1645381143.012 [YawRateCalculator] Loaded
2022-02-20T18:19:03.013Z,1645381143.013 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-02-20T18:19:03.031Z,1645381143.031 [ElevatorOffsetCalculator] Loaded
2022-02-20T18:19:03.031Z,1645381143.031 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-02-20T18:19:03.032Z,1645381143.032 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-02-20T18:19:03.032Z,1645381143.032 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-02-20T18:19:03.161Z,1645381143.161 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-02-20T18:19:03.161Z,1645381143.161 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-02-20T18:19:03.187Z,1645381143.187 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-02-20T18:19:03.188Z,1645381143.188 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-02-20T18:19:03.297Z,1645381143.297 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-02-20T18:19:03.297Z,1645381143.297 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-02-20T18:19:03.325Z,1645381143.325 [LBLNavigation] Loaded
2022-02-20T18:19:03.326Z,1645381143.326 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-02-20T18:19:03.338Z,1645381143.338 [NavChart] Loaded
2022-02-20T18:19:03.338Z,1645381143.338 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-02-20T18:19:03.344Z,1645381143.344 [UniversalFixResidualReporter] Loaded
2022-02-20T18:19:03.344Z,1645381143.344 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-02-20T18:19:03.345Z,1645381143.345 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-02-20T18:19:03.345Z,1645381143.345 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-02-20T18:19:03.754Z,1645381143.754 [BackseatComponent] Loaded
2022-02-20T18:19:03.755Z,1645381143.755 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-02-20T18:19:03.756Z,1645381143.756 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409D54E0
2022-02-20T18:19:03.756Z,1645381143.756 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 5666
2022-02-20T18:19:03.759Z,1645381143.759 [LcmUniversalReporter] Loaded
2022-02-20T18:19:03.759Z,1645381143.759 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-02-20T18:19:03.799Z,1645381143.799 [Depth_Keller] Loaded
2022-02-20T18:19:03.799Z,1645381143.799 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-02-20T18:19:03.802Z,1645381143.802 [DropWeight] Loaded
2022-02-20T18:19:03.803Z,1645381143.803 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-02-20T18:19:03.863Z,1645381143.863 [Micromodem] Loaded
2022-02-20T18:19:03.863Z,1645381143.863 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-02-20T18:19:03.919Z,1645381143.919 [NAL9602] Loaded
2022-02-20T18:19:03.919Z,1645381143.919 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-02-20T18:19:03.943Z,1645381143.943 [Onboard] Loaded
2022-02-20T18:19:03.944Z,1645381143.944 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-02-20T18:19:03.945Z,1645381143.945 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A054E0
2022-02-20T18:19:03.945Z,1645381143.945 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5669
2022-02-20T18:19:03.956Z,1645381143.956 [Power24vConverter] Loaded
2022-02-20T18:19:03.957Z,1645381143.957 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-02-20T18:19:03.970Z,1645381143.970 [Radio_Surface] Loaded
2022-02-20T18:19:03.971Z,1645381143.971 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-02-20T18:19:03.972Z,1645381143.972 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A354E0
2022-02-20T18:19:03.972Z,1645381143.972 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5670
2022-02-20T18:19:03.973Z,1645381143.973 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-02-20T18:19:03.974Z,1645381143.974 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-02-20T18:19:04.210Z,1645381144.210 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-02-20T18:19:04.211Z,1645381144.211 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-02-20T18:19:04.353Z,1645381144.353 [VerticalControl](DEBUG): Construct VerticalControl.
2022-02-20T18:19:04.403Z,1645381144.403 [VerticalControl] Loaded
2022-02-20T18:19:04.403Z,1645381144.403 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-02-20T18:19:04.406Z,1645381144.406 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-02-20T18:19:04.442Z,1645381144.442 [HorizontalControl] Loaded
2022-02-20T18:19:04.442Z,1645381144.442 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-02-20T18:19:04.445Z,1645381144.445 [SpeedControl](DEBUG): Construct SpeedControl.
2022-02-20T18:19:04.447Z,1645381144.447 [SpeedControl] Loaded
2022-02-20T18:19:04.447Z,1645381144.447 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-02-20T18:19:04.450Z,1645381144.450 [LoopControl](DEBUG): Construct LoopControl.
2022-02-20T18:19:04.450Z,1645381144.450 [LoopControl] Loaded
2022-02-20T18:19:04.450Z,1645381144.450 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-02-20T18:19:04.451Z,1645381144.451 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-02-20T18:19:04.451Z,1645381144.451 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-02-20T18:19:04.461Z,1645381144.461 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-02-20T18:19:04.462Z,1645381144.462 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-02-20T18:19:04.809Z,1645381144.809 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-02-20T18:19:04.815Z,1645381144.815 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-02-20T18:19:04.818Z,1645381144.818 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-02-20T18:19:04.849Z,1645381144.849 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-02-20T18:19:04.856Z,1645381144.856 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B3B4E0
2022-02-20T18:19:04.856Z,1645381144.856 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5676
2022-02-20T18:19:04.861Z,1645381144.861 [Supervisor](INFO): Main Thread ID is 5496
2022-02-20T18:19:04.861Z,1645381144.861 [Supervisor](DEBUG): Running supervisor.
2022-02-20T18:19:04.862Z,1645381144.862 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5678
2022-02-20T18:19:04.868Z,1645381144.868 [CommandExec](INFO): Initializing the command executive.
2022-02-20T18:19:04.870Z,1645381144.870 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5679
2022-02-20T18:19:04.876Z,1645381144.876 [controlThread ThreadHandler](INFO): Handler Thread ID is 5680
2022-02-20T18:19:04.877Z,1645381144.877 [controlThread](DEBUG): Initializing ControlThread
2022-02-20T18:19:04.877Z,1645381144.877 [ExternalSim](INFO): ExternalSim initializing...
2022-02-20T18:19:04.893Z,1645381144.893 [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
2022-02-20T18:19:04.900Z,1645381144.900 [ExternalSim](DEBUG): oceanModelVarCount=0
2022-02-20T18:19:04.912Z,1645381144.912 [logger ThreadHandler](INFO): Handler Thread ID is 5681
2022-02-20T18:19:04.948Z,1645381144.948 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5682
2022-02-20T18:19:04.964Z,1645381144.964 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 5683
2022-02-20T18:19:04.966Z,1645381144.966 [ExternalSim](DEBUG): beaconLat = 36.80340
2022-02-20T18:19:04.966Z,1645381144.966 [ExternalSim](DEBUG): beaconLon = -121.82230
2022-02-20T18:19:04.966Z,1645381144.966 [ExternalSim](DEBUG): beaconDepth = 25.00
2022-02-20T18:19:04.974Z,1645381144.974 [ExternalSim](DEBUG): Simulator initialized
2022-02-20T18:19:04.984Z,1645381144.984 [Onboard ThreadHandler](INFO): Handler Thread ID is 5684
2022-02-20T18:19:04.985Z,1645381144.985 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-02-20T18:19:05.000Z,1645381145.000 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5685
2022-02-20T18:19:05.016Z,1645381145.016 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5686
2022-02-20T18:19:05.019Z,1645381145.019 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2022-02-20T18:19:05.019Z,1645381145.019 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2022-02-20T18:19:05.019Z,1645381145.019 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2022-02-20T18:19:05.019Z,1645381145.019 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2022-02-20T18:19:05.019Z,1645381145.019 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2022-02-20T18:19:05.020Z,1645381145.020 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2022-02-20T18:19:05.020Z,1645381145.020 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2022-02-20T18:19:05.020Z,1645381145.020 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2022-02-20T18:19:05.020Z,1645381145.020 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2022-02-20T18:19:05.020Z,1645381145.020 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2022-02-20T18:19:05.021Z,1645381145.021 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2022-02-20T18:19:05.021Z,1645381145.021 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2022-02-20T18:19:05.078Z,1645381145.078 [CommandExec](IMPORTANT): got command fileExec testing.d
2022-02-20T18:19:05.180Z,1645381145.180 [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


2022-02-20T18:19:05.236Z,1645381145.236 [SBIT](INFO): Initialize SBIT Component.
2022-02-20T18:19:05.237Z,1645381145.237 [SBIT](IMPORTANT): git: 2022-02-01-12-g115cb7fe7
2022-02-20T18:19:05.237Z,1645381145.237 [SBIT](INFO): git hash: 115cb7fe7453500f2fb50c4726d394f7fc64f755
2022-02-20T18:19:05.237Z,1645381145.237 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-02-20T18:19:05.238Z,1645381145.238 [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
2022-02-20T18:19:05.239Z,1645381145.239 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2022-02-20T18:19:05.256Z,1645381145.256 [IBIT](INFO): Initialize IBIT Component.
2022-02-20T18:19:05.257Z,1645381145.257 [CBIT](DEBUG): Initialize CBIT Component.
2022-02-20T18:19:05.268Z,1645381145.268 [CBIT](DEBUG): Initialized mux pins.
2022-02-20T18:19:05.268Z,1645381145.268 [CBIT](DEBUG): Initializing the watchdog timer.
2022-02-20T18:19:05.292Z,1645381145.292 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2022-02-20T18:19:05.292Z,1645381145.292 [CBIT](DEBUG): Initializing heartbeat.
2022-02-20T18:19:05.364Z,1645381145.364 [CBIT](DEBUG): Deactivating GF circuits.
2022-02-20T18:19:05.364Z,1645381145.364 [CBIT](DEBUG): Deactivating emergency mode.
2022-02-20T18:19:05.400Z,1645381145.400 [CBIT](DEBUG): Backplane powered.
2022-02-20T18:19:05.405Z,1645381145.405 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-02-20T18:19:05.405Z,1645381145.405 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-02-20T18:19:05.405Z,1645381145.405 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-02-20T18:19:05.406Z,1645381145.406 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-02-20T18:19:05.406Z,1645381145.406 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-02-20T18:19:05.407Z,1645381145.407 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-02-20T18:19:05.408Z,1645381145.408 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-02-20T18:19:05.409Z,1645381145.409 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-02-20T18:19:05.412Z,1645381145.412 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-02-20T18:19:05.413Z,1645381145.413 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-02-20T18:19:05.414Z,1645381145.414 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-02-20T18:19:05.414Z,1645381145.414 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-02-20T18:19:05.415Z,1645381145.415 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-02-20T18:19:05.448Z,1645381145.448 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T18:19:05.484Z,1645381145.484 [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>


2022-02-20T18:19:05.485Z,1645381145.485 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-02-20T18:19:05.634Z,1645381145.634 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-02-20T18:19:05.635Z,1645381145.635 [Default:A.Wait](DEBUG): Construct Wait.
