2022-03-03T23:44:29.385Z,1646351069.385 [Supervisor](DEBUG): Initializing supervisor.
2022-03-03T23:44:29.390Z,1646351069.390 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-03-03T23:44:29.390Z,1646351069.390 [SyncHandler](INFO): Protected caller Thread ID is 8417
2022-03-03T23:44:29.391Z,1646351069.391 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-03-03T23:44:29.392Z,1646351069.392 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-03-03T23:44:29.392Z,1646351069.392 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8418
2022-03-03T23:44:29.396Z,1646351069.396 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-03-03T23:44:29.415Z,1646351069.415 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-03-03T23:44:29.416Z,1646351069.416 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-03-03T23:44:29.416Z,1646351069.416 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 8419
2022-03-03T23:44:29.420Z,1646351069.420 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-03-03T23:44:29.421Z,1646351069.421 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-03-03T23:44:29.422Z,1646351069.422 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8420
2022-03-03T23:44:29.424Z,1646351069.424 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-03-03T23:44:29.425Z,1646351069.425 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-03-03T23:44:29.425Z,1646351069.425 [logger ThreadHandler](INFO): Protected caller Thread ID is 8421
2022-03-03T23:44:29.429Z,1646351069.429 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-03-03T23:44:29.429Z,1646351069.429 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-03-03T23:44:29.431Z,1646351069.431 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-03-03T23:44:29.545Z,1646351069.545 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-03-03T23:44:29.545Z,1646351069.545 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-03-03T23:44:29.759Z,1646351069.759 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-03-03T23:44:29.760Z,1646351069.760 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-03-03T23:44:30.022Z,1646351070.022 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-03-03T23:44:30.022Z,1646351070.022 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-03-03T23:44:30.130Z,1646351070.130 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-03-03T23:44:30.131Z,1646351070.131 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-03-03T23:44:30.826Z,1646351070.826 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-03-03T23:44:30.827Z,1646351070.827 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-03-03T23:44:31.590Z,1646351071.590 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-03-03T23:44:31.590Z,1646351071.590 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-03-03T23:44:32.177Z,1646351072.177 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-03-03T23:44:32.178Z,1646351072.178 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-03-03T23:44:32.559Z,1646351072.559 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-03-03T23:44:32.559Z,1646351072.559 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-03-03T23:44:32.905Z,1646351072.905 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-03-03T23:44:32.905Z,1646351072.905 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-03-03T23:44:33.271Z,1646351073.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-03-03T23:44:33.271Z,1646351073.271 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-03-03T23:44:33.489Z,1646351073.489 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-03-03T23:44:33.490Z,1646351073.490 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-03-03T23:44:33.618Z,1646351073.618 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-03-03T23:44:33.618Z,1646351073.618 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-03-03T23:44:33.698Z,1646351073.698 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-03-03T23:44:33.776Z,1646351073.776 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-03-03T23:44:33.969Z,1646351073.969 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-03-03T23:44:33.970Z,1646351073.970 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-03-03T23:44:34.189Z,1646351074.189 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-03-03T23:44:34.191Z,1646351074.191 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2022-03-03T23:44:34.192Z,1646351074.192 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2022-03-03T23:44:34.274Z,1646351074.274 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2022-03-03T23:44:34.535Z,1646351074.535 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-03-03T23:44:34.536Z,1646351074.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2022-03-03T23:44:34.633Z,1646351074.633 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2022-03-03T23:44:34.793Z,1646351074.793 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2022-03-03T23:44:34.978Z,1646351074.978 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2022-03-03T23:44:35.062Z,1646351075.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2022-03-03T23:44:35.167Z,1646351075.167 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2022-03-03T23:44:35.268Z,1646351075.268 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2022-03-03T23:44:35.429Z,1646351075.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2022-03-03T23:44:35.531Z,1646351075.531 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2022-03-03T23:44:35.631Z,1646351075.631 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2022-03-03T23:44:35.631Z,1646351075.631 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-03-03T23:44:35.638Z,1646351075.638 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-03-03T23:44:35.745Z,1646351075.745 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-03-03T23:44:35.746Z,1646351075.746 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-03-03T23:44:35.872Z,1646351075.872 [BuoyancyServo] Loaded
2022-03-03T23:44:35.873Z,1646351075.873 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-03-03T23:44:35.892Z,1646351075.892 [MassServo] Loaded
2022-03-03T23:44:35.893Z,1646351075.893 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-03-03T23:44:35.909Z,1646351075.909 [ThrusterHE] Loaded
2022-03-03T23:44:35.909Z,1646351075.909 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-03-03T23:44:35.909Z,1646351075.909 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-03-03T23:44:35.910Z,1646351075.910 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-03-03T23:44:36.294Z,1646351076.294 [SBIT](DEBUG): Construct Startup Built In Test.
2022-03-03T23:44:36.351Z,1646351076.351 [SBIT] Loaded
2022-03-03T23:44:36.352Z,1646351076.352 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-03-03T23:44:36.354Z,1646351076.354 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-03-03T23:44:36.405Z,1646351076.405 [IBIT] Loaded
2022-03-03T23:44:36.405Z,1646351076.405 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-03-03T23:44:36.411Z,1646351076.411 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-03-03T23:44:36.744Z,1646351076.744 [CBIT] Loaded
2022-03-03T23:44:36.744Z,1646351076.744 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-03-03T23:44:36.745Z,1646351076.745 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-03-03T23:44:36.745Z,1646351076.745 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-03-03T23:44:36.907Z,1646351076.907 [CTD_NeilBrown] Loaded
2022-03-03T23:44:36.907Z,1646351076.907 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2022-03-03T23:44:36.908Z,1646351076.908 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406614E0
2022-03-03T23:44:36.908Z,1646351076.908 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 8504
2022-03-03T23:44:36.963Z,1646351076.963 [CTD_Seabird] Loaded
2022-03-03T23:44:36.963Z,1646351076.963 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-03-03T23:44:36.964Z,1646351076.964 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 406914E0
2022-03-03T23:44:36.964Z,1646351076.964 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8505
2022-03-03T23:44:36.995Z,1646351076.995 [ESPComponent] Loaded
2022-03-03T23:44:36.995Z,1646351076.995 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2022-03-03T23:44:37.014Z,1646351077.014 [PAR_Licor] Loaded
2022-03-03T23:44:37.014Z,1646351077.014 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2022-03-03T23:44:37.015Z,1646351077.015 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-03-03T23:44:37.015Z,1646351077.015 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-03-03T23:44:37.067Z,1646351077.067 [DepthRateCalculator] Loaded
2022-03-03T23:44:37.067Z,1646351077.067 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-03-03T23:44:37.072Z,1646351077.072 [PitchRateCalculator] Loaded
2022-03-03T23:44:37.073Z,1646351077.073 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-03-03T23:44:37.083Z,1646351077.083 [SpeedCalculator] Loaded
2022-03-03T23:44:37.083Z,1646351077.083 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-03-03T23:44:37.088Z,1646351077.088 [YawRateCalculator] Loaded
2022-03-03T23:44:37.088Z,1646351077.088 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-03-03T23:44:37.107Z,1646351077.107 [ElevatorOffsetCalculator] Loaded
2022-03-03T23:44:37.107Z,1646351077.107 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-03-03T23:44:37.107Z,1646351077.107 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-03-03T23:44:37.108Z,1646351077.108 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-03-03T23:44:37.201Z,1646351077.201 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-03-03T23:44:37.202Z,1646351077.202 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-03-03T23:44:37.229Z,1646351077.229 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-03-03T23:44:37.229Z,1646351077.229 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-03-03T23:44:37.339Z,1646351077.339 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-03-03T23:44:37.339Z,1646351077.339 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-03-03T23:44:37.352Z,1646351077.352 [NavChart] Loaded
2022-03-03T23:44:37.353Z,1646351077.353 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-03-03T23:44:37.358Z,1646351077.358 [UniversalFixResidualReporter] Loaded
2022-03-03T23:44:37.358Z,1646351077.358 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-03-03T23:44:37.359Z,1646351077.359 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-03-03T23:44:37.360Z,1646351077.360 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-03-03T23:44:38.421Z,1646351078.421 [BPC1] Loaded
2022-03-03T23:44:38.421Z,1646351078.421 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-03-03T23:44:38.494Z,1646351078.494 [DataOverHttps] Loaded
2022-03-03T23:44:38.494Z,1646351078.494 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-03-03T23:44:38.495Z,1646351078.495 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 40A0B4E0
2022-03-03T23:44:38.496Z,1646351078.496 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8506
2022-03-03T23:44:38.515Z,1646351078.515 [Depth_Keller] Loaded
2022-03-03T23:44:38.516Z,1646351078.516 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-03-03T23:44:38.520Z,1646351078.520 [DropWeight] Loaded
2022-03-03T23:44:38.521Z,1646351078.521 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-03-03T23:44:38.578Z,1646351078.578 [NAL9602] Loaded
2022-03-03T23:44:38.578Z,1646351078.578 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-03-03T23:44:38.604Z,1646351078.604 [Onboard] Loaded
2022-03-03T23:44:38.604Z,1646351078.604 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-03-03T23:44:38.606Z,1646351078.606 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A3B4E0
2022-03-03T23:44:38.606Z,1646351078.606 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 8507
2022-03-03T23:44:38.617Z,1646351078.617 [Power24vConverter] Loaded
2022-03-03T23:44:38.618Z,1646351078.618 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-03-03T23:44:38.631Z,1646351078.631 [Radio_Surface] Loaded
2022-03-03T23:44:38.631Z,1646351078.631 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-03-03T23:44:38.632Z,1646351078.632 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A6B4E0
2022-03-03T23:44:38.632Z,1646351078.632 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8508
2022-03-03T23:44:38.715Z,1646351078.715 [DAT] Loaded
2022-03-03T23:44:38.715Z,1646351078.715 [ComponentRegistry](DEBUG): Component "DAT" handled in its own thread.
2022-03-03T23:44:38.716Z,1646351078.716 [DAT ThreadHandler](DEBUG): Created PCaller Thread at 40A9B4E0
2022-03-03T23:44:38.717Z,1646351078.717 [DAT ThreadHandler](INFO): Protected caller Thread ID is 8509
2022-03-03T23:44:38.717Z,1646351078.717 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-03-03T23:44:38.718Z,1646351078.718 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-03-03T23:44:38.774Z,1646351078.774 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-03-03T23:44:38.775Z,1646351078.775 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-03-03T23:44:38.825Z,1646351078.825 [VerticalControl](DEBUG): Construct VerticalControl.
2022-03-03T23:44:38.878Z,1646351078.878 [VerticalControl] Loaded
2022-03-03T23:44:38.879Z,1646351078.879 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-03-03T23:44:38.883Z,1646351078.883 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-03-03T23:44:38.919Z,1646351078.919 [HorizontalControl] Loaded
2022-03-03T23:44:38.920Z,1646351078.920 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-03-03T23:44:38.922Z,1646351078.922 [SpeedControl](DEBUG): Construct SpeedControl.
2022-03-03T23:44:38.924Z,1646351078.924 [SpeedControl] Loaded
2022-03-03T23:44:38.924Z,1646351078.924 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-03-03T23:44:38.927Z,1646351078.927 [LoopControl](DEBUG): Construct LoopControl.
2022-03-03T23:44:38.927Z,1646351078.927 [LoopControl] Loaded
2022-03-03T23:44:38.927Z,1646351078.927 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-03-03T23:44:38.928Z,1646351078.928 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-03-03T23:44:38.928Z,1646351078.928 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-03-03T23:44:38.939Z,1646351078.939 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-03-03T23:44:38.939Z,1646351078.939 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-03-03T23:44:39.251Z,1646351079.251 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-03-03T23:44:39.257Z,1646351079.257 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-03-03T23:44:39.260Z,1646351079.260 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-03-03T23:44:39.271Z,1646351079.271 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-03-03T23:44:39.272Z,1646351079.272 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BA44E0
2022-03-03T23:44:39.272Z,1646351079.272 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8510
2022-03-03T23:44:39.277Z,1646351079.277 [Supervisor](INFO): Main Thread ID is 8416
2022-03-03T23:44:39.277Z,1646351079.277 [Supervisor](DEBUG): Running supervisor.
2022-03-03T23:44:39.277Z,1646351079.277 [CommandExec ThreadHandler](INFO): Handler Thread ID is 8511
2022-03-03T23:44:39.278Z,1646351079.278 [CommandExec](INFO): Initializing the command executive.
2022-03-03T23:44:39.280Z,1646351079.280 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8512
2022-03-03T23:44:39.282Z,1646351079.282 [controlThread ThreadHandler](INFO): Handler Thread ID is 8513
2022-03-03T23:44:39.282Z,1646351079.282 [controlThread](DEBUG): Initializing ControlThread
2022-03-03T23:44:39.284Z,1646351079.284 [SBIT](INFO): Initialize SBIT Component.
2022-03-03T23:44:39.284Z,1646351079.284 [SBIT](IMPORTANT): git: 2022-02-18-48-g1549343b4
2022-03-03T23:44:39.284Z,1646351079.284 [SBIT](INFO): git hash: 1549343b4e331ba79affae8faa75cfd33e9b170a
2022-03-03T23:44:39.285Z,1646351079.285 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-03-03T23:44:39.286Z,1646351079.286 [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
2022-03-03T23:44:39.287Z,1646351079.287 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2022-03-03T23:44:39.288Z,1646351079.288 [IBIT](INFO): Initialize IBIT Component.
2022-03-03T23:44:39.288Z,1646351079.288 [CBIT](DEBUG): Initialize CBIT Component.
2022-03-03T23:44:39.289Z,1646351079.289 [logger ThreadHandler](INFO): Handler Thread ID is 8514
2022-03-03T23:44:39.300Z,1646351079.300 [CBIT](DEBUG): Initialized mux pins.
2022-03-03T23:44:39.300Z,1646351079.300 [CBIT](DEBUG): Initializing the watchdog timer.
2022-03-03T23:44:39.308Z,1646351079.308 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 8515
2022-03-03T23:44:39.309Z,1646351079.309 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2022-03-03T23:44:39.324Z,1646351079.324 [CBIT](CRITICAL): LAST REBOOT DUE TO WATCHDOG TIMER RESET.
2022-03-03T23:44:39.324Z,1646351079.324 [CBIT](DEBUG): Initializing heartbeat.
2022-03-03T23:44:39.325Z,1646351079.325 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8516
2022-03-03T23:44:39.325Z,1646351079.325 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-03T23:44:39.329Z,1646351079.329 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8518
2022-03-03T23:44:39.330Z,1646351079.330 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2022-03-03T23:44:39.352Z,1646351079.352 [Onboard ThreadHandler](INFO): Handler Thread ID is 8519
2022-03-03T23:44:39.369Z,1646351079.369 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8520
2022-03-03T23:44:39.389Z,1646351079.389 [DAT ThreadHandler](INFO): Handler Thread ID is 8521
2022-03-03T23:44:39.389Z,1646351079.389 [DAT](INFO): Powering up
2022-03-03T23:44:39.390Z,1646351079.390 [DAT](DEBUG): Initializing DAT.
2022-03-03T23:44:39.393Z,1646351079.393 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8523
2022-03-03T23:44:39.396Z,1646351079.396 [CBIT](DEBUG): Deactivating GF circuits.
2022-03-03T23:44:39.396Z,1646351079.397 [CBIT](DEBUG): Deactivating emergency mode.
2022-03-03T23:44:39.397Z,1646351079.397 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2MI01M.000
2022-03-03T23:44:39.397Z,1646351079.397 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2MI01M.000
2022-03-03T23:44:39.397Z,1646351079.397 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI89M.000
2022-03-03T23:44:39.397Z,1646351079.397 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI89M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4MI11M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4MI11M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5MI07M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5MI07M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH07M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH07M.000
2022-03-03T23:44:39.398Z,1646351079.398 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5OH31M.000
2022-03-03T23:44:39.399Z,1646351079.399 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5OH31M.000
2022-03-03T23:44:39.432Z,1646351079.432 [CBIT](DEBUG): Backplane powered.
2022-03-03T23:44:39.436Z,1646351079.436 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-03-03T23:44:39.437Z,1646351079.437 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-03-03T23:44:39.437Z,1646351079.437 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-03-03T23:44:39.437Z,1646351079.437 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-03-03T23:44:39.438Z,1646351079.438 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-03-03T23:44:39.439Z,1646351079.439 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-03-03T23:44:39.439Z,1646351079.439 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-03-03T23:44:39.446Z,1646351079.446 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-03-03T23:44:39.447Z,1646351079.447 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-03-03T23:44:39.448Z,1646351079.448 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-03-03T23:44:39.449Z,1646351079.449 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-03-03T23:44:39.450Z,1646351079.450 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-03-03T23:44:39.483Z,1646351079.483 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-03-03T23:44:39.519Z,1646351079.519 [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>