2022-02-20T18:19:05.657Z,1645381145.657 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T18:19:05.726Z,1645381145.726 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-02-20T18:19:05.738Z,1645381145.738 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-02-20T18:19:05.768Z,1645381145.768 [Default:E.Execute](DEBUG): Construct Execute.
2022-02-20T18:19:05.771Z,1645381145.771 [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>


2022-02-20T18:19:05.800Z,1645381145.800 [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,
2022-02-20T18:19:05.854Z,1645381145.854 [Power24vConverter](INFO): Powering up.
2022-02-20T18:19:05.860Z,1645381145.860 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:05.897Z,1645381145.897 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-02-20T18:19:05.898Z,1645381145.898 [MassServo](DEBUG): Initializing MassServo.
2022-02-20T18:19:05.900Z,1645381145.900 [CommandExec](FAULT): Scheduling is paused
2022-02-20T18:19:05.901Z,1645381145.901 [CBIT](INFO): Critical error at 20220220T181905
2022-02-20T18:19:05.901Z,1645381145.901 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-02-20T18:19:06.243Z,1645381146.243 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:06.633Z,1645381146.633 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:07.003Z,1645381147.003 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.7 degree
2022-02-20T18:19:07.036Z,1645381147.036 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:07.051Z,1645381147.051 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2022-02-20T18:19:07.432Z,1645381147.432 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:07.447Z,1645381147.447 [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,
2022-02-20T18:19:07.845Z,1645381147.845 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:08.237Z,1645381148.237 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:08.649Z,1645381148.649 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:08.929Z,1645381148.929 [CommandExec](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -122.19 degree
2022-02-20T18:19:08.932Z,1645381148.932 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2022-02-20T18:19:09.057Z,1645381149.057 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:09.096Z,1645381149.096 [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,
2022-02-20T18:19:09.449Z,1645381149.449 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-02-20T18:19:09.455Z,1645381149.455 [LBLNavigation](INFO): Reset ping filters
2022-02-20T18:19:09.455Z,1645381149.455 [LBLNavigation](INFO): Reset fix filter
2022-02-20T18:19:10.517Z,1645381150.517 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1 meter
2022-02-20T18:19:10.537Z,1645381150.537 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2022-02-20T18:19:10.775Z,1645381150.775 [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,
2022-02-20T18:19:11.094Z,1645381151.094 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-02-20T18:19:13.425Z,1645381153.425 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1234567890 second
2022-02-20T18:19:16.314Z,1645381156.314 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-02-20T18:19:16.314Z,1645381156.314 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-02-20T18:19:18.243Z,1645381158.243 [CommandExec](IMPORTANT): got command report mod mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T18:19:18.389Z,1645381158.389 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T18:19:18.389Z,1645381158.389 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T18:19:18.930Z,1645381158.930 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T18:19:18.933Z,1645381158.933 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T18:19:18.948Z,1645381158.948 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T18:19:18.951Z,1645381158.951 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T18:19:18.954Z,1645381158.954 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T18:19:18.966Z,1645381158.966 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T18:19:18.969Z,1645381158.969 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T18:19:19.000Z,1645381159.000 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T18:19:19.003Z,1645381159.003 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T18:19:19.006Z,1645381159.006 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T18:19:19.018Z,1645381159.018 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T18:19:19.021Z,1645381159.021 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T18:19:19.048Z,1645381159.048 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T18:19:19.051Z,1645381159.051 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T18:19:19.054Z,1645381159.054 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T18:19:19.066Z,1645381159.066 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T18:19:19.069Z,1645381159.069 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T18:19:19.096Z,1645381159.096 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T18:19:19.099Z,1645381159.099 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T18:19:19.102Z,1645381159.102 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T18:19:19.113Z,1645381159.113 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T18:19:19.116Z,1645381159.116 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T18:19:19.119Z,1645381159.119 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T18:19:19.191Z,1645381159.191 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T18:19:19.202Z,1645381159.202 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T18:19:19.205Z,1645381159.205 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T18:19:19.232Z,1645381159.232 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T18:19:19.235Z,1645381159.235 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T18:19:19.254Z,1645381159.254 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T18:19:19.258Z,1645381159.258 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T18:19:19.259Z,1645381159.259 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T18:19:19.291Z,1645381159.291 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T18:19:19.336Z,1645381159.336 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T18:19:19.391Z,1645381159.391 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T18:19:19.394Z,1645381159.394 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T18:19:19.402Z,1645381159.402 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T18:19:19.406Z,1645381159.406 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T18:19:19.433Z,1645381159.433 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T18:19:19.435Z,1645381159.435 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T18:19:19.491Z,1645381159.491 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T18:19:19.493Z,1645381159.493 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T18:19:19.495Z,1645381159.495 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T18:19:19.512Z,1645381159.512 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T18:19:19.638Z,1645381159.638 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T18:19:19.646Z,1645381159.646 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T18:19:19.661Z,1645381159.661 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T18:19:19.672Z,1645381159.672 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T18:19:19.675Z,1645381159.675 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T18:19:19.685Z,1645381159.685 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T18:19:19.733Z,1645381159.733 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T18:19:19.735Z,1645381159.735 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T18:19:19.765Z,1645381159.765 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T18:19:19.772Z,1645381159.772 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T18:19:19.804Z,1645381159.804 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T18:19:19.826Z,1645381159.826 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T18:19:19.828Z,1645381159.828 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T18:19:20.551Z,1645381160.551 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T18:19:20.570Z,1645381160.570 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T18:19:20.573Z,1645381160.573 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T18:19:20.592Z,1645381160.592 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T18:19:20.594Z,1645381160.594 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T18:19:20.597Z,1645381160.597 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T18:19:20.599Z,1645381160.599 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T18:19:20.618Z,1645381160.618 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T18:19:20.621Z,1645381160.621 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T18:19:20.640Z,1645381160.640 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T18:19:20.643Z,1645381160.643 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T18:19:20.646Z,1645381160.646 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T18:19:20.664Z,1645381160.664 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T18:19:20.667Z,1645381160.667 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T18:19:20.670Z,1645381160.670 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T18:19:20.693Z,1645381160.693 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T18:19:20.696Z,1645381160.696 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T18:19:20.716Z,1645381160.716 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T18:19:20.719Z,1645381160.719 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T18:19:20.723Z,1645381160.723 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T18:19:20.794Z,1645381160.794 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T18:19:20.815Z,1645381160.815 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T18:19:20.834Z,1645381160.834 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T18:19:20.842Z,1645381160.842 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T18:19:20.861Z,1645381160.861 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T18:19:20.863Z,1645381160.863 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T18:19:20.871Z,1645381160.871 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T18:19:20.882Z,1645381160.882 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T18:19:20.889Z,1645381160.889 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T18:19:20.904Z,1645381160.904 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T18:19:20.907Z,1645381160.907 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T18:19:20.915Z,1645381160.915 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T18:19:20.923Z,1645381160.923 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T18:19:20.938Z,1645381160.938 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T18:19:20.946Z,1645381160.946 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T18:19:20.977Z,1645381160.977 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T18:19:20.980Z,1645381160.980 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T18:19:20.983Z,1645381160.983 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T18:19:21.002Z,1645381161.002 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T18:19:21.005Z,1645381161.005 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T18:19:21.024Z,1645381161.024 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T18:19:21.027Z,1645381161.027 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T18:19:21.030Z,1645381161.030 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T18:19:21.042Z,1645381161.042 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T18:19:21.045Z,1645381161.045 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T18:19:21.072Z,1645381161.072 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T18:19:21.082Z,1645381161.082 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T18:19:21.085Z,1645381161.085 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T18:19:21.090Z,1645381161.090 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T18:19:21.093Z,1645381161.093 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T18:19:21.116Z,1645381161.116 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T18:19:21.119Z,1645381161.119 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T18:19:21.122Z,1645381161.122 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T18:19:21.150Z,1645381161.150 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T18:19:21.193Z,1645381161.193 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T18:19:21.209Z,1645381161.209 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T18:19:21.212Z,1645381161.212 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T18:19:21.215Z,1645381161.215 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T18:19:21.243Z,1645381161.243 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T18:19:21.262Z,1645381161.262 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T18:19:21.265Z,1645381161.265 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T18:19:21.284Z,1645381161.284 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T18:19:21.288Z,1645381161.288 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T18:19:21.291Z,1645381161.291 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T18:19:21.314Z,1645381161.314 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T18:19:21.416Z,1645381161.416 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:19:21.465Z,1645381161.465 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T18:19:21.495Z,1645381161.495 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:19:21.534Z,1645381161.534 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:19:21.566Z,1645381161.566 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-02-20T18:19:21.566Z,1645381161.566 [Micromodem](INFO): Nmea out: $CCCFG,SRC,0*30

2022-02-20T18:19:21.598Z,1645381161.598 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T18:19:21.674Z,1645381161.674 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:19:21.706Z,1645381161.706 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:19:21.726Z,1645381161.726 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T18:19:21.774Z,1645381161.774 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T18:19:21.777Z,1645381161.777 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T18:19:21.813Z,1645381161.813 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T18:19:21.887Z,1645381161.887 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:19:21.907Z,1645381161.907 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:19:21.955Z,1645381161.955 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:19:22.049Z,1645381162.049 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:19:22.171Z,1645381162.171 [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>


2022-02-20T18:19:22.198Z,1645381162.198 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T18:19:26.817Z,1645381166.817 [Micromodem](INFO): Nmea in: $CACFG,SRC,0*32

2022-02-20T18:19:26.818Z,1645381166.818 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-02-20T18:19:32.073Z,1645381172.073 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-02-20T18:19:32.074Z,1645381172.074 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-02-20T18:19:37.322Z,1645381177.322 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-02-20T18:19:37.322Z,1645381177.322 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-02-20T18:19:42.574Z,1645381182.574 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-02-20T18:19:42.574Z,1645381182.574 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-02-20T18:19:46.025Z,1645381186.025 [CommandExec](IMPORTANT): got command report
2022-02-20T18:19:46.025Z,1645381186.025 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changes
2022-02-20T18:19:47.827Z,1645381187.827 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-02-20T18:19:47.827Z,1645381187.827 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-02-20T18:19:49.681Z,1645381189.681 [CommandExec](IMPORTANT): got command show stack
2022-02-20T18:19:49.681Z,1645381189.681 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T18:19:49.681Z,1645381189.681 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-02-20T18:19:53.078Z,1645381193.078 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-02-20T18:19:53.078Z,1645381193.078 [Micromodem](INFO): Nmea out: $CCCLK,2022,02,20,18,19,54*46

2022-02-20T18:19:53.745Z,1645381193.745 [CommandExec](IMPORTANT): got command show stack
2022-02-20T18:19:53.745Z,1645381193.745 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T18:19:53.745Z,1645381193.745 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-02-20T18:19:58.335Z,1645381198.335 [Micromodem](INFO): Nmea in: $CACLK,2022,02,20,18,19,54*44

2022-02-20T18:20:04.827Z,1645381204.827 [SBIT](IMPORTANT): Beginning Startup BIT
2022-02-20T18:20:04.832Z,1645381204.832 [CBIT](IMPORTANT): Beginning ground fault scan
2022-02-20T18:20:05.602Z,1645381205.602 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T18:20:15.736Z,1645381215.736 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.007470
CHAN A1 (24V): 0.000274
CHAN A2 (12V): -0.005260
CHAN A3 (5V): -0.002619
CHAN B0 (3.3V): -0.000931
CHAN B1 (3.15aV): -0.000910
CHAN B2 (3.15bV): -0.001234
CHAN B3 (GND): 0.000112
OPEN: -0.000794
Full Scale: +/- 1 mA
2022-02-20T18:20:17.992Z,1645381217.992 [CommandExec](IMPORTANT): got command set NAL9602.time_fix 1645381205 second
2022-02-20T18:20:18.140Z,1645381218.140 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T18:20:18.140Z,1645381218.140 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T18:20:18.140Z,1645381218.140 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T18:20:22.801Z,1645381222.801 [CommandExec](IMPORTANT): got command show stack
2022-02-20T18:20:22.801Z,1645381222.801 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T18:20:22.801Z,1645381222.801 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-02-20T18:20:25.017Z,1645381225.017 [CommandExec](IMPORTANT): got command report
2022-02-20T18:20:25.017Z,1645381225.017 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changes
2022-02-20T18:20:31.397Z,1645381231.397 [CommandExec](IMPORTANT): got command show variable owl
2022-02-20T18:20:31.484Z,1645381231.484 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadControl (none)
2022-02-20T18:20:31.484Z,1645381231.484 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.uart (none)
2022-02-20T18:20:31.485Z,1645381231.485 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.baud (bit_per_second)
2022-02-20T18:20:31.549Z,1645381231.549 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup (bool)
2022-02-20T18:20:31.550Z,1645381231.550 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.simulateHardware (bool)
2022-02-20T18:20:31.550Z,1645381231.550 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.chlAccuracy (microgram_per_liter)
2022-02-20T18:20:31.550Z,1645381231.550 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCounts700 (count)
2022-02-20T18:20:31.551Z,1645381231.551 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCountsChl (count)
2022-02-20T18:20:31.551Z,1645381231.551 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCountsFDOM (count)
2022-02-20T18:20:31.551Z,1645381231.551 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.darkCountsOil (count)
2022-02-20T18:20:31.552Z,1645381231.552 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.fdomAccuracy (part_per_billion)
2022-02-20T18:20:31.552Z,1645381231.552 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.oilAccuracy (part_per_billion)
2022-02-20T18:20:31.552Z,1645381231.552 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.period (second)
2022-02-20T18:20:31.553Z,1645381231.553 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.power (watt)
2022-02-20T18:20:31.553Z,1645381231.553 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactor700 (reciprocal_meter_per_steradian_count)
2022-02-20T18:20:31.553Z,1645381231.553 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactorChl (microgram_per_liter_per_count)
2022-02-20T18:20:31.554Z,1645381231.554 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactorFDOM (part_per_billion_per_count)
2022-02-20T18:20:31.554Z,1645381231.554 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.scaleFactorOil (part_per_billion_per_count)
2022-02-20T18:20:31.555Z,1645381231.555 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.serial (none)
2022-02-20T18:20:31.555Z,1645381231.555 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.timeout (second)
2022-02-20T18:20:31.574Z,1645381231.574 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.enableBroadcast (bool)
2022-02-20T18:20:31.574Z,1645381231.574 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_voltage (volt)
2022-02-20T18:20:31.575Z,1645381231.575 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_avgVoltage (volt)
2022-02-20T18:20:31.575Z,1645381231.575 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_current (milliampere)
2022-02-20T18:20:31.575Z,1645381231.575 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.component_avgCurrent (milliampere)
2022-02-20T18:20:31.576Z,1645381231.576 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.Output700 (count)
2022-02-20T18:20:31.576Z,1645381231.576 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.OutputFDOM (count)
2022-02-20T18:20:31.576Z,1645381231.576 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.OutputOil (count)
2022-02-20T18:20:31.577Z,1645381231.577 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.OutputChl (count)
2022-02-20T18:20:31.577Z,1645381231.577 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.VolumeScatCoeff117deg700nm (reciprocal_meter_per_steradian)
2022-02-20T18:20:31.577Z,1645381231.577 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.BackscatteringCoeff700nm (reciprocal_meter)
2022-02-20T18:20:31.578Z,1645381231.578 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water (part_per_billion)
2022-02-20T18:20:31.578Z,1645381231.578 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water (kilogram_per_cubic_meter)
2022-02-20T18:20:31.578Z,1645381231.578 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water (microgram_per_liter)
2022-02-20T18:20:31.599Z,1645381231.599 [CommandExec](IMPORTANT): trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A (bool)
2022-02-20T18:20:31.599Z,1645381231.599 [CommandExec](IMPORTANT): trackPatchOil:Science.LowPassWindowLength (count)
2022-02-20T18:20:42.315Z,1645381242.315 [CommandExec](IMPORTANT): got command get WetLabsSeaOWL_UV_A.loadAtStartup
2022-02-20T18:20:42.316Z,1645381242.316 [CommandExec](IMPORTANT): WetLabsSeaOWL_UV_A.loadAtStartup 1 bool
2022-02-20T18:20:44.806Z,1645381244.806 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T18:20:44.806Z,1645381244.806 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T18:20:44.806Z,1645381244.806 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T18:20:44.806Z,1645381244.806 [SBIT](FAULT): Control surface position failure.
2022-02-20T18:20:46.837Z,1645381246.837 [CommandExec](IMPORTANT): got command show stack
2022-02-20T18:20:46.838Z,1645381246.838 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T18:20:46.838Z,1645381246.838 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-02-20T18:20:58.539Z,1645381258.539 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-02-20T18:20:58.539Z,1645381258.539 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-02-20T18:20:58.540Z,1645381258.540 [SBIT](ERROR): Could not read massPosReader_.
2022-02-20T18:20:58.540Z,1645381258.540 [SBIT](FAULT): Control surface position failure.
2022-02-20T18:20:58.943Z,1645381258.943 [SBIT](CRITICAL): SBIT FAILED
2022-02-20T18:20:58.944Z,1645381258.944 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): RudderServo.loadAtStartup=0 bool;

2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): ThrusterServo.loadAtStartup=0 bool;

2022-02-20T18:20:58.945Z,1645381258.945 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2022-02-20T18:20:58.947Z,1645381258.947 [CBIT](INFO): Critical error at 20220220T182058
2022-02-20T18:20:58.947Z,1645381258.947 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-02-20T18:20:59.342Z,1645381259.342 [MissionManager](IMPORTANT): Started mission Startup
2022-02-20T18:20:59.342Z,1645381259.342 [Startup] Running Loop=1
2022-02-20T18:20:59.343Z,1645381259.343 [Startup](DEBUG): Aggregate::initialize Startup
2022-02-20T18:20:59.343Z,1645381259.343 [Startup:A.GoToSurface] Running Loop=1
2022-02-20T18:20:59.343Z,1645381259.343 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T18:20:59.343Z,1645381259.343 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T18:20:59.344Z,1645381259.344 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T18:20:59.344Z,1645381259.344 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T18:20:59.345Z,1645381259.345 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T18:20:59.345Z,1645381259.345 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T18:20:59.347Z,1645381259.347 [Startup:StartupSatComms] Running Loop=1
2022-02-20T18:20:59.347Z,1645381259.347 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-02-20T18:20:59.347Z,1645381259.347 [Startup:StartupSatComms:A] Running Loop=1
2022-02-20T18:20:59.747Z,1645381259.747 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T18:20:59.747Z,1645381259.747 [Startup:StartupSatComms:A] Stopped
2022-02-20T18:20:59.747Z,1645381259.747 [Startup:StartupSatComms:B] Running Loop=1
2022-02-20T18:21:00.151Z,1645381260.151 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T18:21:00.547Z,1645381260.547 [Micromodem](INFO): No more packets to send
2022-02-20T18:21:00.554Z,1645381260.554 [Startup:StartupSatComms:B] Stopped
2022-02-20T18:21:00.554Z,1645381260.554 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-02-20T18:21:00.555Z,1645381260.555 [Startup:StartupSatComms] Stopped
2022-02-20T18:21:00.555Z,1645381260.555 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-02-20T18:21:00.555Z,1645381260.555 [Startup](INFO): Completed Startup
2022-02-20T18:21:00.556Z,1645381260.556 [MissionManager](INFO): Startup is completed.