2022-03-03T23:44:39.528Z,1646351079.528 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2022-03-03T23:44:39.607Z,1646351079.607 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2022-03-03T23:44:39.624Z,1646351079.624 [Default:A.Wait](DEBUG): Construct Wait.
2022-03-03T23:44:39.626Z,1646351079.626 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-03-03T23:44:39.669Z,1646351079.669 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-03-03T23:44:39.672Z,1646351079.672 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-03-03T23:44:39.694Z,1646351079.694 [Default:E.Execute](DEBUG): Construct Execute.
2022-03-03T23:44:39.697Z,1646351079.697 [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>


2022-03-03T23:44:39.715Z,1646351079.715 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,BPC1,Depth_Keller,DropWeight,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,MassServo,ThrusterHE,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2022-03-03T23:44:39.781Z,1646351079.781 [Depth_Keller](ERROR): Pressure reading out of range: 1896.040405 decibar
2022-03-03T23:44:39.782Z,1646351079.782 [Power24vConverter](INFO): Powering up.
2022-03-03T23:44:39.792Z,1646351079.792 [Radio_Surface](INFO): Powering up
2022-03-03T23:44:39.797Z,1646351079.797 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-03-03T23:44:39.827Z,1646351079.827 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-03-03T23:44:39.836Z,1646351079.836 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-03-03T23:44:39.837Z,1646351079.837 [MassServo](DEBUG): Initializing EZServoServo.
2022-03-03T23:44:39.844Z,1646351079.844 [MassServo](DEBUG): Initializing MassServo.
2022-03-03T23:44:39.845Z,1646351079.845 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-03-03T23:44:39.856Z,1646351079.856 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-03-03T23:44:39.858Z,1646351079.858 [CommandExec](FAULT): Scheduling is paused
2022-03-03T23:44:39.858Z,1646351079.858 [CBIT](INFO): Critical error at 20220303T234439
2022-03-03T23:44:39.859Z,1646351079.859 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-03-03T23:44:40.158Z,1646351080.158 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2022-03-03T23:44:40.158Z,1646351080.158 [DropWeight] Hardware Fault, FailCount= 1
2022-03-03T23:44:40.158Z,1646351080.158 [DropWeight](ERROR): Hardware Fault
2022-03-03T23:44:40.180Z,1646351080.180 [CBIT](INFO): Critical error at 20220303T234440
2022-03-03T23:44:40.183Z,1646351080.183 [CBIT](ERROR): Hardware Fault in component: DropWeight
2022-03-03T23:44:40.183Z,1646351080.183 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2022-03-03T23:44:40.557Z,1646351080.557 [CBIT](INFO): Critical error at 20220303T234440
2022-03-03T23:44:45.604Z,1646351085.604 [ThrusterHE](ERROR): Zero Speed Commanded.
2022-03-03T23:44:49.464Z,1646351089.464 [CBIT](CRITICAL): Environmental Failure. Press:14.680994 PSI. Humidity:34%. Temp:26 C. ABORTING MISSION
2022-03-03T23:44:49.870Z,1646351089.870 [CBIT](INFO): Critical error at 20220303T234449
2022-03-03T23:44:52.376Z,1646351092.376 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2022-03-03T23:44:52.376Z,1646351092.376 [CTD_Seabird] Communications Fault, FailCount= 1
2022-03-03T23:44:52.376Z,1646351092.376 [CTD_Seabird](ERROR): Communications Fault
2022-03-03T23:44:52.704Z,1646351092.704 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2022-03-03T23:44:52.781Z,1646351092.781 [CTD_Seabird](INFO): Powering down
2022-03-03T23:44:53.502Z,1646351093.502 [DAT](INFO): commRate: 1200
2022-03-03T23:44:53.908Z,1646351093.908 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2022-03-03T23:44:53.908Z,1646351093.908 [CTD_Seabird] No Fault, FailCount= 1
2022-03-03T23:44:54.124Z,1646351094.124 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-03T23:44:55.568Z,1646351095.568 [DAT](INFO): entering command mode
2022-03-03T23:44:55.769Z,1646351095.769 [DAT](INFO): setting verbose to 3
2022-03-03T23:44:56.022Z,1646351096.022 [DAT](INFO): set verbose to 3
2022-03-03T23:44:56.022Z,1646351096.022 [DAT](INFO): setting DatVerbose to 27440
2022-03-03T23:44:56.273Z,1646351096.273 [DAT](INFO): set DatVerbose to 27440
2022-03-03T23:44:56.274Z,1646351096.274 [DAT](INFO): setting transmit power to 8
2022-03-03T23:44:56.525Z,1646351096.525 [DAT](INFO): set transmit power to 8
2022-03-03T23:44:56.526Z,1646351096.526 [DAT](INFO): setting local address to 4
2022-03-03T23:44:56.778Z,1646351096.778 [DAT](INFO): set local address to 4
2022-03-03T23:44:56.779Z,1646351096.779 [DAT](INFO): Setting time to: 23:44:56 And date to:3/3/2022
2022-03-03T23:44:57.029Z,1646351097.029 [DAT](INFO): Local DAT time set to Thu Mar 3, 2022  23:44:56  