2022-02-20T18:21:00.556Z,1645381260.556 [MissionManager](INFO): Uninitializing Mission Startup
2022-02-20T18:21:00.556Z,1645381260.556 [Startup] Stopped
2022-02-20T18:21:00.556Z,1645381260.556 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-02-20T18:21:00.556Z,1645381260.556 [Startup:A.GoToSurface] Stopped
2022-02-20T18:21:00.556Z,1645381260.556 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T18:21:00.958Z,1645381260.958 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-20T18:21:00.958Z,1645381260.958 [trackPatchOil] Running Loop=1
2022-02-20T18:21:00.958Z,1645381260.958 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T18:21:00.959Z,1645381260.959 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:Science] Running Loop=1
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:Science:B] Running Loop=1
2022-02-20T18:21:00.960Z,1645381260.960 [trackPatchOil:Science:C] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:D] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:E] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:F] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:00.961Z,1645381260.961 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:00.963Z,1645381260.963 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-20T18:21:00.963Z,1645381260.963 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T18:21:00.963Z,1645381260.963 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T18:21:00.963Z,1645381260.963 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T18:21:00.981Z,1645381260.981 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-20T18:21:00.981Z,1645381260.981 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T18:21:00.981Z,1645381260.981 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:00.981Z,1645381260.981 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:00.983Z,1645381260.983 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-20T18:21:00.983Z,1645381260.983 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-20T18:21:00.983Z,1645381260.983 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:00.983Z,1645381260.983 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:00.994Z,1645381260.994 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-20T18:21:00.994Z,1645381260.994 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T18:21:00.994Z,1645381260.994 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T18:21:00.994Z,1645381260.994 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T18:21:00.995Z,1645381260.995 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-20T18:21:00.995Z,1645381260.995 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T18:21:00.995Z,1645381260.995 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:00.995Z,1645381260.995 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:00.997Z,1645381260.997 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-20T18:21:00.997Z,1645381260.997 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T18:21:00.997Z,1645381260.997 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:00.997Z,1645381260.997 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:00.998Z,1645381260.998 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-20T18:21:00.999Z,1645381260.999 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T18:21:00.999Z,1645381260.999 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T18:21:00.999Z,1645381260.999 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T18:21:00.999Z,1645381260.999 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-20T18:21:00.999Z,1645381260.999 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-20T18:21:00.999Z,1645381260.999 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T18:21:01.036Z,1645381261.036 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-20T18:21:01.036Z,1645381261.036 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T18:21:01.036Z,1645381261.036 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-20T18:21:01.036Z,1645381261.036 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T18:21:01.036Z,1645381261.036 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-20T18:21:01.037Z,1645381261.037 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-20T18:21:01.037Z,1645381261.037 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-20T18:21:01.037Z,1645381261.037 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-20T18:21:01.037Z,1645381261.037 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T18:21:01.037Z,1645381261.037 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-20T18:21:01.038Z,1645381261.038 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-20T18:21:01.038Z,1645381261.038 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-20T18:21:01.038Z,1645381261.038 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T18:21:01.039Z,1645381261.039 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T18:21:01.040Z,1645381261.040 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T18:21:01.040Z,1645381261.040 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T18:21:01.041Z,1645381261.041 [trackPatchOil:Science] Running Loop=1
2022-02-20T18:21:01.041Z,1645381261.041 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:01.042Z,1645381261.042 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:01.043Z,1645381261.043 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:01.055Z,1645381261.055 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-20T18:21:01.055Z,1645381261.055 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T18:21:01.055Z,1645381261.055 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T18:21:01.055Z,1645381261.055 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T18:21:01.055Z,1645381261.055 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-20T18:21:01.055Z,1645381261.055 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-20T18:21:01.056Z,1645381261.056 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:01.056Z,1645381261.056 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:01.056Z,1645381261.056 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T18:21:01.057Z,1645381261.057 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T18:21:01.057Z,1645381261.057 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T18:21:01.057Z,1645381261.057 [trackPatchOil:Science:F] Stopped
2022-02-20T18:21:01.057Z,1645381261.057 [trackPatchOil:Science:E] Stopped
2022-02-20T18:21:01.058Z,1645381261.058 [trackPatchOil:Science:D] Stopped
2022-02-20T18:21:01.058Z,1645381261.058 [trackPatchOil:Science:C] Stopped
2022-02-20T18:21:01.058Z,1645381261.058 [trackPatchOil:Science:B] Stopped
2022-02-20T18:21:01.058Z,1645381261.058 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T18:21:01.058Z,1645381261.058 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-20T18:21:01.058Z,1645381261.058 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T18:21:01.059Z,1645381261.059 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T18:21:01.059Z,1645381261.059 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T18:21:01.059Z,1645381261.059 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T18:21:01.062Z,1645381261.062 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-20T18:21:01.062Z,1645381261.062 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T18:21:01.062Z,1645381261.062 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-20T18:21:01.062Z,1645381261.062 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T18:21:01.063Z,1645381261.063 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T18:21:01.063Z,1645381261.063 [MissionManager](INFO): MissionManager is completed.
2022-02-20T18:21:01.063Z,1645381261.063 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T18:21:01.063Z,1645381261.063 [trackPatchOil] Stopped
2022-02-20T18:21:01.072Z,1645381261.072 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-20T18:21:01.072Z,1645381261.072 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-20T18:21:01.072Z,1645381261.072 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-20T18:21:01.072Z,1645381261.072 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-20T18:21:01.072Z,1645381261.072 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:H.Pitch] Stopped
2022-02-20T18:21:01.073Z,1645381261.073 [trackPatchOil:I.Buoyancy] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science:A] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:K.SetSpeed] Stopped
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-20T18:21:01.074Z,1645381261.074 [trackPatchOil:L.Pitch] Stopped
2022-02-20T18:21:01.414Z,1645381261.414 [MissionManager](IMPORTANT): Started mission Default
2022-02-20T18:21:01.414Z,1645381261.414 [Default] Running Loop=1
2022-02-20T18:21:01.414Z,1645381261.414 [Default](DEBUG): Aggregate::initialize Default
2022-02-20T18:21:01.415Z,1645381261.415 [Default:B.GoToSurface] Running Loop=1
2022-02-20T18:21:01.415Z,1645381261.415 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T18:21:01.415Z,1645381261.415 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T18:21:01.415Z,1645381261.415 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T18:21:01.426Z,1645381261.426 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T18:21:01.426Z,1645381261.426 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T18:21:01.427Z,1645381261.427 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T18:21:01.427Z,1645381261.427 [Default:A.Wait] Running Loop=1
2022-02-20T18:21:01.427Z,1645381261.427 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-20T18:21:05.807Z,1645381265.807 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T18:21:05.807Z,1645381265.807 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T18:21:05.808Z,1645381265.808 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T18:21:05.819Z,1645381265.819 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T18:21:06.230Z,1645381266.230 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T18:21:06.230Z,1645381266.230 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T18:21:14.698Z,1645381274.698 [Default:A.Wait](INFO): Done Waiting.
2022-02-20T18:21:14.698Z,1645381274.698 [Default:A.Wait] Stopped
2022-02-20T18:21:14.699Z,1645381274.699 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T18:21:15.041Z,1645381275.041 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchoil.xml
2022-02-20T18:21:15.041Z,1645381275.041 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchoil.xml
2022-02-20T18:21:15.042Z,1645381275.042 [MissionManager](ERROR): Cannot load Xml file ./Missions/Science/trackPatchoil.xml due to: Failed to open file
2022-02-20T18:21:15.042Z,1645381275.042 [MissionManager](CRITICAL): Could not load mission ./Missions/Science/trackPatchoil.xml
2022-02-20T18:21:15.042Z,1645381275.042 [CommandExec](CRITICAL): Could not run ./Missions/Science/trackPatchoil.xml
2022-02-20T18:21:15.115Z,1645381275.115 [Default:CheckIn] Running Loop=1
2022-02-20T18:21:15.115Z,1645381275.115 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T18:21:15.115Z,1645381275.115 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T18:21:15.122Z,1645381275.122 [CBIT](INFO): Critical error at 20220220T182115
2022-02-20T18:21:15.512Z,1645381275.512 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-02-20T18:21:21.150Z,1645381281.150 [NAL9602](INFO): No messages in MT queue
2022-02-20T18:21:28.101Z,1645381288.101 [CommandExec](IMPORTANT): got command run ./Missions/Science/TrackPatchOil.xml
2022-02-20T18:21:28.101Z,1645381288.101 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/TrackPatchOil.xml
2022-02-20T18:21:28.102Z,1645381288.102 [MissionManager](ERROR): Cannot load Xml file ./Missions/Science/TrackPatchOil.xml due to: Failed to open file
2022-02-20T18:21:28.102Z,1645381288.102 [MissionManager](CRITICAL): Could not load mission ./Missions/Science/TrackPatchOil.xml
2022-02-20T18:21:28.102Z,1645381288.102 [CommandExec](CRITICAL): Could not run ./Missions/Science/TrackPatchOil.xml
2022-02-20T18:21:28.456Z,1645381288.456 [CBIT](INFO): Critical error at 20220220T182128
2022-02-20T18:21:50.455Z,1645381310.455 [CommandExec](IMPORTANT): got command run ./Missions/Science/trackPatchOil.xml
2022-02-20T18:21:50.455Z,1645381310.455 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/trackPatchOil.xml
2022-02-20T18:21:50.698Z,1645381310.698 [MissionManager](INFO): DefineArg trackPatchOil.MinAltitude = 5.000000 m
2022-02-20T18:21:50.700Z,1645381310.700 [MissionManager](INFO): DefineArg trackPatchOil.MaxDepth = 65.000000 m
2022-02-20T18:21:50.702Z,1645381310.702 [MissionManager](INFO): DefineArg trackPatchOil.MinWaterDepth = 10.000000 m
2022-02-20T18:21:50.704Z,1645381310.704 [MissionManager](INFO): DefineArg trackPatchOil.MinOffshore = 2000.000000 m
2022-02-20T18:21:50.706Z,1645381310.706 [MissionManager](INFO): DefineArg trackPatchOil.NeedCommsTime = 180.000000 min
2022-02-20T18:21:50.709Z,1645381310.709 [MissionManager](INFO): DefineArg trackPatchOil.MissionTimeout = 9.000000 d
2022-02-20T18:21:50.711Z,1645381310.711 [MissionManager](INFO): DefineArg trackPatchOil.MassDefault = 0.990000 cm
2022-02-20T18:21:50.714Z,1645381310.714 [MissionManager](INFO): DefineArg trackPatchOil.BuoyancyNeutral = 223.000000 cc
2022-02-20T18:21:50.716Z,1645381310.716 [MissionManager](INFO): DefineArg trackPatchOil.Depth = 3.000000 m
2022-02-20T18:21:50.718Z,1645381310.718 [MissionManager](INFO): DefineArg trackPatchOil.Speed = 1.000000 m/s