2022-03-03T23:45:07.176Z,1646351107.176 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2022-03-03T23:45:07.176Z,1646351107.176 [CTD_Seabird] Communications Fault, FailCount= 2
2022-03-03T23:45:07.176Z,1646351107.176 [CTD_Seabird](ERROR): Communications Fault
2022-03-03T23:45:07.262Z,1646351107.262 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2022-03-03T23:45:07.580Z,1646351107.580 [CTD_Seabird](INFO): Powering down
2022-03-03T23:45:08.813Z,1646351108.813 [NAL9602](INFO): Powering up NAL9602
2022-03-03T23:45:08.943Z,1646351108.943 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2022-03-03T23:45:08.943Z,1646351108.943 [CTD_Seabird] No Fault, FailCount= 2
2022-03-03T23:45:09.328Z,1646351109.328 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-03T23:45:19.721Z,1646351119.721 [NAL9602](INFO): NAL9602 initialized
2022-03-03T23:45:22.380Z,1646351122.380 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2022-03-03T23:45:22.380Z,1646351122.380 [CTD_Seabird] Communications Fault, FailCount= 3
2022-03-03T23:45:22.380Z,1646351122.380 [CTD_Seabird](ERROR): Communications Fault
2022-03-03T23:45:22.572Z,1646351122.572 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2022-03-03T23:45:22.573Z,1646351122.573 [CBIT](FAULT): Communications Fault in component: CTD_Seabird
2022-03-03T23:45:22.784Z,1646351122.784 [CTD_Seabird](INFO): Powering down
2022-03-03T23:45:25.988Z,1646351125.988 [CommandExec](IMPORTANT): got command get CTD_NeilBrown.loadAtStartup
2022-03-03T23:45:25.989Z,1646351125.989 [CommandExec](IMPORTANT): CTD_NeilBrown.loadAtStartup 1 bool
2022-03-03T23:45:29.741Z,1646351129.741 [CommandExec](IMPORTANT): got command show variable CTD_Neil
2022-03-03T23:45:29.781Z,1646351129.781 [CommandExec](IMPORTANT): CTD_NeilBrown.loadControl (none)
2022-03-03T23:45:29.781Z,1646351129.781 [CommandExec](IMPORTANT): CTD_NeilBrown.uart (none)
2022-03-03T23:45:29.782Z,1646351129.782 [CommandExec](IMPORTANT): CTD_NeilBrown.baud (bit_per_second)
2022-03-03T23:45:29.876Z,1646351129.876 [CommandExec](IMPORTANT): CTD_NeilBrown.loadAtStartup (bool)
2022-03-03T23:45:29.876Z,1646351129.876 [CommandExec](IMPORTANT): CTD_NeilBrown.simulateHardware (bool)
2022-03-03T23:45:29.877Z,1646351129.877 [CommandExec](IMPORTANT): CTD_NeilBrown.maxPressBound (decibar)
2022-03-03T23:45:29.877Z,1646351129.877 [CommandExec](IMPORTANT): CTD_NeilBrown.minPressBound (decibar)
2022-03-03T23:45:29.878Z,1646351129.878 [CommandExec](IMPORTANT): CTD_NeilBrown.maxSalinityBound (practical_salinity_unit)
2022-03-03T23:45:29.878Z,1646351129.878 [CommandExec](IMPORTANT): CTD_NeilBrown.minSalinityBound (practical_salinity_unit)
2022-03-03T23:45:29.879Z,1646351129.879 [CommandExec](IMPORTANT): CTD_NeilBrown.offset (decibar)
2022-03-03T23:45:29.879Z,1646351129.879 [CommandExec](IMPORTANT): CTD_NeilBrown.power (watt)
2022-03-03T23:45:29.971Z,1646351129.971 [CommandExec](IMPORTANT): CTD_NeilBrown.enableBroadcast (bool)
2022-03-03T23:45:29.971Z,1646351129.971 [CommandExec](IMPORTANT): CTD_NeilBrown.component_voltage (volt)
2022-03-03T23:45:29.971Z,1646351129.971 [CommandExec](IMPORTANT): CTD_NeilBrown.component_avgVoltage (volt)
2022-03-03T23:45:29.972Z,1646351129.972 [CommandExec](IMPORTANT): CTD_NeilBrown.component_current (milliampere)
2022-03-03T23:45:29.972Z,1646351129.972 [CommandExec](IMPORTANT): CTD_NeilBrown.component_avgCurrent (milliampere)
2022-03-03T23:45:29.973Z,1646351129.973 [CommandExec](IMPORTANT): CTD_NeilBrown.sea_water_electrical_conductivity (siemens_per_meter)
2022-03-03T23:45:29.973Z,1646351129.973 [CommandExec](IMPORTANT): CTD_NeilBrown.sea_water_density (kilogram_per_cubic_meter)
2022-03-03T23:45:29.973Z,1646351129.973 [CommandExec](IMPORTANT): CTD_NeilBrown.depth (meter)
2022-03-03T23:45:29.974Z,1646351129.974 [CommandExec](IMPORTANT): CTD_NeilBrown.sea_water_pressure (decibar)
2022-03-03T23:45:29.974Z,1646351129.974 [CommandExec](IMPORTANT): CTD_NeilBrown.sea_water_salinity (practical_salinity_unit)
2022-03-03T23:45:29.975Z,1646351129.975 [CommandExec](IMPORTANT): CTD_NeilBrown.speed_of_sound_in_sea_water (meter_per_second)
2022-03-03T23:45:29.975Z,1646351129.975 [CommandExec](IMPORTANT): CTD_NeilBrown.sea_water_temperature (celsius)
2022-03-03T23:45:29.975Z,1646351129.975 [CommandExec](IMPORTANT): CTD_NeilBrown.bin_median_sea_water_temperature (celsius)
2022-03-03T23:45:29.976Z,1646351129.976 [CommandExec](IMPORTANT): CTD_NeilBrown.bin_mean_sea_water_temperature (celsius)
2022-03-03T23:45:29.976Z,1646351129.976 [CommandExec](IMPORTANT): CTD_NeilBrown.bin_standard_deviation_sea_water_temperature (celsius)
2022-03-03T23:45:29.977Z,1646351129.977 [CommandExec](IMPORTANT): CTD_NeilBrown.bin_median_sea_water_salinity (practical_salinity_unit)
2022-03-03T23:45:29.977Z,1646351129.977 [CommandExec](IMPORTANT): CTD_NeilBrown.bin_mean_sea_water_salinity (practical_salinity_unit)
2022-03-03T23:45:29.977Z,1646351129.977 [CommandExec](IMPORTANT): CTD_NeilBrown.bin_standard_deviation_sea_water_salinity (practical_salinity_unit)
2022-03-03T23:45:38.737Z,1646351138.737 [SBIT](IMPORTANT): Beginning Startup BIT
2022-03-03T23:45:38.741Z,1646351138.741 [CBIT](IMPORTANT): Beginning ground fault scan
2022-03-03T23:45:38.990Z,1646351138.990 [CommandExec](IMPORTANT): got command report touch CTD_NeilBrown.sea_water_temperature
2022-03-03T23:45:45.349Z,1646351145.349 [CommandExec](IMPORTANT): got command run ./Missions/Insert/Science.xml
2022-03-03T23:45:45.349Z,1646351145.349 [MissionManager](INFO): Loading Mission from file: ./Missions/Insert/Science.xml
2022-03-03T23:45:45.878Z,1646351145.878 [MissionManager](INFO): DefineArg Science.PeakDetectChlActive = 0 bool
2022-03-03T23:45:45.885Z,1646351145.885 [MissionManager](INFO): DefineArg Science.TimeWindowPeakReport = nan min
2022-03-03T23:45:45.892Z,1646351145.892 [MissionManager](INFO): DefineArg Science.HighestChlPeakReportActive = 0 bool
2022-03-03T23:45:45.895Z,1646351145.895 [MissionManager](INFO): DefineArg Science.HighestSaltPeakReportActive = 0 bool
2022-03-03T23:45:45.902Z,1646351145.902 [MissionManager](INFO): DefineArg Science.HighestOilPeakReportActive = 0 bool
2022-03-03T23:45:45.930Z,1646351145.930 [MissionManager](INFO): DefineArg Science.PatchTracking = 0 bool
2022-03-03T23:45:45.945Z,1646351145.945 [MissionManager](INFO): DefineArg Science.DetectTrough = 0 bool
2022-03-03T23:45:45.953Z,1646351145.953 [MissionManager](INFO): DefineArg Science.FilterWidthHorizontal = 3.000000 count
2022-03-03T23:45:45.958Z,1646351145.958 [MissionManager](INFO): DefineArg Science.NumProfilesSlidingwindow = 100.000000 count
2022-03-03T23:45:45.977Z,1646351145.977 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:45:45.988Z,1646351145.988 [MissionManager](INFO): DefineArg Science.OffPeakFractionHorizontal = 80.000000 %
2022-03-03T23:45:45.991Z,1646351145.991 [MissionManager](INFO): DefineArg Science.PeakDetectNO3Active = 0 bool
2022-03-03T23:45:46.006Z,1646351146.006 [MissionManager](INFO): DefineArg Science.PeakDetectOilActive = 0 bool
2022-03-03T23:45:46.022Z,1646351146.022 [MissionManager](INFO): DefineArg Science.PeakDetectFDOMActive = 0 bool
2022-03-03T23:45:46.025Z,1646351146.025 [MissionManager](INFO): DefineArg Science.PeakDetectSalinityActive = 0 bool
2022-03-03T23:45:46.052Z,1646351146.052 [MissionManager](INFO): DefineArg Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-03-03T23:45:46.089Z,1646351146.089 [MissionManager](INFO): DefineArg Science.EnabledAanderaaO2 = 0 bool
2022-03-03T23:45:46.097Z,1646351146.097 [MissionManager](INFO): DefineArg Science.EnabledNeilBrown = 1 bool
2022-03-03T23:45:46.113Z,1646351146.113 [MissionManager](INFO): DefineArg Science.EnabledSeabird = 1 bool
2022-03-03T23:45:46.125Z,1646351146.125 [MissionManager](INFO): DefineArg Science.EnabledWetLabsBB2FL = 0 bool
2022-03-03T23:45:46.141Z,1646351146.141 [MissionManager](INFO): DefineArg Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2022-03-03T23:45:46.157Z,1646351146.157 [MissionManager](INFO): DefineArg Science.EnabledWetLabsUBAT = 0 bool
2022-03-03T23:45:46.173Z,1646351146.173 [MissionManager](INFO): DefineArg Science.LowPassWindowLength = 20.000000 count
2022-03-03T23:45:46.181Z,1646351146.181 [MissionManager](INFO): DefineArg Science.MedianFilterLen = 5.000000 count
2022-03-03T23:45:46.185Z,1646351146.185 [MissionManager](INFO): DefineArg Science.PeakShallowBound = nan m
2022-03-03T23:45:46.202Z,1646351146.202 [MissionManager](INFO): DefineArg Science.PeakDeepBound = nan m
2022-03-03T23:45:46.218Z,1646351146.218 [MissionManager](INFO): DefineArg Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-03-03T23:45:46.234Z,1646351146.234 [MissionManager](INFO): DefineOutput Science.PeakChl = 0.000000 ug/l
2022-03-03T23:45:46.253Z,1646351146.253 [MissionManager](INFO): DefineOutput Science.PeakChlDepth = 0.000000 m
2022-03-03T23:45:46.265Z,1646351146.265 [MissionManager](INFO): DefineOutput Science.PeakChlTemperature = 0.000000 degC
2022-03-03T23:45:46.281Z,1646351146.281 [MissionManager](INFO): DefineOutput Science.PeakChlLatitude = nan arcdeg
2022-03-03T23:45:46.289Z,1646351146.289 [MissionManager](INFO): DefineOutput Science.PeakChlLongitude = nan arcdeg
2022-03-03T23:45:46.304Z,1646351146.304 [MissionManager](INFO): DefineOutput Science.PeakNO3 = 0.000000 umol/l
2022-03-03T23:45:46.310Z,1646351146.310 [MissionManager](INFO): DefineOutput Science.PeakNO3Depth = 0.000000 m
2022-03-03T23:45:46.318Z,1646351146.318 [MissionManager](INFO): DefineOutput Science.PeakNO3Latitude = nan arcdeg
2022-03-03T23:45:46.329Z,1646351146.329 [MissionManager](INFO): DefineOutput Science.PeakNO3Longitude = nan arcdeg
2022-03-03T23:45:46.345Z,1646351146.345 [MissionManager](INFO): DefineOutput Science.PeakOil = 0.000000 kg/m3
2022-03-03T23:45:46.349Z,1646351146.349 [MissionManager](INFO): DefineOutput Science.PeakOilDepth = 0.000000 m
2022-03-03T23:45:46.365Z,1646351146.365 [MissionManager](INFO): DefineOutput Science.PeakOilLatitude = nan arcdeg
2022-03-03T23:45:46.369Z,1646351146.369 [MissionManager](INFO): DefineOutput Science.PeakOilLongitude = nan arcdeg
2022-03-03T23:45:46.412Z,1646351146.412 [MissionManager](INFO): DefineOutput Science.PeakFDOM = 0.000000 ppb
2022-03-03T23:45:46.432Z,1646351146.432 [MissionManager](INFO): DefineOutput Science.PeakFDOMDepth = 0.000000 m
2022-03-03T23:45:46.435Z,1646351146.435 [MissionManager](INFO): DefineOutput Science.PeakFDOMTemperature = nan degC
2022-03-03T23:45:46.447Z,1646351146.447 [MissionManager](INFO): DefineOutput Science.PeakFDOMLatitude = nan arcdeg
2022-03-03T23:45:46.454Z,1646351146.454 [MissionManager](INFO): DefineOutput Science.PeakFDOMLongitude = nan arcdeg
2022-03-03T23:45:46.482Z,1646351146.482 [MissionManager](INFO): DefineOutput Science.PatchFDOMDistance = nan m
2022-03-03T23:45:46.494Z,1646351146.494 [MissionManager](INFO): DefineOutput Science.PeakSalt = 0.000000 psu
2022-03-03T23:45:46.510Z,1646351146.510 [MissionManager](INFO): DefineOutput Science.PeakSaltDepth = 0.000000 m
2022-03-03T23:45:46.537Z,1646351146.537 [MissionManager](INFO): DefineOutput Science.PeakSaltTemperature = 0.000000 degC
2022-03-03T23:45:46.546Z,1646351146.546 [MissionManager](INFO): DefineOutput Science.PeakSaltLatitude = nan arcdeg
2022-03-03T23:45:46.570Z,1646351146.570 [MissionManager](INFO): DefineOutput Science.PeakSaltLongitude = nan arcdeg
2022-03-03T23:45:46.580Z,1646351146.580 [MissionManager](INFO): DefineOutput Science.PatchChl = 0.000000 ug/l
2022-03-03T23:45:46.600Z,1646351146.600 [MissionManager](INFO): DefineOutput Science.PatchChlDepth = 0.000000 m
2022-03-03T23:45:46.612Z,1646351146.612 [MissionManager](INFO): DefineOutput Science.PatchChlLatitude = nan arcdeg
2022-03-03T23:45:46.624Z,1646351146.624 [MissionManager](INFO): DefineOutput Science.PatchChlLongitude = nan arcdeg
2022-03-03T23:45:46.636Z,1646351146.636 [MissionManager](INFO): DefineOutput Science.PatchChlDistance = nan m
2022-03-03T23:45:46.639Z,1646351146.639 [MissionManager](INFO): DefineOutput Science.PatchSalt = 0.000000 psu
2022-03-03T23:45:46.651Z,1646351146.651 [MissionManager](INFO): DefineOutput Science.PatchSaltDepth = 0.000000 m
2022-03-03T23:45:46.670Z,1646351146.670 [MissionManager](INFO): DefineOutput Science.PatchSaltLatitude = nan arcdeg
2022-03-03T23:45:46.674Z,1646351146.674 [MissionManager](INFO): DefineOutput Science.PatchSaltLongitude = nan arcdeg
2022-03-03T23:45:46.686Z,1646351146.686 [MissionManager](INFO): DefineOutput Science.PatchSaltDistance = nan m
2022-03-03T23:45:46.709Z,1646351146.709 [MissionManager](INFO): DefineOutput Science.PatchOil = 0.000000 psu
2022-03-03T23:45:46.712Z,1646351146.712 [MissionManager](INFO): DefineOutput Science.PatchOilDepth = 0.000000 m
2022-03-03T23:45:46.715Z,1646351146.715 [MissionManager](INFO): DefineOutput Science.PatchOilLatitude = nan arcdeg
2022-03-03T23:45:46.743Z,1646351146.743 [MissionManager](INFO): DefineOutput Science.PatchOilLongitude = nan arcdeg
2022-03-03T23:45:46.764Z,1646351146.764 [MissionManager](INFO): DefineOutput Science.PatchOilDistance = nan m
2022-03-03T23:45:46.930Z,1646351146.930 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:45:46.986Z,1646351146.986 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-03-03T23:45:47.042Z,1646351147.042 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:45:47.066Z,1646351147.066 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:45:47.113Z,1646351147.113 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-03-03T23:45:47.154Z,1646351147.154 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:45:47.218Z,1646351147.218 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:45:47.278Z,1646351147.278 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-03-03T23:45:47.417Z,1646351147.417 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Estimation="Tethys/Estimation"
           xmlns:Science="Tethys/Science"
           xmlns:Universal="Tethys/Universal"
           xmlns:Trigger="Tethys/Trigger"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                               Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd"
       Id="Science">