2022-02-20T18:21:50.720Z,1645381310.720 [MissionManager](INFO): DefineArg trackPatchOil.WpMaxDistance = 12000.000000 m
2022-02-20T18:21:50.722Z,1645381310.722 [MissionManager](INFO): DefineArg trackPatchOil.WpTimeout = 12000.000000 s
2022-02-20T18:21:50.724Z,1645381310.724 [MissionManager](INFO): DefineArg trackPatchOil.WaterFrame = 1 bool
2022-02-20T18:21:50.726Z,1645381310.726 [MissionManager](INFO): DefineArg trackPatchOil.Repeat = 200.000000 count
2022-02-20T18:21:50.745Z,1645381310.745 [MissionManager](INFO): DefineArg trackPatchOil.Turn = 90.000000 arcdeg
2022-02-20T18:21:50.747Z,1645381310.747 [MissionManager](INFO): DefineArg trackPatchOil.Reverse = 180.000000 arcdeg
2022-02-20T18:21:50.758Z,1645381310.758 [MissionManager](INFO): DefineArg trackPatchOil.TwoPi = 360.000000 arcdeg
2022-02-20T18:21:50.764Z,1645381310.764 [MissionManager](INFO): DefineArg trackPatchOil.FilterWidth = 260.000000 count
2022-02-20T18:21:50.766Z,1645381310.766 [MissionManager](INFO): DefineArg trackPatchOil.BeginThreshold = 0.200000 kg/m3
2022-02-20T18:21:50.777Z,1645381310.777 [MissionManager](INFO): DefineArg trackPatchOil.OffPeakFraction = 10.000000 %
2022-02-20T18:21:50.779Z,1645381310.779 [MissionManager](INFO): DefineArg trackPatchOil.PatchMode = 0 bool
2022-02-20T18:21:50.782Z,1645381310.782 [MissionManager](INFO): DefineArg trackPatchOil.DetectOilTimeout = 15.000000 min
2022-02-20T18:21:50.784Z,1645381310.784 [MissionManager](INFO): DefineArg trackPatchOil.WpBearing = 90.000000 arcdeg
2022-02-20T18:21:50.786Z,1645381310.786 [MissionManager](INFO): DefineOutput trackPatchOil.PatchDetectOn = 0 bool
2022-02-20T18:21:50.805Z,1645381310.805 [MissionManager](INFO): DefineOutput trackPatchOil.WpDone = 0 bool
2022-02-20T18:21:50.807Z,1645381310.807 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOil = nan ug/l
2022-02-20T18:21:50.815Z,1645381310.815 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDepth = nan m
2022-02-20T18:21:50.818Z,1645381310.818 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLatitude = nan arcdeg
2022-02-20T18:21:50.820Z,1645381310.820 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilLongitude = nan arcdeg
2022-02-20T18:21:50.822Z,1645381310.822 [MissionManager](INFO): DefineOutput trackPatchOil.PatchOilDistance = 0.000000 m
2022-02-20T18:21:50.823Z,1645381310.823 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-02-20T18:21:50.843Z,1645381310.843 [trackPatchOil:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-02-20T18:21:50.864Z,1645381310.864 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T18:21:50.953Z,1645381310.953 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceDepthRate = nan m/s
2022-02-20T18:21:50.955Z,1645381310.955 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = 20.000000 arcdeg
2022-02-20T18:21:50.965Z,1645381310.965 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = 1.000000 m/s
2022-02-20T18:21:50.967Z,1645381310.967 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.IridiumTimeout = 30.000000 min
2022-02-20T18:21:50.969Z,1645381310.969 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = 0 bool
2022-02-20T18:21:50.970Z,1645381310.970 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T18:21:50.999Z,1645381310.999 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfacePitch = value:20.000000 arcdeg
2022-02-20T18:21:51.001Z,1645381311.001 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.SurfaceSpeed = value:1.000000 m/s
2022-02-20T18:21:51.003Z,1645381311.003 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceCommsSplit.UnpackSplitAtSurface = value:1 bool
2022-02-20T18:21:51.004Z,1645381311.004 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Surface.xml
2022-02-20T18:21:51.035Z,1645381311.035 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceDepthRate = nan m/s
2022-02-20T18:21:51.037Z,1645381311.037 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = 20.000000 arcdeg
2022-02-20T18:21:51.039Z,1645381311.039 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = 1.000000 m/s
2022-02-20T18:21:51.042Z,1645381311.042 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.IridiumTimeout = 30.000000 min
2022-02-20T18:21:51.043Z,1645381311.043 [MissionManager](INFO): DefineArg trackPatchOil:SurfaceComms:SurfaceComms.UnpackSplitAtSurface = 0 bool
2022-02-20T18:21:51.085Z,1645381311.085 [trackPatchOil:SurfaceComms:SurfaceComms:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-02-20T18:21:51.114Z,1645381311.114 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfacePitch = value:20.000000 arcdeg
2022-02-20T18:21:51.121Z,1645381311.121 [MissionManager](INFO): RedefineArg trackPatchOil:SurfaceComms:SurfaceComms.SurfaceSpeed = value:1.000000 m/s
2022-02-20T18:21:51.131Z,1645381311.131 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-02-20T18:21:51.143Z,1645381311.143 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-02-20T18:21:51.147Z,1645381311.147 [trackPatchOil:H.Pitch](DEBUG): Construct.
2022-02-20T18:21:51.152Z,1645381311.152 [trackPatchOil:I.Buoyancy](DEBUG): Construct Buoyancy.
2022-02-20T18:21:51.154Z,1645381311.154 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-02-20T18:21:51.409Z,1645381311.409 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectChlActive = 0 bool
2022-02-20T18:21:51.411Z,1645381311.411 [MissionManager](INFO): DefineArg trackPatchOil:Science.TimeWindowPeakReport = nan min
2022-02-20T18:21:51.413Z,1645381311.413 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestChlPeakReportActive = 0 bool
2022-02-20T18:21:51.415Z,1645381311.415 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestSaltPeakReportActive = 0 bool
2022-02-20T18:21:51.417Z,1645381311.417 [MissionManager](INFO): DefineArg trackPatchOil:Science.HighestOilPeakReportActive = 0 bool
2022-02-20T18:21:51.419Z,1645381311.419 [MissionManager](INFO): DefineArg trackPatchOil:Science.PatchTracking = 0 bool
2022-02-20T18:21:51.421Z,1645381311.421 [MissionManager](INFO): DefineArg trackPatchOil:Science.DetectTrough = 0 bool
2022-02-20T18:21:51.423Z,1645381311.423 [MissionManager](INFO): DefineArg trackPatchOil:Science.FilterWidthHorizontal = 3.000000 count
2022-02-20T18:21:51.425Z,1645381311.425 [MissionManager](INFO): DefineArg trackPatchOil:Science.NumProfilesSlidingwindow = 100.000000 count
2022-02-20T18:21:51.427Z,1645381311.427 [MissionManager](INFO): DefineArg trackPatchOil:Science.OffPeakFractionHorizontal = 80.000000 %
2022-02-20T18:21:51.482Z,1645381311.482 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectNO3Active = 0 bool
2022-02-20T18:21:51.484Z,1645381311.484 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectOilActive = 0 bool
2022-02-20T18:21:51.485Z,1645381311.485 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectFDOMActive = 0 bool
2022-02-20T18:21:51.487Z,1645381311.487 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDetectSalinityActive = 0 bool
2022-02-20T18:21:51.489Z,1645381311.489 [MissionManager](INFO): DefineArg trackPatchOil:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-02-20T18:21:51.518Z,1645381311.518 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledAanderaaO2 = 1 bool
2022-02-20T18:21:51.521Z,1645381311.521 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledNeilBrown = 0 bool
2022-02-20T18:21:51.523Z,1645381311.523 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledSeabird = 0 bool
2022-02-20T18:21:51.526Z,1645381311.526 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsBB2FL = 0 bool
2022-02-20T18:21:51.539Z,1645381311.539 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-02-20T18:21:51.542Z,1645381311.542 [MissionManager](INFO): DefineArg trackPatchOil:Science.EnabledWetLabsUBAT = 0 bool
2022-02-20T18:21:51.544Z,1645381311.544 [MissionManager](INFO): DefineArg trackPatchOil:Science.LowPassWindowLength = 20.000000 count
2022-02-20T18:21:51.546Z,1645381311.546 [MissionManager](INFO): DefineArg trackPatchOil:Science.MedianFilterLen = 5.000000 count
2022-02-20T18:21:51.563Z,1645381311.563 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakShallowBound = nan m
2022-02-20T18:21:51.566Z,1645381311.566 [MissionManager](INFO): DefineArg trackPatchOil:Science.PeakDeepBound = nan m
2022-02-20T18:21:51.568Z,1645381311.568 [MissionManager](INFO): DefineArg trackPatchOil:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-02-20T18:21:51.570Z,1645381311.570 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChl = 0.000000 ug/l
2022-02-20T18:21:51.613Z,1645381311.613 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlDepth = 0.000000 m
2022-02-20T18:21:51.616Z,1645381311.616 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlTemperature = 0.000000 degC
2022-02-20T18:21:51.618Z,1645381311.618 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLatitude = nan arcdeg
2022-02-20T18:21:51.641Z,1645381311.641 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakChlLongitude = nan arcdeg
2022-02-20T18:21:51.643Z,1645381311.643 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3 = 0.000000 umol/l
2022-02-20T18:21:51.646Z,1645381311.646 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Depth = 0.000000 m
2022-02-20T18:21:51.648Z,1645381311.648 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Latitude = nan arcdeg
2022-02-20T18:21:51.650Z,1645381311.650 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakNO3Longitude = nan arcdeg
2022-02-20T18:21:51.667Z,1645381311.667 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOil = 0.000000 kg/m3
2022-02-20T18:21:51.670Z,1645381311.670 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilDepth = 0.000000 m
2022-02-20T18:21:51.672Z,1645381311.672 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLatitude = nan arcdeg
2022-02-20T18:21:51.674Z,1645381311.674 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakOilLongitude = nan arcdeg
2022-02-20T18:21:51.691Z,1645381311.691 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOM = 0.000000 ppb
2022-02-20T18:21:51.693Z,1645381311.693 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMDepth = 0.000000 m
2022-02-20T18:21:51.696Z,1645381311.696 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMTemperature = nan degC
2022-02-20T18:21:51.698Z,1645381311.698 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLatitude = nan arcdeg
2022-02-20T18:21:51.709Z,1645381311.709 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakFDOMLongitude = nan arcdeg
2022-02-20T18:21:51.711Z,1645381311.711 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchFDOMDistance = nan m
2022-02-20T18:21:51.713Z,1645381311.713 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSalt = 0.000000 psu
2022-02-20T18:21:51.716Z,1645381311.716 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltDepth = 0.000000 m
2022-02-20T18:21:51.718Z,1645381311.718 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltTemperature = 0.000000 degC
2022-02-20T18:21:51.734Z,1645381311.734 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLatitude = nan arcdeg
2022-02-20T18:21:51.737Z,1645381311.737 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PeakSaltLongitude = nan arcdeg
2022-02-20T18:21:51.739Z,1645381311.739 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChl = 0.000000 ug/l
2022-02-20T18:21:51.741Z,1645381311.741 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDepth = 0.000000 m
2022-02-20T18:21:51.756Z,1645381311.756 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLatitude = nan arcdeg
2022-02-20T18:21:51.758Z,1645381311.758 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlLongitude = nan arcdeg
2022-02-20T18:21:51.760Z,1645381311.760 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchChlDistance = nan m
2022-02-20T18:21:51.763Z,1645381311.763 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSalt = 0.000000 psu
2022-02-20T18:21:51.773Z,1645381311.773 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDepth = 0.000000 m
2022-02-20T18:21:51.776Z,1645381311.776 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLatitude = nan arcdeg
2022-02-20T18:21:51.778Z,1645381311.778 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltLongitude = nan arcdeg
2022-02-20T18:21:51.780Z,1645381311.780 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchSaltDistance = nan m
2022-02-20T18:21:51.783Z,1645381311.783 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOil = 0.000000 psu
2022-02-20T18:21:51.785Z,1645381311.785 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDepth = 0.000000 m
2022-02-20T18:21:51.787Z,1645381311.787 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLatitude = nan arcdeg
2022-02-20T18:21:51.790Z,1645381311.790 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilLongitude = nan arcdeg
2022-02-20T18:21:51.793Z,1645381311.793 [MissionManager](INFO): DefineOutput trackPatchOil:Science.PatchOilDistance = nan m
2022-02-20T18:21:51.808Z,1645381311.808 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:21:51.819Z,1645381311.819 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T18:21:51.831Z,1645381311.831 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:21:51.840Z,1645381311.840 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:21:51.850Z,1645381311.850 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T18:21:51.887Z,1645381311.887 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:21:51.899Z,1645381311.899 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-02-20T18:21:51.910Z,1645381311.910 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-02-20T18:21:51.920Z,1645381311.920 [trackPatchOil:K.SetSpeed](DEBUG): Construct.