    <DefineArg Name="PeakDetectChlActive"><Description>
        Turns on peak detection of Cholorphyll.
    </Description><False/></DefineArg>

    <DefineArg Name="TimeWindowPeakReport"><Description>
        If greater than zero, report a peak every window. If NaN or zero, this
        variable is ignored.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="HighestChlPeakReportActive"><Description>
        Turns on reporting of the highest peak value of chlorophyll on yo-yo
        profiles in a horizontal sliding window (of length
        numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="HighestSaltPeakReportActive"><Description>
        Turns on reporting of the highest peak value of salinity on yo-yo
        profiles in a horizontal sliding window (of length
        numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="HighestOilPeakReportActive"><Description>
        Turns on reporting of the highest peak value of oil on yo-yo profiles in
        a horizontal sliding window (of length numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="PatchTracking"><Description>
        If tracking a patch
    </Description><False/></DefineArg>

    <DefineArg Name="DetectTrough"><Description>
        Whether to track a trough. If false, track peak; if true, track trough.
        Default is false.
    </Description><False/></DefineArg>

<!--debug    
    </Description><True/></DefineArg>
-->

    <DefineArg Name="FilterWidthHorizontal"><Description>
        Width of boxcar filter applied to yoyo-wise chl peaks to pick out the
        highest peak.
    </Description><Units:count/><Value>3</Value></DefineArg>

    <DefineArg Name="NumProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. The highest yoyo-wise chl peak
        (after low-pass filtering by a filter of length FilterWidthHorizontal)
        within this window.
    </Description><Units:count/><Value>100</Value></DefineArg>

    <DefineArg Name="OffPeakFractionHorizontal"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
    </Description><Units:percent/><Value>80</Value></DefineArg>

    <DefineArg Name="PeakDetectNO3Active"><Description>
        Turns on peak detection of Nitrate (and turns on ISUS).
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectOilActive"><Description>
        Turns on peak detection of Dissolved Oil.
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectFDOMActive"><Description>
        Turns on peak detection of
        concentration_of_colored_dissolved_organic_matter_in_sea_water from FDOM
        sensor.
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectSalinityActive"><Description>
        Turns on peak detection of salinity.
    </Description><False/></DefineArg>

    <DefineArg Name="UpwardDerivativeOfTemperatureActive"><Description>
        Turns on seawater temperature derivative.
    </Description><False/></DefineArg>

    <DefineArg Name="EnabledAanderaaO2"><Description>
        Automatically set to True if the Aanderaa O2 sensor is installed. Set to
        false to disable reading Aandera O2.
    </Description><Science:Aanderaa_O2.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Automatically set to true if the Neil Brown CTD is enabled. Set to false
        to disable reading from the Neil Brown.
    </Description><Science:CTD_NeilBrown.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledSeabird"><Description>
        Automatically set to true if the CTD is enabled. Set to false to disable
        reading from the CTD.
    </Description><Science:CTD_Seabird.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsBB2FL"><Description>
        Automatically set to true if the the WetLabs BB2FL is enabled. Set to
        false to disable the WetLabs BB2FL.
    </Description><Science:WetLabsBB2FL.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A"><Description>
        Automatically set to true if the the WetLabs SeaOWL UV-A is enabled. Set
        to false to disable the WetLabs SeaOWL UV-A.
    </Description><Science:WetLabsSeaOWL_UV_A.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsUBAT"><Description>
        Automatically set to true if the the WetLabs UBAT is enabled. Set to
        false to disable the WetLabs UBAT.
    </Description><Science:WetLabsUBAT.loadAtStartup/></DefineArg>

    <DefineArg Name="LowPassWindowLength"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="MedianFilterLen"><Description>
        Median filter length (only for chlorophyll fluorescence which tends to
        have spikes)
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="PeakShallowBound"><Description>
        Shallow depth bound for detecting any peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="PeakDeepBound"><Description>
        Deep depth bound for detecting any peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepChangeThreshForAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineOutput Name="PeakChl"><Units:microgram_per_liter/><Value>0</Value></DefineOutput>

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

    <DefineOutput Name="PeakChlTemperature"><Units:celsius/><Value>0</Value></DefineOutput>

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

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

    <DefineOutput Name="PeakNO3"><Units:micromole_per_liter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Depth"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Latitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Longitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakOil"><Units:kilogram_per_cubic_meter/><Value>0</Value></DefineOutput>

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

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

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

    <DefineOutput Name="PeakFDOM"><Units:part_per_billion/><Value>0</Value></DefineOutput>

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

    <DefineOutput Name="PeakFDOMTemperature"><Units:celsius/><Value>NaN</Value></DefineOutput>

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

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

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

    <DefineOutput Name="PeakSalt"><Units:psu/><Value>0</Value></DefineOutput>

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

    <DefineOutput Name="PeakSaltTemperature"><Units:celsius/><Value>0</Value></DefineOutput>

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

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

    <DefineOutput Name="PatchChl"><Units:microgram_per_liter/><Value>0</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="PatchSalt"><Units:psu/><Value>0</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="PatchOil"><Units:psu/><Value>0</Value></DefineOutput>

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

    <Parallel/>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2"/>
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown"/>
            <Or><Arg Name="EnabledSeabird"/></Or>
        </While>
        <Universal:sea_water_temperature/>
        <Universal:sea_water_salinity/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird"/>
        </While>
        <Science:CTD_Seabird.sea_water_temperature/>
        <Science:CTD_Seabird.sea_water_salinity/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown"/>
            <Or><Arg Name="EnabledSeabird"/></Or>
            <And><Arg Name="UpwardDerivativeOfTemperatureActive"/></And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL"/>
            <Or><Arg Name="PeakDetectChlActive"/></Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT"/>
        </While>
        <Science:WetLabsUBAT.average_bioluminescence/>
    </ReadData>

    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A"/>
            <Or><Arg Name="PeakDetectOilActive"/></Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/>
    </ReadData>

    <Aggregate Id="OceanCurrent">

        <Estimation:CurrentEstimator>
            <Parallel/>
        </Estimation:CurrentEstimator>