2022-02-20T18:21:51.923Z,1645381311.923 [trackPatchOil:L.Pitch](DEBUG): Construct.
2022-02-20T18:21:51.949Z,1645381311.949 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Construct PatchTrack.
2022-02-20T18:21:51.967Z,1645381311.967 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:21:51.981Z,1645381311.981 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossPeakWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:21:52.001Z,1645381312.001 [trackPatchOil:PatchDetectHorizontal:InLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:21:52.012Z,1645381312.012 [trackPatchOil:PatchDetectHorizontal:OutLeg:OutLegWp.Waypoint](DEBUG): Construct Waypoint.
2022-02-20T18:21:52.055Z,1645381312.055 [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>


2022-02-20T18:21:52.058Z,1645381312.058 [CommandExec](IMPORTANT): Running ./Missions/Science/trackPatchOil.xml
2022-02-20T18:21:52.279Z,1645381312.279 [Default] Stopped
2022-02-20T18:21:52.279Z,1645381312.279 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-20T18:21:52.279Z,1645381312.279 [Default:B.GoToSurface] Stopped
2022-02-20T18:21:52.279Z,1645381312.279 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T18:21:52.279Z,1645381312.279 [Default:CheckIn] Stopped
2022-02-20T18:21:52.279Z,1645381312.279 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T18:21:52.279Z,1645381312.279 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T18:21:52.279Z,1645381312.279 [MissionManager](IMPORTANT): Started mission trackPatchOil
2022-02-20T18:21:52.280Z,1645381312.280 [trackPatchOil] Running Loop=1
2022-02-20T18:21:52.280Z,1645381312.280 [trackPatchOil](DEBUG): Aggregate::initialize trackPatchOil
2022-02-20T18:21:52.280Z,1645381312.280 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T18:21:52.280Z,1645381312.280 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-02-20T18:21:52.280Z,1645381312.280 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T18:21:52.280Z,1645381312.280 [trackPatchOil:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:H.Pitch](DEBUG): Initialize.
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:I.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:Science] Running Loop=1
2022-02-20T18:21:52.281Z,1645381312.281 [trackPatchOil:Science](DEBUG): Aggregate::initialize trackPatchOil:Science
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:B] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:C] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:D] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:E] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:F] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:PeakDetectChl] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectChl
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:52.282Z,1645381312.282 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:52.284Z,1645381312.284 [trackPatchOil:Science:HighestChlPeakReport] Running Loop=1
2022-02-20T18:21:52.284Z,1645381312.284 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T18:21:52.284Z,1645381312.284 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T18:21:52.284Z,1645381312.284 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T18:21:52.285Z,1645381312.285 [trackPatchOil:Science:PeakDetectNO3] Running Loop=1
2022-02-20T18:21:52.285Z,1645381312.285 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T18:21:52.285Z,1645381312.285 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:52.285Z,1645381312.285 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:52.286Z,1645381312.286 [trackPatchOil:Science:PeakDetectOil] Running Loop=1
2022-02-20T18:21:52.286Z,1645381312.286 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectOil
2022-02-20T18:21:52.286Z,1645381312.286 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:52.286Z,1645381312.286 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:52.287Z,1645381312.287 [trackPatchOil:Science:HighestOilPeakReport] Running Loop=1
2022-02-20T18:21:52.288Z,1645381312.288 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T18:21:52.288Z,1645381312.288 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T18:21:52.288Z,1645381312.288 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T18:21:52.288Z,1645381312.288 [trackPatchOil:Science:PeakDetectFDOM] Running Loop=1
2022-02-20T18:21:52.288Z,1645381312.288 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T18:21:52.289Z,1645381312.289 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:52.289Z,1645381312.289 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:52.290Z,1645381312.290 [trackPatchOil:Science:PeakDetectSalinity] Running Loop=1
2022-02-20T18:21:52.290Z,1645381312.290 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T18:21:52.290Z,1645381312.290 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-02-20T18:21:52.290Z,1645381312.290 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-02-20T18:21:52.291Z,1645381312.291 [trackPatchOil:Science:HighestSaltPeakReport] Running Loop=1
2022-02-20T18:21:52.291Z,1645381312.291 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T18:21:52.291Z,1645381312.291 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-02-20T18:21:52.292Z,1645381312.292 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-02-20T18:21:52.292Z,1645381312.292 [trackPatchOil:Science:OceanCurrent] Running Loop=1
2022-02-20T18:21:52.292Z,1645381312.292 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::initialize trackPatchOil:Science:OceanCurrent
2022-02-20T18:21:52.292Z,1645381312.292 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:K.SetSpeed](DEBUG): Initialize.
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:L.Pitch](DEBUG): Initialize.
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:SurfaceCommsSplit] Running Loop=1
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Running Loop=1
2022-02-20T18:21:52.293Z,1645381312.293 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T18:21:52.294Z,1645381312.294 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-02-20T18:21:52.294Z,1645381312.294 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-02-20T18:21:52.295Z,1645381312.295 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-02-20T18:21:52.295Z,1645381312.295 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T18:21:52.295Z,1645381312.295 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T18:21:52.320Z,1645381312.320 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T18:21:52.328Z,1645381312.328 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T18:21:52.328Z,1645381312.328 [trackPatchOil:Science] Running Loop=1
2022-02-20T18:21:52.329Z,1645381312.329 [trackPatchOil:Science:HighestSaltPeakReport] Stopped
2022-02-20T18:21:52.329Z,1645381312.329 [trackPatchOil:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestSaltPeakReport
2022-02-20T18:21:52.329Z,1645381312.329 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T18:21:52.329Z,1645381312.329 [trackPatchOil:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T18:21:52.329Z,1645381312.329 [trackPatchOil:Science:PeakDetectSalinity] Stopped
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectSalinity
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectFDOM] Stopped
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectFDOM
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:HighestOilPeakReport] Stopped
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestOilPeakReport
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T18:21:52.330Z,1645381312.330 [trackPatchOil:Science:PeakDetectOil] Stopped
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectOil
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectNO3] Stopped
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectNO3
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:HighestChlPeakReport] Stopped
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize trackPatchOil:Science:HighestChlPeakReport
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-02-20T18:21:52.331Z,1645381312.331 [trackPatchOil:Science:PeakDetectChl] Stopped
2022-02-20T18:21:52.332Z,1645381312.332 [trackPatchOil:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize trackPatchOil:Science:PeakDetectChl
2022-02-20T18:21:52.332Z,1645381312.332 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-02-20T18:21:52.332Z,1645381312.332 [trackPatchOil:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-02-20T18:21:52.332Z,1645381312.332 [trackPatchOil:Science:OceanCurrent:A.] Running Loop=1
2022-02-20T18:21:52.332Z,1645381312.332 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:F] Stopped
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:E] Stopped
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:D] Stopped
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:C] Stopped
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:B] Stopped
2022-02-20T18:21:52.333Z,1645381312.333 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T18:21:52.334Z,1645381312.334 [trackPatchOil:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2022-02-20T18:21:52.334Z,1645381312.334 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T18:21:52.334Z,1645381312.334 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T18:21:52.334Z,1645381312.334 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T18:21:52.334Z,1645381312.334 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T18:21:52.352Z,1645381312.352 [trackPatchOil:SurfaceCommsSplit:B] Running Loop=1
2022-02-20T18:21:52.352Z,1645381312.352 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T18:21:52.352Z,1645381312.352 [trackPatchOil:SurfaceCommsSplit:B:A] Running Loop=1
2022-02-20T18:21:52.353Z,1645381312.353 [trackPatchOil:B.DepthEnvelope] Running Loop=1
2022-02-20T18:21:52.353Z,1645381312.353 [trackPatchOil:A.AltitudeEnvelope] Running Loop=1
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:B:A](INFO): ##UnpackSplit##
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:B:A] Stopped
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:B](INFO): Completed trackPatchOil:SurfaceCommsSplit:B
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:B] Stopped
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:B](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:B
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:C] Running Loop=1
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::initialize trackPatchOil:SurfaceCommsSplit:C