    </Aggregate>

    <Aggregate Id="PeakDetectChl">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.medianFilterLength/><Arg Name="MedianFilterLen"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.depthChangeThresh/><Arg Name="DepChangeThreshForAttitudeFlip"/></Setting>
            <OutputArg Name="PeakChl"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakChlDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakChlTemperature"><Trigger:PeakDetectVsDepth.peakTemperature/></OutputArg>
            <OutputArg Name="PeakChlLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakChlLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

<!--debug
        <Syslog Severity="Important">PeakChl, PeakChlLatitude, PeakChlLongitude = <Arg Name="PeakChl"/><Units:microgram_per_liter/>, <Arg Name="PeakChlLatitude"/><Units:degree/>, <Arg Name="PeakChlLongitude"/><Units:degree/></Syslog>
-->

        <SendData Service="Express"><Arg Name="PeakChl"/><Arg Name="PeakChlDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestChlPeakReport">

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

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakChl"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakChlDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakChlLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakChlLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFractionHorizontal"/></Setting>
            <OutputArg Name="PatchChl"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
            <OutputArg Name="PatchChlDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
            <OutputArg Name="PatchChlLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
            <OutputArg Name="PatchChlLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
            <OutputArg Name="PatchChlDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
        </Trigger:PeakDetectHorizontal>

    </Aggregate>

    <Aggregate Id="PeakDetectNO3">

        <While>
            <Arg Name="PeakDetectNO3Active"/>
        </While>

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mole_concentration_of_nitrate_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <OutputArg Name="PeakNO3"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakNO3Depth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakNO3Latitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakNO3Longitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

        <SendData Service="Express"><Arg Name="PeakNO3"/><Arg Name="PeakNO3Depth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="PeakDetectOil">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <OutputArg Name="PeakOil"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakOilDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakOilLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakOilLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

<!--debug
        <Syslog Severity="Important">PeakOil, PeakOilDepth, PeakOilTemperature, PeakOilLatitude, PeakOilLongitude = <Arg Name="PeakOil"/><Units:kilogram_per_cubic_meter/>, <Arg Name="PeakOilDepth"/><Units:meter/>, <Arg Name="PeakOilTemperature"/><Units:celsius/>, <Arg Name="PeakOilLatitude"/><Units:degree/>, <Arg Name="PeakOilLongitude"/><Units:degree/></Syslog>
-->

        <SendData Service="Express"><Arg Name="PeakOil"/><Arg Name="PeakOilDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestOilPeakReport">

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

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakOil"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakOilDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakOilLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakOilLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFractionHorizontal"/></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:PeakDetectHorizontal>

    </Aggregate>

    <Aggregate Id="PeakDetectFDOM">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <OutputArg Name="PeakFDOM"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakFDOMDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakFDOMTemperature"><Trigger:PeakDetectVsDepth.peakTemperature/></OutputArg>
            <OutputArg Name="PeakFDOMLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakFDOMLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

        <SendData Service="Express"><Arg Name="PeakFDOM"/><Arg Name="PeakFDOMDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="PeakDetectSalinity">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:sea_water_salinity/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.medianFilterLength/><Arg Name="MedianFilterLen"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.depthChangeThresh/><Arg Name="DepChangeThreshForAttitudeFlip"/></Setting>
            <OutputArg Name="PeakSalt"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakSaltDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakSaltTemperature"><Trigger:PeakDetectVsDepth.peakTemperature/></OutputArg>
            <OutputArg Name="PeakSaltLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakSaltLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

<!--debug
        <Syslog Severity="Important">PeakSalt, PeakSaltDepth, PeakSaltTemperature, PeakSaltLatitude, PeakSaltLongitude = <Arg Name="PeakSalt"/><Units:psu/>, <Arg Name="PeakSaltDepth"/><Units:meter/>, <Arg Name="PeakSaltTemperature"/><Units:celsius/>, <Arg Name="PeakSaltLatitude"/><Units:degree/>, <Arg Name="PeakSaltLongitude"/><Units:degree/></Syslog>
-->

        <SendData Service="Express"><Arg Name="PeakSalt"/><Arg Name="PeakSaltDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestSaltPeakReport">

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

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakSalt"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakSaltDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakSaltLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakSaltLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFractionHorizontal"/></Setting>
            <OutputArg Name="PatchSalt"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
            <OutputArg Name="PatchSaltDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
            <OutputArg Name="PatchSaltLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
            <OutputArg Name="PatchSaltLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
            <OutputArg Name="PatchSaltDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
        </Trigger:PeakDetectHorizontal>

    </Aggregate>

</Aggregate>


2022-03-03T23:45:47.436Z,1646351147.436 [CommandExec](IMPORTANT): Running ./Missions/Insert/Science.xml
2022-03-03T23:45:49.689Z,1646351149.689 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.031366
CHAN A1 (24V): 0.000042
CHAN A2 (12V): -0.005670
CHAN A3 (5V): -0.002683
CHAN B0 (3.3V): -0.001102
CHAN B1 (3.15aV): -0.001100
CHAN B2 (3.15bV): -0.000876
CHAN B3 (GND): -0.000132
OPEN: -0.000553
Full Scale: +/- 1 mA
2022-03-03T23:45:51.174Z,1646351151.174 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004544
2022-03-03T23:45:51.765Z,1646351151.765 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-03-03T23:45:51.765Z,1646351151.765 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-03-03T23:45:55.553Z,1646351155.553 [CommandExec](IMPORTANT): got command show stack
2022-03-03T23:45:55.553Z,1646351155.553 [CommandExec](IMPORTANT): Behavior Stack:

2022-03-03T23:45:55.553Z,1646351155.553 [MissionManager](IMPORTANT): Mission loaded, but not running.
2022-03-03T23:45:56.890Z,1646351156.890 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:45:58.880Z,1646351158.880 [CommandExec](IMPORTANT): got command stop
2022-03-03T23:45:58.881Z,1646351158.881 [CommandExec](IMPORTANT): Scheduling is paused
2022-03-03T23:45:58.881Z,1646351158.881 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-03-03T23:46:07.793Z,1646351167.793 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:46:08.951Z,1646351168.951 [CommandExec](IMPORTANT): got command set NAL9602.platform_communications 1 bool
2022-03-03T23:46:18.314Z,1646351178.314 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-03-03T23:46:18.314Z,1646351178.314 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-03-03T23:46:18.314Z,1646351178.314 [SBIT](FAULT): Control surface position failure.
2022-03-03T23:46:19.513Z,1646351179.513 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:46:30.421Z,1646351190.421 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:46:32.094Z,1646351192.094 [SBIT](ERROR): Could not read elevatorAngleReader_.
2022-03-03T23:46:32.094Z,1646351192.094 [SBIT](ERROR): Could not read rudderAngleReader_.
2022-03-03T23:46:32.094Z,1646351192.094 [SBIT](FAULT): Control surface position failure.
2022-03-03T23:46:32.465Z,1646351192.465 [SBIT](CRITICAL): SBIT FAILED
2022-03-03T23:46:32.465Z,1646351192.465 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-03-03T23:46:32.466Z,1646351192.466 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2022-03-03T23:46:32.466Z,1646351192.466 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2022-03-03T23:46:32.467Z,1646351192.467 [SBIT](IMPORTANT): ElevatorServo.loadAtStartup=0 bool;

2022-03-03T23:46:32.467Z,1646351192.467 [SBIT](IMPORTANT): RudderServo.loadAtStartup=0 bool;

2022-03-03T23:46:32.467Z,1646351192.467 [SBIT](IMPORTANT): ThrusterServo.loadAtStartup=0 bool;

2022-03-03T23:46:32.467Z,1646351192.467 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2022-03-03T23:46:32.468Z,1646351192.468 [CommandExec](FAULT): Scheduling is paused
2022-03-03T23:46:32.469Z,1646351192.469 [CBIT](INFO): Critical error at 20220303T234632
2022-03-03T23:46:32.860Z,1646351192.860 [MissionManager](IMPORTANT): Started mission Startup
2022-03-03T23:46:32.860Z,1646351192.860 [Startup] Running Loop=1
2022-03-03T23:46:32.860Z,1646351192.860 [Startup](DEBUG): Aggregate::initialize Startup
2022-03-03T23:46:32.860Z,1646351192.860 [Startup:A.GoToSurface] Running Loop=1
2022-03-03T23:46:32.860Z,1646351192.860 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-03-03T23:46:32.861Z,1646351192.861 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-03-03T23:46:32.861Z,1646351192.861 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-03-03T23:46:32.862Z,1646351192.862 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-03-03T23:46:32.862Z,1646351192.862 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-03-03T23:46:32.863Z,1646351192.863 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-03-03T23:46:32.884Z,1646351192.884 [Startup:StartupSatComms] Running Loop=1
2022-03-03T23:46:32.884Z,1646351192.884 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-03-03T23:46:32.885Z,1646351192.885 [Startup:StartupSatComms:A] Running Loop=1
2022-03-03T23:46:33.259Z,1646351193.259 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-03-03T23:46:39.717Z,1646351199.717 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-03-03T23:46:39.717Z,1646351199.717 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2022-03-03T23:46:39.717Z,1646351199.717 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-03-03T23:46:39.728Z,1646351199.728 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-03-03T23:46:40.190Z,1646351200.190 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-03-03T23:46:40.190Z,1646351200.190 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2022-03-03T23:46:41.733Z,1646351201.733 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:46:53.449Z,1646351213.449 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:47:04.757Z,1646351224.757 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2022-03-03T23:47:29.765Z,1646351249.765 [CommandExec](IMPORTANT): got command show stack
2022-03-03T23:47:29.765Z,1646351249.765 [CommandExec](IMPORTANT): Behavior Stack:

2022-03-03T23:47:29.765Z,1646351249.765 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2022-03-03T23:47:29.766Z,1646351249.766 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A
2022-03-03T23:47:33.109Z,1646351253.109 [Startup:StartupSatComms:A](INFO): Timed out from 2022-03-03T23:46:32.9Z
2022-03-03T23:47:33.109Z,1646351253.109 [Startup:StartupSatComms:A] Stopped
2022-03-03T23:47:33.109Z,1646351253.109 [Startup:StartupSatComms:B] Running Loop=1
2022-03-03T23:47:33.473Z,1646351253.473 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-03-03T23:47:43.579Z,1646351263.579 [CommandExec](IMPORTANT): got command set NAL9602.platform_communications 1 bool
2022-03-03T23:47:43.780Z,1646351263.780 [Startup:StartupSatComms:B] Stopped
2022-03-03T23:47:43.780Z,1646351263.780 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-03-03T23:47:43.780Z,1646351263.780 [Startup:StartupSatComms] Stopped
2022-03-03T23:47:43.780Z,1646351263.780 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-03-03T23:47:43.781Z,1646351263.781 [Startup](INFO): Completed Startup
2022-03-03T23:47:43.781Z,1646351263.781 [MissionManager](INFO): Startup is completed.
2022-03-03T23:47:43.781Z,1646351263.781 [MissionManager](INFO): Uninitializing Mission Startup
2022-03-03T23:47:43.781Z,1646351263.781 [Startup] Stopped
2022-03-03T23:47:43.781Z,1646351263.781 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-03-03T23:47:43.782Z,1646351263.782 [Startup:A.GoToSurface] Stopped
2022-03-03T23:47:43.782Z,1646351263.782 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-03-03T23:47:44.184Z,1646351264.184 [MissionManager](IMPORTANT): Started mission Science
2022-03-03T23:47:44.185Z,1646351264.185 [Science] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science](DEBUG): Aggregate::initialize Science
2022-03-03T23:47:44.185Z,1646351264.185 [Science:A] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:B] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:C] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:D] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:E] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:F] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:Read_Oil] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:PeakDetectChl] Running Loop=1
2022-03-03T23:47:44.185Z,1646351264.185 [Science:PeakDetectChl](DEBUG): Aggregate::initialize Science:PeakDetectChl
2022-03-03T23:47:44.186Z,1646351264.186 [Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:47:44.186Z,1646351264.186 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:47:44.212Z,1646351264.212 [Science:HighestChlPeakReport] Running Loop=1
2022-03-03T23:47:44.212Z,1646351264.212 [Science:HighestChlPeakReport](DEBUG): Aggregate::initialize Science:HighestChlPeakReport
2022-03-03T23:47:44.212Z,1646351264.212 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-03-03T23:47:44.213Z,1646351264.213 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-03-03T23:47:44.213Z,1646351264.213 [Science:PeakDetectNO3] Running Loop=1
2022-03-03T23:47:44.213Z,1646351264.213 [Science:PeakDetectNO3](DEBUG): Aggregate::initialize Science:PeakDetectNO3
2022-03-03T23:47:44.213Z,1646351264.213 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:47:44.213Z,1646351264.213 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:47:44.215Z,1646351264.215 [Science:PeakDetectOil] Running Loop=1
2022-03-03T23:47:44.215Z,1646351264.215 [Science:PeakDetectOil](DEBUG): Aggregate::initialize Science:PeakDetectOil
2022-03-03T23:47:44.215Z,1646351264.215 [Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:47:44.215Z,1646351264.215 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:47:44.221Z,1646351264.221 [Science:HighestOilPeakReport] Running Loop=1
2022-03-03T23:47:44.222Z,1646351264.222 [Science:HighestOilPeakReport](DEBUG): Aggregate::initialize Science:HighestOilPeakReport
2022-03-03T23:47:44.222Z,1646351264.222 [Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-03-03T23:47:44.222Z,1646351264.222 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-03-03T23:47:44.222Z,1646351264.222 [Science:PeakDetectFDOM] Running Loop=1
2022-03-03T23:47:44.222Z,1646351264.222 [Science:PeakDetectFDOM](DEBUG): Aggregate::initialize Science:PeakDetectFDOM
2022-03-03T23:47:44.222Z,1646351264.222 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:47:44.223Z,1646351264.223 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:47:44.225Z,1646351264.225 [Science:PeakDetectSalinity] Running Loop=1
2022-03-03T23:47:44.225Z,1646351264.225 [Science:PeakDetectSalinity](DEBUG): Aggregate::initialize Science:PeakDetectSalinity
2022-03-03T23:47:44.225Z,1646351264.225 [Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:47:44.225Z,1646351264.225 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:47:44.227Z,1646351264.227 [Science:HighestSaltPeakReport] Running Loop=1
2022-03-03T23:47:44.227Z,1646351264.227 [Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize Science:HighestSaltPeakReport
2022-03-03T23:47:44.227Z,1646351264.227 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-03-03T23:47:44.227Z,1646351264.227 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-03-03T23:47:44.236Z,1646351264.236 [Science:OceanCurrent] Running Loop=1
2022-03-03T23:47:44.236Z,1646351264.236 [Science:OceanCurrent](DEBUG): Aggregate::initialize Science:OceanCurrent
2022-03-03T23:47:44.236Z,1646351264.236 [Science:OceanCurrent:A.] Running Loop=1
2022-03-03T23:47:44.236Z,1646351264.236 [Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-03-03T23:47:44.237Z,1646351264.237 [Science:HighestSaltPeakReport] Stopped
2022-03-03T23:47:44.237Z,1646351264.237 [Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize Science:HighestSaltPeakReport
2022-03-03T23:47:44.237Z,1646351264.237 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-03-03T23:47:44.237Z,1646351264.237 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-03-03T23:47:44.237Z,1646351264.237 [Science:PeakDetectSalinity] Stopped
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize Science:PeakDetectSalinity
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectFDOM] Stopped
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize Science:PeakDetectFDOM
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:47:44.238Z,1646351264.238 [Science:HighestOilPeakReport] Stopped
2022-03-03T23:47:44.238Z,1646351264.238 [Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize Science:HighestOilPeakReport
2022-03-03T23:47:44.238Z,1646351264.238 [Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-03-03T23:47:44.238Z,1646351264.238 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-03-03T23:47:44.238Z,1646351264.238 [Science:PeakDetectOil] Stopped
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectOil](DEBUG): Aggregate::uninitialize Science:PeakDetectOil
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectNO3] Stopped
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize Science:PeakDetectNO3
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:47:44.239Z,1646351264.239 [Science:HighestChlPeakReport] Stopped
2022-03-03T23:47:44.239Z,1646351264.239 [Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize Science:HighestChlPeakReport
2022-03-03T23:47:44.239Z,1646351264.239 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-03-03T23:47:44.239Z,1646351264.239 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-03-03T23:47:44.239Z,1646351264.239 [Science:PeakDetectChl] Stopped
2022-03-03T23:47:44.244Z,1646351264.244 [Science:PeakDetectChl](DEBUG): Aggregate::uninitialize Science:PeakDetectChl
2022-03-03T23:47:44.244Z,1646351264.244 [Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-03-03T23:47:44.244Z,1646351264.244 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:47:44.244Z,1646351264.244 [Science:OceanCurrent:A.] Running Loop=1
2022-03-03T23:47:44.244Z,1646351264.244 [Science:Read_Oil] Stopped
2022-03-03T23:47:44.244Z,1646351264.244 [Science:F] Stopped
2022-03-03T23:47:44.245Z,1646351264.245 [Science:E] Stopped
2022-03-03T23:47:44.245Z,1646351264.245 [Science:D] Stopped
2022-03-03T23:47:44.245Z,1646351264.245 [Science:C] Running Loop=1
2022-03-03T23:47:44.245Z,1646351264.245 [Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2022-03-03T23:47:44.246Z,1646351264.246 [Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2022-03-03T23:47:44.246Z,1646351264.246 [Science:B] Running Loop=1
2022-03-03T23:47:44.247Z,1646351264.247 [Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2022-03-03T23:47:44.247Z,1646351264.247 [Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2022-03-03T23:47:44.247Z,1646351264.247 [Science:A] Stopped
2022-03-03T23:47:44.247Z,1646351264.247 [MissionManager](INFO): MissionManager is completed.
2022-03-03T23:47:44.252Z,1646351264.252 [MissionManager](INFO): Uninitializing Mission Science
2022-03-03T23:47:44.252Z,1646351264.252 [Science] Stopped
2022-03-03T23:47:44.252Z,1646351264.252 [Science](DEBUG): Aggregate::uninitialize Science
2022-03-03T23:47:44.253Z,1646351264.253 [Science:B] Stopped
2022-03-03T23:47:44.253Z,1646351264.253 [Science:C] Stopped
2022-03-03T23:47:44.253Z,1646351264.253 [Science:OceanCurrent] Stopped
2022-03-03T23:47:44.253Z,1646351264.253 [Science:OceanCurrent](DEBUG): Aggregate::uninitialize Science:OceanCurrent
2022-03-03T23:47:44.253Z,1646351264.253 [Science:OceanCurrent:A.] Stopped
2022-03-03T23:47:44.641Z,1646351264.641 [MissionManager](IMPORTANT): Started mission Default
2022-03-03T23:47:44.641Z,1646351264.641 [Default] Running Loop=1
2022-03-03T23:47:44.641Z,1646351264.641 [Default](DEBUG): Aggregate::initialize Default
2022-03-03T23:47:44.641Z,1646351264.641 [Default:B.GoToSurface] Running Loop=1
2022-03-03T23:47:44.641Z,1646351264.641 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-03-03T23:47:44.641Z,1646351264.641 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-03-03T23:47:44.642Z,1646351264.642 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-03-03T23:47:44.642Z,1646351264.642 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-03-03T23:47:44.642Z,1646351264.642 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-03-03T23:47:44.643Z,1646351264.643 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-03-03T23:47:44.643Z,1646351264.643 [Default:A.Wait] Running Loop=1
2022-03-03T23:47:44.643Z,1646351264.643 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-03-03T23:47:45.039Z,1646351265.039 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20220303T233602/Courier0004.lzma
2022-03-03T23:47:46.042Z,1646351266.042 [DataOverHttps](INFO): Moved sent file to Logs/20220303T233602/Courier0004.lzma.bak
2022-03-03T23:47:46.042Z,1646351266.042 [DataOverHttps](INFO): SBD MOMSN=16533835
2022-03-03T23:47:52.660Z,1646351272.660 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2022-03-03T23:47:52.661Z,1646351272.661 [CTD_Seabird] No Fault, FailCount= 3
2022-03-03T23:47:52.800Z,1646351272.800 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-03T23:47:57.963Z,1646351277.963 [Default:A.Wait](INFO): Done Waiting.
2022-03-03T23:47:57.963Z,1646351277.963 [Default:A.Wait] Stopped
2022-03-03T23:47:57.963Z,1646351277.963 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-03-03T23:47:58.315Z,1646351278.315 [Default:CheckIn] Running Loop=1
2022-03-03T23:47:58.315Z,1646351278.315 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2022-03-03T23:47:58.315Z,1646351278.315 [Default:CheckIn:Read_GPS] Running Loop=1
2022-03-03T23:47:58.733Z,1646351278.733 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-03-03T23:48:05.852Z,1646351285.852 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2022-03-03T23:48:05.852Z,1646351285.852 [CTD_Seabird] Communications Fault, FailCount= 1
2022-03-03T23:48:05.852Z,1646351285.852 [CTD_Seabird](ERROR): Communications Fault
2022-03-03T23:48:05.995Z,1646351285.995 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2022-03-03T23:48:06.256Z,1646351286.256 [CTD_Seabird](INFO): Powering down
2022-03-03T23:48:07.205Z,1646351287.205 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2022-03-03T23:48:07.205Z,1646351287.205 [CTD_Seabird] No Fault, FailCount= 1
2022-03-03T23:48:07.604Z,1646351287.604 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-03T23:48:20.656Z,1646351300.656 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2022-03-03T23:48:20.656Z,1646351300.656 [CTD_Seabird] Communications Fault, FailCount= 2
2022-03-03T23:48:20.656Z,1646351300.656 [CTD_Seabird](ERROR): Communications Fault
2022-03-03T23:48:20.677Z,1646351300.677 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2022-03-03T23:48:21.060Z,1646351301.060 [CTD_Seabird](INFO): Powering down
2022-03-03T23:48:22.273Z,1646351302.273 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2022-03-03T23:48:22.273Z,1646351302.273 [CTD_Seabird] No Fault, FailCount= 2
2022-03-03T23:48:22.404Z,1646351302.404 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-03-03T23:48:35.456Z,1646351315.456 [CTD_Seabird](FAULT): Failed to initialize within timeout.
2022-03-03T23:48:35.456Z,1646351315.456 [CTD_Seabird] Communications Fault, FailCount= 3
2022-03-03T23:48:35.456Z,1646351315.456 [CTD_Seabird](ERROR): Communications Fault
2022-03-03T23:48:35.605Z,1646351315.605 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2022-03-03T23:48:35.605Z,1646351315.605 [CBIT](FAULT): Communications Fault in component: CTD_Seabird
2022-03-03T23:48:35.860Z,1646351315.860 [CTD_Seabird](INFO): Powering down
2022-03-03T23:48:40.855Z,1646351320.855 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2022-03-03T23:48:40.855Z,1646351320.855 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2022-03-03T23:48:40.855Z,1646351320.855 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2022-03-03T23:48:40.865Z,1646351320.865 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2022-03-03T23:48:41.323Z,1646351321.323 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2022-03-03T23:48:41.324Z,1646351321.324 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2022-03-03T23:48:42.921Z,1646351322.921 [CommandExec](IMPORTANT): got command show stack
2022-03-03T23:48:42.921Z,1646351322.921 [CommandExec](IMPORTANT): Behavior Stack:

2022-03-03T23:48:42.921Z,1646351322.921 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2022-03-03T23:48:42.922Z,1646351322.922 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2022-03-03T23:48:46.577Z,1646351326.577 [CommandExec](IMPORTANT): got command run ./Missions/Insert/Science.xml
2022-03-03T23:48:46.577Z,1646351326.577 [MissionManager](INFO): Loading Mission from file: ./Missions/Insert/Science.xml
2022-03-03T23:48:46.808Z,1646351326.808 [MissionManager](INFO): DefineArg Science.PeakDetectChlActive = 0 bool
2022-03-03T23:48:46.810Z,1646351326.810 [MissionManager](INFO): DefineArg Science.TimeWindowPeakReport = nan min
2022-03-03T23:48:46.812Z,1646351326.812 [MissionManager](INFO): DefineArg Science.HighestChlPeakReportActive = 0 bool
2022-03-03T23:48:46.814Z,1646351326.814 [MissionManager](INFO): DefineArg Science.HighestSaltPeakReportActive = 0 bool
2022-03-03T23:48:46.849Z,1646351326.849 [MissionManager](INFO): DefineArg Science.HighestOilPeakReportActive = 0 bool
2022-03-03T23:48:46.851Z,1646351326.851 [MissionManager](INFO): DefineArg Science.PatchTracking = 0 bool
2022-03-03T23:48:46.853Z,1646351326.853 [MissionManager](INFO): DefineArg Science.DetectTrough = 0 bool
2022-03-03T23:48:46.855Z,1646351326.855 [MissionManager](INFO): DefineArg Science.FilterWidthHorizontal = 3.000000 count
2022-03-03T23:48:46.857Z,1646351326.857 [MissionManager](INFO): DefineArg Science.NumProfilesSlidingwindow = 100.000000 count
2022-03-03T23:48:46.859Z,1646351326.859 [MissionManager](INFO): DefineArg Science.OffPeakFractionHorizontal = 80.000000 %
2022-03-03T23:48:46.862Z,1646351326.862 [MissionManager](INFO): DefineArg Science.PeakDetectNO3Active = 0 bool
2022-03-03T23:48:46.864Z,1646351326.864 [MissionManager](INFO): DefineArg Science.PeakDetectOilActive = 0 bool
2022-03-03T23:48:46.866Z,1646351326.866 [MissionManager](INFO): DefineArg Science.PeakDetectFDOMActive = 0 bool
2022-03-03T23:48:46.867Z,1646351326.867 [MissionManager](INFO): DefineArg Science.PeakDetectSalinityActive = 0 bool
2022-03-03T23:48:46.906Z,1646351326.906 [MissionManager](INFO): DefineArg Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-03-03T23:48:46.914Z,1646351326.914 [MissionManager](INFO): DefineArg Science.EnabledAanderaaO2 = 0 bool
2022-03-03T23:48:46.919Z,1646351326.919 [MissionManager](INFO): DefineArg Science.EnabledNeilBrown = 1 bool
2022-03-03T23:48:46.934Z,1646351326.934 [MissionManager](INFO): DefineArg Science.EnabledSeabird = 1 bool
2022-03-03T23:48:46.941Z,1646351326.941 [MissionManager](INFO): DefineArg Science.EnabledWetLabsBB2FL = 0 bool
2022-03-03T23:48:46.956Z,1646351326.956 [MissionManager](INFO): DefineArg Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2022-03-03T23:48:46.958Z,1646351326.958 [MissionManager](INFO): DefineArg Science.EnabledWetLabsUBAT = 0 bool
2022-03-03T23:48:46.981Z,1646351326.981 [MissionManager](INFO): DefineArg Science.LowPassWindowLength = 20.000000 count
2022-03-03T23:48:46.983Z,1646351326.983 [MissionManager](INFO): DefineArg Science.MedianFilterLen = 5.000000 count
2022-03-03T23:48:46.997Z,1646351326.997 [MissionManager](INFO): DefineArg Science.PeakShallowBound = nan m
2022-03-03T23:48:46.999Z,1646351326.999 [MissionManager](INFO): DefineArg Science.PeakDeepBound = nan m
2022-03-03T23:48:47.006Z,1646351327.006 [MissionManager](INFO): DefineArg Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-03-03T23:48:47.016Z,1646351327.016 [MissionManager](INFO): DefineOutput Science.PeakChl = 0.000000 ug/l
2022-03-03T23:48:47.019Z,1646351327.019 [MissionManager](INFO): DefineOutput Science.PeakChlDepth = 0.000000 m
2022-03-03T23:48:47.025Z,1646351327.025 [MissionManager](INFO): DefineOutput Science.PeakChlTemperature = 0.000000 degC
2022-03-03T23:48:47.027Z,1646351327.027 [MissionManager](INFO): DefineOutput Science.PeakChlLatitude = nan arcdeg
2022-03-03T23:48:47.035Z,1646351327.035 [MissionManager](INFO): DefineOutput Science.PeakChlLongitude = nan arcdeg
2022-03-03T23:48:47.041Z,1646351327.041 [MissionManager](INFO): DefineOutput Science.PeakNO3 = 0.000000 umol/l
2022-03-03T23:48:47.048Z,1646351327.048 [MissionManager](INFO): DefineOutput Science.PeakNO3Depth = 0.000000 m
2022-03-03T23:48:47.050Z,1646351327.050 [MissionManager](INFO): DefineOutput Science.PeakNO3Latitude = nan arcdeg
2022-03-03T23:48:47.057Z,1646351327.057 [MissionManager](INFO): DefineOutput Science.PeakNO3Longitude = nan arcdeg
2022-03-03T23:48:47.059Z,1646351327.059 [MissionManager](INFO): DefineOutput Science.PeakOil = 0.000000 kg/m3
2022-03-03T23:48:47.070Z,1646351327.070 [MissionManager](INFO): DefineOutput Science.PeakOilDepth = 0.000000 m
2022-03-03T23:48:47.080Z,1646351327.080 [MissionManager](INFO): DefineOutput Science.PeakOilLatitude = nan arcdeg
2022-03-03T23:48:47.083Z,1646351327.083 [MissionManager](INFO): DefineOutput Science.PeakOilLongitude = nan arcdeg
2022-03-03T23:48:47.085Z,1646351327.085 [MissionManager](INFO): DefineOutput Science.PeakFDOM = 0.000000 ppb
2022-03-03T23:48:47.087Z,1646351327.087 [MissionManager](INFO): DefineOutput Science.PeakFDOMDepth = 0.000000 m
2022-03-03T23:48:47.095Z,1646351327.095 [MissionManager](INFO): DefineOutput Science.PeakFDOMTemperature = nan degC
2022-03-03T23:48:47.109Z,1646351327.109 [MissionManager](INFO): DefineOutput Science.PeakFDOMLatitude = nan arcdeg
2022-03-03T23:48:47.111Z,1646351327.111 [MissionManager](INFO): DefineOutput Science.PeakFDOMLongitude = nan arcdeg
2022-03-03T23:48:47.118Z,1646351327.118 [MissionManager](INFO): DefineOutput Science.PatchFDOMDistance = nan m
2022-03-03T23:48:47.121Z,1646351327.121 [MissionManager](INFO): DefineOutput Science.PeakSalt = 0.000000 psu
2022-03-03T23:48:47.123Z,1646351327.123 [MissionManager](INFO): DefineOutput Science.PeakSaltDepth = 0.000000 m
2022-03-03T23:48:47.125Z,1646351327.125 [MissionManager](INFO): DefineOutput Science.PeakSaltTemperature = 0.000000 degC
2022-03-03T23:48:47.137Z,1646351327.137 [MissionManager](INFO): DefineOutput Science.PeakSaltLatitude = nan arcdeg
2022-03-03T23:48:47.139Z,1646351327.139 [MissionManager](INFO): DefineOutput Science.PeakSaltLongitude = nan arcdeg
2022-03-03T23:48:47.157Z,1646351327.157 [MissionManager](INFO): DefineOutput Science.PatchChl = 0.000000 ug/l
2022-03-03T23:48:47.159Z,1646351327.159 [MissionManager](INFO): DefineOutput Science.PatchChlDepth = 0.000000 m
2022-03-03T23:48:47.161Z,1646351327.161 [MissionManager](INFO): DefineOutput Science.PatchChlLatitude = nan arcdeg
2022-03-03T23:48:47.172Z,1646351327.172 [MissionManager](INFO): DefineOutput Science.PatchChlLongitude = nan arcdeg
2022-03-03T23:48:47.174Z,1646351327.174 [MissionManager](INFO): DefineOutput Science.PatchChlDistance = nan m
2022-03-03T23:48:47.198Z,1646351327.198 [MissionManager](INFO): DefineOutput Science.PatchSalt = 0.000000 psu
2022-03-03T23:48:47.200Z,1646351327.200 [MissionManager](INFO): DefineOutput Science.PatchSaltDepth = 0.000000 m
2022-03-03T23:48:47.203Z,1646351327.203 [MissionManager](INFO): DefineOutput Science.PatchSaltLatitude = nan arcdeg
2022-03-03T23:48:47.205Z,1646351327.205 [MissionManager](INFO): DefineOutput Science.PatchSaltLongitude = nan arcdeg
2022-03-03T23:48:47.215Z,1646351327.215 [MissionManager](INFO): DefineOutput Science.PatchSaltDistance = nan m
2022-03-03T23:48:47.217Z,1646351327.217 [MissionManager](INFO): DefineOutput Science.PatchOil = 0.000000 psu
2022-03-03T23:48:47.219Z,1646351327.219 [MissionManager](INFO): DefineOutput Science.PatchOilDepth = 0.000000 m
2022-03-03T23:48:47.221Z,1646351327.221 [MissionManager](INFO): DefineOutput Science.PatchOilLatitude = nan arcdeg
2022-03-03T23:48:47.241Z,1646351327.241 [MissionManager](INFO): DefineOutput Science.PatchOilLongitude = nan arcdeg
2022-03-03T23:48:47.243Z,1646351327.243 [MissionManager](INFO): DefineOutput Science.PatchOilDistance = nan m
2022-03-03T23:48:47.266Z,1646351327.266 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:48:47.350Z,1646351327.350 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-03-03T23:48:47.377Z,1646351327.377 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:48:47.395Z,1646351327.395 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:48:47.424Z,1646351327.424 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-03-03T23:48:47.443Z,1646351327.443 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:48:47.474Z,1646351327.474 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-03-03T23:48:47.499Z,1646351327.499 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-03-03T23:48:47.535Z,1646351327.535 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Estimation="Tethys/Estimation"
           xmlns:Science="Tethys/Science"
           xmlns:Universal="Tethys/Universal"
           xmlns:Trigger="Tethys/Trigger"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                               Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd"
       Id="Science">