2022-02-20T18:21:52.716Z,1645381312.716 [trackPatchOil:SurfaceCommsSplit:C:A] Running Loop=1
2022-02-20T18:21:52.746Z,1645381312.746 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.066727 kg/m3
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:L.Pitch] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:K.SetSpeed] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:Science] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:Science:A] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:Science:Read_Oil] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:I.Buoyancy] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:H.Pitch] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:G.WaterDepthEnvelope] Preempted
2022-02-20T18:21:53.091Z,1645381313.091 [trackPatchOil:F.OffshoreEnvelope] Preempted
2022-02-20T18:21:53.093Z,1645381313.093 [trackPatchOil:SurfaceCommsSplit:C:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T18:21:53.093Z,1645381313.093 [trackPatchOil:SurfaceCommsSplit:C:A] Stopped
2022-02-20T18:21:53.093Z,1645381313.093 [trackPatchOil:SurfaceCommsSplit:C:B] Running Loop=1
2022-02-20T18:21:53.491Z,1645381313.491 [trackPatchOil:SurfaceCommsSplit:C:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-02-20T18:21:53.882Z,1645381313.882 [Micromodem](INFO): No more packets to send
2022-02-20T18:21:53.897Z,1645381313.897 [trackPatchOil:SurfaceCommsSplit:C:B] Stopped
2022-02-20T18:21:53.897Z,1645381313.897 [trackPatchOil:SurfaceCommsSplit:C:C] Running Loop=1
2022-02-20T18:21:53.899Z,1645381313.899 [trackPatchOil:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2022-02-20T18:21:54.295Z,1645381314.295 [trackPatchOil:SurfaceCommsSplit:C:C](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-02-20T18:21:54.295Z,1645381314.295 [trackPatchOil:SurfaceCommsSplit:C:C] Stopped
2022-02-20T18:21:54.295Z,1645381314.295 [trackPatchOil:SurfaceCommsSplit:C](INFO): Completed trackPatchOil:SurfaceCommsSplit:C
2022-02-20T18:21:54.295Z,1645381314.295 [trackPatchOil:SurfaceCommsSplit:C] Stopped
2022-02-20T18:21:54.295Z,1645381314.295 [trackPatchOil:SurfaceCommsSplit:C](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit:C
2022-02-20T18:21:54.296Z,1645381314.296 [trackPatchOil:SurfaceCommsSplit](INFO): Completed trackPatchOil:SurfaceCommsSplit
2022-02-20T18:21:54.296Z,1645381314.296 [trackPatchOil:SurfaceCommsSplit] Stopped
2022-02-20T18:21:54.296Z,1645381314.296 [trackPatchOil:SurfaceCommsSplit](DEBUG): Aggregate::uninitialize trackPatchOil:SurfaceCommsSplit
2022-02-20T18:21:54.296Z,1645381314.296 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface] Stopped
2022-02-20T18:21:54.297Z,1645381314.297 [trackPatchOil:SurfaceCommsSplit:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T18:21:54.297Z,1645381314.297 [trackPatchOil:PatchDetectHorizontal] Running Loop=1
2022-02-20T18:21:54.297Z,1645381314.297 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal
2022-02-20T18:21:54.297Z,1645381314.297 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Running Loop=1
2022-02-20T18:21:54.699Z,1645381314.699 [trackPatchOil:PatchDetectHorizontal:AssignPatchDetectOn] Stopped
2022-02-20T18:21:54.699Z,1645381314.699 [trackPatchOil:PatchDetectHorizontal:C] Running Loop=1
2022-02-20T18:21:54.699Z,1645381314.699 [trackPatchOil:L.Pitch] Running Loop=1
2022-02-20T18:21:54.708Z,1645381314.708 [trackPatchOil:K.SetSpeed] Running Loop=1
2022-02-20T18:21:54.708Z,1645381314.708 [trackPatchOil:Science] Running Loop=1
2022-02-20T18:21:54.709Z,1645381314.709 [trackPatchOil:Science:Read_Oil] Running Loop=1
2022-02-20T18:21:54.709Z,1645381314.709 [trackPatchOil:Science:A] Running Loop=1
2022-02-20T18:21:54.709Z,1645381314.709 [trackPatchOil:I.Buoyancy] Running Loop=1
2022-02-20T18:21:54.710Z,1645381314.710 [trackPatchOil:H.Pitch] Running Loop=1
2022-02-20T18:21:54.710Z,1645381314.710 [trackPatchOil:G.WaterDepthEnvelope] Running Loop=1
2022-02-20T18:21:54.710Z,1645381314.710 [trackPatchOil:F.OffshoreEnvelope] Running Loop=1
2022-02-20T18:21:55.128Z,1645381315.128 [trackPatchOil:PatchDetectHorizontal:C](INFO): Bearing for CrossLeg: 90.000000 arcdeg 
2022-02-20T18:21:55.128Z,1645381315.128 [trackPatchOil:PatchDetectHorizontal:C] Stopped
2022-02-20T18:21:55.128Z,1645381315.128 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Running Loop=1
2022-02-20T18:21:55.128Z,1645381315.128 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-20T18:21:55.128Z,1645381315.128 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Running Loop=1
2022-02-20T18:21:55.128Z,1645381315.128 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Initialize WaypointComponent.
2022-02-20T18:21:55.130Z,1645381315.130 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Running Loop=1
2022-02-20T18:21:55.130Z,1645381315.130 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::initialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-20T18:21:55.130Z,1645381315.130 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Running Loop=1
2022-02-20T18:21:55.130Z,1645381315.130 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](INFO): Initialize.
2022-02-20T18:22:03.427Z,1645381323.427 [CommandExec](IMPORTANT): got command get depth
2022-02-20T18:22:03.428Z,1645381323.428 [CommandExec](IMPORTANT): depth 1.000000 m
2022-02-20T18:22:08.229Z,1645381328.229 [CommandExec](IMPORTANT): got command show stack
2022-02-20T18:22:08.229Z,1645381328.229 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T18:22:08.230Z,1645381328.230 [trackPatchOil](IMPORTANT): Priority 0: trackPatchOil:A.AltitudeEnvelope
2022-02-20T18:22:08.230Z,1645381328.230 [trackPatchOil](IMPORTANT): Priority 1: trackPatchOil:B.DepthEnvelope
2022-02-20T18:22:08.230Z,1645381328.230 [trackPatchOil](IMPORTANT): Priority 2: trackPatchOil:F.OffshoreEnvelope
2022-02-20T18:22:08.231Z,1645381328.231 [trackPatchOil](IMPORTANT): Priority 3: trackPatchOil:G.WaterDepthEnvelope
2022-02-20T18:22:08.231Z,1645381328.231 [trackPatchOil](IMPORTANT): Priority 4: trackPatchOil:H.Pitch
2022-02-20T18:22:08.231Z,1645381328.231 [trackPatchOil](IMPORTANT): Priority 5: trackPatchOil:I.Buoyancy
2022-02-20T18:22:08.232Z,1645381328.232 [trackPatchOil:Science](IMPORTANT): Priority 6: trackPatchOil:Science:A
2022-02-20T18:22:08.232Z,1645381328.232 [trackPatchOil:Science](IMPORTANT): Priority 7: trackPatchOil:Science:Read_Oil
2022-02-20T18:22:08.233Z,1645381328.233 [trackPatchOil:Science:OceanCurrent](IMPORTANT): Priority 8: trackPatchOil:Science:OceanCurrent:A.
2022-02-20T18:22:08.233Z,1645381328.233 [trackPatchOil](IMPORTANT): Priority 9: trackPatchOil:K.SetSpeed
2022-02-20T18:22:08.233Z,1645381328.233 [trackPatchOil](IMPORTANT): Priority 10: trackPatchOil:L.Pitch
2022-02-20T18:22:08.234Z,1645381328.234 [trackPatchOil:PatchDetectHorizontal:PatchDetection](IMPORTANT): Priority 11: trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack
2022-02-20T18:22:08.234Z,1645381328.234 [trackPatchOil:PatchDetectHorizontal:CrossLeg](IMPORTANT): Priority 12: trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint
2022-02-20T18:22:17.893Z,1645381337.893 [CommandExec](IMPORTANT): got command get latitude
2022-02-20T18:22:17.894Z,1645381337.894 [CommandExec](IMPORTANT): latitude 36.700001 arcdeg
2022-02-20T18:22:22.801Z,1645381342.801 [CommandExec](IMPORTANT): got command show stack
2022-02-20T18:22:22.801Z,1645381342.801 [CommandExec](IMPORTANT): Behavior Stack:

2022-02-20T18:22:22.802Z,1645381342.802 [trackPatchOil](IMPORTANT): Priority 0: trackPatchOil:A.AltitudeEnvelope
2022-02-20T18:22:22.802Z,1645381342.802 [trackPatchOil](IMPORTANT): Priority 1: trackPatchOil:B.DepthEnvelope
2022-02-20T18:22:22.802Z,1645381342.802 [trackPatchOil](IMPORTANT): Priority 2: trackPatchOil:F.OffshoreEnvelope
2022-02-20T18:22:22.803Z,1645381342.803 [trackPatchOil](IMPORTANT): Priority 3: trackPatchOil:G.WaterDepthEnvelope
2022-02-20T18:22:22.803Z,1645381342.803 [trackPatchOil](IMPORTANT): Priority 4: trackPatchOil:H.Pitch
2022-02-20T18:22:22.803Z,1645381342.803 [trackPatchOil](IMPORTANT): Priority 5: trackPatchOil:I.Buoyancy
2022-02-20T18:22:22.804Z,1645381342.804 [trackPatchOil:Science](IMPORTANT): Priority 6: trackPatchOil:Science:A
2022-02-20T18:22:22.805Z,1645381342.805 [trackPatchOil:Science](IMPORTANT): Priority 7: trackPatchOil:Science:Read_Oil
2022-02-20T18:22:22.805Z,1645381342.805 [trackPatchOil:Science:OceanCurrent](IMPORTANT): Priority 8: trackPatchOil:Science:OceanCurrent:A.
2022-02-20T18:22:22.805Z,1645381342.805 [trackPatchOil](IMPORTANT): Priority 9: trackPatchOil:K.SetSpeed
2022-02-20T18:22:22.805Z,1645381342.805 [trackPatchOil](IMPORTANT): Priority 10: trackPatchOil:L.Pitch
2022-02-20T18:22:22.806Z,1645381342.806 [trackPatchOil:PatchDetectHorizontal:PatchDetection](IMPORTANT): Priority 11: trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack
2022-02-20T18:22:22.806Z,1645381342.806 [trackPatchOil:PatchDetectHorizontal:CrossLeg](IMPORTANT): Priority 12: trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint
2022-02-20T18:22:24.994Z,1645381344.994 [NAL9602](INFO): Not Powering down - fast GPS
2022-02-20T18:22:27.621Z,1645381347.621 [CommandExec](IMPORTANT): got command report
2022-02-20T18:22:27.621Z,1645381347.621 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water reporting changes
2022-02-20T18:22:41.134Z,1645381361.134 [CommandExec](IMPORTANT): got command get SpeedControl.speedCmd
2022-02-20T18:22:41.134Z,1645381361.134 [CommandExec](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2022-02-20T18:22:50.785Z,1645381370.785 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 2 meter
2022-02-20T18:22:51.764Z,1645381371.764 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.127195 kg/m3
2022-02-20T18:23:01.367Z,1645381381.367 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.5 meter
2022-02-20T18:23:01.964Z,1645381381.964 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.000000 kg/m3
2022-02-20T18:23:06.783Z,1645381386.783 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-02-20T18:23:06.783Z,1645381386.783 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-02-20T18:23:06.783Z,1645381386.783 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-02-20T18:23:06.794Z,1645381386.794 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-20T18:23:06.829Z,1645381386.829 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-02-20T18:23:07.154Z,1645381387.154 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](ERROR): Location not readable.
2022-02-20T18:23:07.170Z,1645381387.170 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-02-20T18:23:07.170Z,1645381387.170 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2022-02-20T18:23:11.970Z,1645381391.970 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 3 meter
2022-02-20T18:23:21.485Z,1645381401.485 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1.5
2022-02-20T18:23:21.485Z,1645381401.485 [CommandExec](FAULT): Incomplete syntax. Try: help maintain
2022-02-20T18:23:26.695Z,1645381406.695 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1.5 meter
2022-02-20T18:23:27.447Z,1645381407.447 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.491063 kg/m3
2022-02-20T18:23:39.840Z,1645381419.840 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 5 meter
2022-02-20T18:23:40.341Z,1645381420.341 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.000000 kg/m3
2022-02-20T18:23:47.733Z,1645381427.733 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.5 meter
2022-02-20T18:23:48.411Z,1645381428.411 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.003857 kg/m3
2022-02-20T18:23:55.218Z,1645381435.218 [CommandExec](IMPORTANT): got command maintain sensor Depth_Keller.depth 1 meter
2022-02-20T18:23:55.679Z,1645381435.679 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.066727 kg/m3
2022-02-20T18:23:58.901Z,1645381438.901 [CommandExec](IMPORTANT): got command stop
2022-02-20T18:23:58.901Z,1645381438.901 [CommandExec](IMPORTANT): Scheduling is paused
2022-02-20T18:23:58.901Z,1645381438.901 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-02-20T18:23:58.920Z,1645381438.920 [MissionManager](INFO): MissionManager is completed.
2022-02-20T18:23:58.920Z,1645381438.920 [MissionManager](INFO): Uninitializing Mission trackPatchOil
2022-02-20T18:23:58.920Z,1645381438.920 [trackPatchOil] Stopped
2022-02-20T18:23:58.920Z,1645381438.920 [trackPatchOil](DEBUG): Aggregate::uninitialize trackPatchOil
2022-02-20T18:23:58.920Z,1645381438.920 [trackPatchOil:A.AltitudeEnvelope] Stopped
2022-02-20T18:23:58.920Z,1645381438.920 [trackPatchOil:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:B.DepthEnvelope] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:B.DepthEnvelope](DEBUG): Uninitialize.
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:F.OffshoreEnvelope] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:F.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:G.WaterDepthEnvelope] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:G.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:H.Pitch] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:I.Buoyancy] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:I.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:Science] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:Science](DEBUG): Aggregate::uninitialize trackPatchOil:Science
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:Science:A] Stopped
2022-02-20T18:23:58.921Z,1645381438.921 [trackPatchOil:Science:Read_Oil] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:Science:OceanCurrent] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:Science:OceanCurrent](DEBUG): Aggregate::uninitialize trackPatchOil:Science:OceanCurrent
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:Science:OceanCurrent:A.] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:K.SetSpeed] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:K.SetSpeed](DEBUG): Uninitialize.
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:L.Pitch] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:PatchDetectHorizontal] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:PatchDetectHorizontal](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:PatchDetectHorizontal:PatchDetection] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:PatchDetectHorizontal:PatchDetection](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:PatchDetection
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack] Stopped
2022-02-20T18:23:58.922Z,1645381438.922 [trackPatchOil:PatchDetectHorizontal:PatchDetection:PatchTrackTrigger.PatchTrack](DEBUG): Uninitialize.
2022-02-20T18:23:58.923Z,1645381438.923 [trackPatchOil:PatchDetectHorizontal:CrossLeg] Stopped
2022-02-20T18:23:58.923Z,1645381438.923 [trackPatchOil:PatchDetectHorizontal:CrossLeg](DEBUG): Aggregate::uninitialize trackPatchOil:PatchDetectHorizontal:CrossLeg
2022-02-20T18:23:58.923Z,1645381438.923 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint] Stopped
2022-02-20T18:23:58.923Z,1645381438.923 [trackPatchOil:PatchDetectHorizontal:CrossLeg:CrossSurfaceWp.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-02-20T18:23:59.061Z,1645381439.061 [Reporter](INFO): mass_concentration_of_petroleum_hydrocarbons_in_sea_water nan kg/m3
2022-02-20T18:23:59.314Z,1645381439.314 [MissionManager](IMPORTANT): Started mission Default
2022-02-20T18:23:59.314Z,1645381439.314 [Default] Running Loop=1
2022-02-20T18:23:59.314Z,1645381439.314 [Default](DEBUG): Aggregate::initialize Default
2022-02-20T18:23:59.315Z,1645381439.315 [Default:B.GoToSurface] Running Loop=1
2022-02-20T18:23:59.315Z,1645381439.315 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-02-20T18:23:59.315Z,1645381439.315 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-02-20T18:23:59.315Z,1645381439.315 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-02-20T18:23:59.315Z,1645381439.315 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-02-20T18:23:59.316Z,1645381439.316 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-02-20T18:23:59.316Z,1645381439.316 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-02-20T18:23:59.317Z,1645381439.317 [Default:A.Wait] Running Loop=1
2022-02-20T18:23:59.317Z,1645381439.317 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-02-20T18:24:06.829Z,1645381446.829 [CommandExec](IMPORTANT): got command maintain clear
2022-02-20T18:24:06.986Z,1645381446.986 [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,
2022-02-20T18:24:09.744Z,1645381449.744 [CommandExec](IMPORTANT): got command quit
2022-02-20T18:24:10.748Z,1645381450.748 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:10.748Z,1645381450.748 [CommandExec](INFO): Uninitializing the command executive.
2022-02-20T18:24:10.748Z,1645381450.748 [CommandExec](INFO): Uninitializing the command scheduler.
2022-02-20T18:24:10.748Z,1645381450.748 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:10.928Z,1645381450.928 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-02-20T18:24:10.928Z,1645381450.928 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-02-20T18:24:10.928Z,1645381450.928 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:10.929Z,1645381450.929 [NavChartDb](INFO): Join timeout helper Thread ID is 7404
2022-02-20T18:24:11.208Z,1645381451.208 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:11.208Z,1645381451.208 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:11.228Z,1645381451.228 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-02-20T18:24:11.228Z,1645381451.228 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:11.228Z,1645381451.228 [Radio_Surface](INFO): Join timeout helper Thread ID is 7407
2022-02-20T18:24:11.492Z,1645381451.492 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:11.492Z,1645381451.492 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:11.508Z,1645381451.508 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-02-20T18:24:11.508Z,1645381451.508 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:11.508Z,1645381451.508 [Onboard](INFO): Join timeout helper Thread ID is 7410
2022-02-20T18:24:12.620Z,1645381452.620 [Default:A.Wait](INFO): Done Waiting.
2022-02-20T18:24:12.620Z,1645381452.620 [Default:A.Wait] Stopped
2022-02-20T18:24:12.621Z,1645381452.621 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-02-20T18:24:13.024Z,1645381453.024 [Default:CheckIn] Running Loop=1
2022-02-20T18:24:13.025Z,1645381453.025 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-02-20T18:24:13.025Z,1645381453.025 [Default:CheckIn:Read_GPS] Running Loop=1
2022-02-20T18:24:15.272Z,1645381455.272 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:15.272Z,1645381455.272 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.292Z,1645381455.292 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2022-02-20T18:24:15.292Z,1645381455.292 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.292Z,1645381455.292 [BackseatComponent](INFO): Join timeout helper Thread ID is 7435
2022-02-20T18:24:15.412Z,1645381455.412 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:15.412Z,1645381455.412 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.432Z,1645381455.432 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2022-02-20T18:24:15.432Z,1645381455.432 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.432Z,1645381455.432 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 7436
2022-02-20T18:24:15.464Z,1645381455.464 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:15.464Z,1645381455.464 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.473Z,1645381455.473 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-02-20T18:24:15.473Z,1645381455.473 [logger ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.473Z,1645381455.473 [logger](INFO): Join timeout helper Thread ID is 7438
2022-02-20T18:24:15.513Z,1645381455.513 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:15.513Z,1645381455.513 [logger ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.517Z,1645381455.517 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-02-20T18:24:15.517Z,1645381455.517 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.517Z,1645381455.517 [CommandLine](INFO): Join timeout helper Thread ID is 7440
2022-02-20T18:24:15.572Z,1645381455.572 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:15.572Z,1645381455.572 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.576Z,1645381455.576 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-02-20T18:24:15.577Z,1645381455.577 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.577Z,1645381455.577 [CommandExec](INFO): Join timeout helper Thread ID is 7441
2022-02-20T18:24:15.578Z,1645381455.578 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-02-20T18:24:15.578Z,1645381455.578 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.579Z,1645381455.579 [controlThread](INFO): Join timeout helper Thread ID is 7442
2022-02-20T18:24:15.836Z,1645381455.836 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-02-20T18:24:15.836Z,1645381455.836 [controlThread](DEBUG): Uninitializing ControlThread
2022-02-20T18:24:15.840Z,1645381455.840 [NAL9602](INFO): Powering down
2022-02-20T18:24:15.841Z,1645381455.841 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-02-20T18:24:15.841Z,1645381455.841 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-02-20T18:24:15.842Z,1645381455.842 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-02-20T18:24:15.842Z,1645381455.842 [MissionManager](INFO): Uninitializing Mission Default
2022-02-20T18:24:15.843Z,1645381455.843 [Default] Stopped
2022-02-20T18:24:15.843Z,1645381455.843 [Default](DEBUG): Aggregate::uninitialize Default
2022-02-20T18:24:15.843Z,1645381455.843 [Default:B.GoToSurface] Stopped
2022-02-20T18:24:15.843Z,1645381455.843 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-02-20T18:24:15.843Z,1645381455.843 [Default:CheckIn] Stopped
2022-02-20T18:24:15.843Z,1645381455.843 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-02-20T18:24:15.843Z,1645381455.843 [Default:CheckIn:Read_GPS] Stopped
2022-02-20T18:24:15.846Z,1645381455.846 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-02-20T18:24:15.846Z,1645381455.846 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-02-20T18:24:15.847Z,1645381455.847 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-02-20T18:24:15.847Z,1645381455.847 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-02-20T18:24:15.847Z,1645381455.847 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-02-20T18:24:15.848Z,1645381455.848 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-02-20T18:24:15.848Z,1645381455.848 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-02-20T18:24:15.848Z,1645381455.848 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-02-20T18:24:15.849Z,1645381455.849 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-02-20T18:24:15.849Z,1645381455.849 [CBIT](DEBUG): Powering off loads.
2022-02-20T18:24:15.860Z,1645381455.860 [CBIT](DEBUG): Disabling WDT.
2022-02-20T18:24:15.872Z,1645381455.872 [CBIT](DEBUG): Opening all GF detection circuits.
2022-02-20T18:24:15.873Z,1645381455.873 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.918Z,1645381455.918 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.951Z,1645381455.951 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.953Z,1645381455.953 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:15.961Z,1645381455.961 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:16.003Z,1645381456.003 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-02-20T18:24:16.054Z,1645381456.054 [logger ThreadHandler](INFO): Thread cancelled.