    <DefineArg Name="PeakDetectChlActive"><Description>
        Turns on peak detection of Cholorphyll.
    </Description><False/></DefineArg>

    <DefineArg Name="TimeWindowPeakReport"><Description>
        If greater than zero, report a peak every window. If NaN or zero, this
        variable is ignored.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="HighestChlPeakReportActive"><Description>
        Turns on reporting of the highest peak value of chlorophyll on yo-yo
        profiles in a horizontal sliding window (of length
        numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="HighestSaltPeakReportActive"><Description>
        Turns on reporting of the highest peak value of salinity on yo-yo
        profiles in a horizontal sliding window (of length
        numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="HighestOilPeakReportActive"><Description>
        Turns on reporting of the highest peak value of oil on yo-yo profiles in
        a horizontal sliding window (of length numProfilesSlidingwindow)
    </Description><False/></DefineArg>

    <DefineArg Name="PatchTracking"><Description>
        If tracking a patch
    </Description><False/></DefineArg>

    <DefineArg Name="DetectTrough"><Description>
        Whether to track a trough. If false, track peak; if true, track trough.
        Default is false.
    </Description><False/></DefineArg>

<!--debug    
    </Description><True/></DefineArg>
-->

    <DefineArg Name="FilterWidthHorizontal"><Description>
        Width of boxcar filter applied to yoyo-wise chl peaks to pick out the
        highest peak.
    </Description><Units:count/><Value>3</Value></DefineArg>

    <DefineArg Name="NumProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. The highest yoyo-wise chl peak
        (after low-pass filtering by a filter of length FilterWidthHorizontal)
        within this window.
    </Description><Units:count/><Value>100</Value></DefineArg>

    <DefineArg Name="OffPeakFractionHorizontal"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
    </Description><Units:percent/><Value>80</Value></DefineArg>

    <DefineArg Name="PeakDetectNO3Active"><Description>
        Turns on peak detection of Nitrate (and turns on ISUS).
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectOilActive"><Description>
        Turns on peak detection of Dissolved Oil.
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectFDOMActive"><Description>
        Turns on peak detection of
        concentration_of_colored_dissolved_organic_matter_in_sea_water from FDOM
        sensor.
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectSalinityActive"><Description>
        Turns on peak detection of salinity.
    </Description><False/></DefineArg>

    <DefineArg Name="UpwardDerivativeOfTemperatureActive"><Description>
        Turns on seawater temperature derivative.
    </Description><False/></DefineArg>

    <DefineArg Name="EnabledAanderaaO2"><Description>
        Automatically set to True if the Aanderaa O2 sensor is installed. Set to
        false to disable reading Aandera O2.
    </Description><Science:Aanderaa_O2.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledNeilBrown"><Description>
        Automatically set to true if the Neil Brown CTD is enabled. Set to false
        to disable reading from the Neil Brown.
    </Description><Science:CTD_NeilBrown.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledSeabird"><Description>
        Automatically set to true if the CTD is enabled. Set to false to disable
        reading from the CTD.
    </Description><Science:CTD_Seabird.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsBB2FL"><Description>
        Automatically set to true if the the WetLabs BB2FL is enabled. Set to
        false to disable the WetLabs BB2FL.
    </Description><Science:WetLabsBB2FL.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A"><Description>
        Automatically set to true if the the WetLabs SeaOWL UV-A is enabled. Set
        to false to disable the WetLabs SeaOWL UV-A.
    </Description><Science:WetLabsSeaOWL_UV_A.loadAtStartup/></DefineArg>

    <DefineArg Name="EnabledWetLabsUBAT"><Description>
        Automatically set to true if the the WetLabs UBAT is enabled. Set to
        false to disable the WetLabs UBAT.
    </Description><Science:WetLabsUBAT.loadAtStartup/></DefineArg>

    <DefineArg Name="LowPassWindowLength"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="MedianFilterLen"><Description>
        Median filter length (only for chlorophyll fluorescence which tends to
        have spikes)
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="PeakShallowBound"><Description>
        Shallow depth bound for detecting any peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="PeakDeepBound"><Description>
        Deep depth bound for detecting any peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepChangeThreshForAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineOutput Name="PeakChl"><Units:microgram_per_liter/><Value>0</Value></DefineOutput>

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

    <DefineOutput Name="PeakChlTemperature"><Units:celsius/><Value>0</Value></DefineOutput>

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

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

    <DefineOutput Name="PeakNO3"><Units:micromole_per_liter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Depth"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Latitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakNO3Longitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakOil"><Units:kilogram_per_cubic_meter/><Value>0</Value></DefineOutput>

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

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

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

    <DefineOutput Name="PeakFDOM"><Units:part_per_billion/><Value>0</Value></DefineOutput>

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

    <DefineOutput Name="PeakFDOMTemperature"><Units:celsius/><Value>NaN</Value></DefineOutput>

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

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

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

    <DefineOutput Name="PeakSalt"><Units:psu/><Value>0</Value></DefineOutput>

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

    <DefineOutput Name="PeakSaltTemperature"><Units:celsius/><Value>0</Value></DefineOutput>

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

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

    <DefineOutput Name="PatchChl"><Units:microgram_per_liter/><Value>0</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="PatchSalt"><Units:psu/><Value>0</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="PatchOil"><Units:psu/><Value>0</Value></DefineOutput>

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

    <Parallel/>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2"/>
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown"/>
            <Or><Arg Name="EnabledSeabird"/></Or>
        </While>
        <Universal:sea_water_temperature/>
        <Universal:sea_water_salinity/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird"/>
        </While>
        <Science:CTD_Seabird.sea_water_temperature/>
        <Science:CTD_Seabird.sea_water_salinity/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown"/>
            <Or><Arg Name="EnabledSeabird"/></Or>
            <And><Arg Name="UpwardDerivativeOfTemperatureActive"/></And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL"/>
            <Or><Arg Name="PeakDetectChlActive"/></Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water/>
    </ReadData>

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT"/>
        </While>
        <Science:WetLabsUBAT.average_bioluminescence/>
    </ReadData>

    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A"/>
            <Or><Arg Name="PeakDetectOilActive"/></Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/>
    </ReadData>

    <Aggregate Id="OceanCurrent">

        <Estimation:CurrentEstimator>
            <Parallel/>
        </Estimation:CurrentEstimator>

    </Aggregate>

    <Aggregate Id="PeakDetectChl">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.medianFilterLength/><Arg Name="MedianFilterLen"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.depthChangeThresh/><Arg Name="DepChangeThreshForAttitudeFlip"/></Setting>
            <OutputArg Name="PeakChl"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakChlDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakChlTemperature"><Trigger:PeakDetectVsDepth.peakTemperature/></OutputArg>
            <OutputArg Name="PeakChlLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakChlLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

<!--debug
        <Syslog Severity="Important">PeakChl, PeakChlLatitude, PeakChlLongitude = <Arg Name="PeakChl"/><Units:microgram_per_liter/>, <Arg Name="PeakChlLatitude"/><Units:degree/>, <Arg Name="PeakChlLongitude"/><Units:degree/></Syslog>
-->

        <SendData Service="Express"><Arg Name="PeakChl"/><Arg Name="PeakChlDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestChlPeakReport">

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

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakChl"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakChlDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakChlLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakChlLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFractionHorizontal"/></Setting>
            <OutputArg Name="PatchChl"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
            <OutputArg Name="PatchChlDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
            <OutputArg Name="PatchChlLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
            <OutputArg Name="PatchChlLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
            <OutputArg Name="PatchChlDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
        </Trigger:PeakDetectHorizontal>

    </Aggregate>

    <Aggregate Id="PeakDetectNO3">

        <While>
            <Arg Name="PeakDetectNO3Active"/>
        </While>

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mole_concentration_of_nitrate_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <OutputArg Name="PeakNO3"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakNO3Depth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakNO3Latitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakNO3Longitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

        <SendData Service="Express"><Arg Name="PeakNO3"/><Arg Name="PeakNO3Depth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="PeakDetectOil">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <OutputArg Name="PeakOil"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakOilDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakOilLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakOilLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

<!--debug
        <Syslog Severity="Important">PeakOil, PeakOilDepth, PeakOilTemperature, PeakOilLatitude, PeakOilLongitude = <Arg Name="PeakOil"/><Units:kilogram_per_cubic_meter/>, <Arg Name="PeakOilDepth"/><Units:meter/>, <Arg Name="PeakOilTemperature"/><Units:celsius/>, <Arg Name="PeakOilLatitude"/><Units:degree/>, <Arg Name="PeakOilLongitude"/><Units:degree/></Syslog>
-->

        <SendData Service="Express"><Arg Name="PeakOil"/><Arg Name="PeakOilDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestOilPeakReport">

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

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakOil"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakOilDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakOilLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakOilLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFractionHorizontal"/></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:PeakDetectHorizontal>

    </Aggregate>

    <Aggregate Id="PeakDetectFDOM">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <OutputArg Name="PeakFDOM"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakFDOMDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakFDOMTemperature"><Trigger:PeakDetectVsDepth.peakTemperature/></OutputArg>
            <OutputArg Name="PeakFDOMLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakFDOMLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

        <SendData Service="Express"><Arg Name="PeakFDOM"/><Arg Name="PeakFDOMDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="PeakDetectSalinity">

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

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:sea_water_salinity/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.timeWindowPeakReport/><Arg Name="TimeWindowPeakReport"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.medianFilterLength/><Arg Name="MedianFilterLen"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.shallowBound/><Arg Name="PeakShallowBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.deepBound/><Arg Name="PeakDeepBound"/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.depthChangeThresh/><Arg Name="DepChangeThreshForAttitudeFlip"/></Setting>
            <OutputArg Name="PeakSalt"><Trigger:PeakDetectVsDepth.peakDetect/></OutputArg>
            <OutputArg Name="PeakSaltDepth"><Trigger:PeakDetectVsDepth.peakDepth/></OutputArg>
            <OutputArg Name="PeakSaltTemperature"><Trigger:PeakDetectVsDepth.peakTemperature/></OutputArg>
            <OutputArg Name="PeakSaltLatitude"><Trigger:PeakDetectVsDepth.peakLatitude/></OutputArg>
            <OutputArg Name="PeakSaltLongitude"><Trigger:PeakDetectVsDepth.peakLongitude/></OutputArg>
        </Trigger:PeakDetectVsDepth>

<!--debug
        <Syslog Severity="Important">PeakSalt, PeakSaltDepth, PeakSaltTemperature, PeakSaltLatitude, PeakSaltLongitude = <Arg Name="PeakSalt"/><Units:psu/>, <Arg Name="PeakSaltDepth"/><Units:meter/>, <Arg Name="PeakSaltTemperature"/><Units:celsius/>, <Arg Name="PeakSaltLatitude"/><Units:degree/>, <Arg Name="PeakSaltLongitude"/><Units:degree/></Syslog>
-->

        <SendData Service="Express"><Arg Name="PeakSalt"/><Arg Name="PeakSaltDepth"/>
        </SendData>

    </Aggregate>

    <Aggregate Id="HighestSaltPeakReport">

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

        <Trigger:PeakDetectHorizontal>
            <Sequence/>
            <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="PeakSalt"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="PeakSaltDepth"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="PeakSaltLatitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="PeakSaltLongitude"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.patchTracking/><Arg Name="PatchTracking"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumProfilesSlidingwindow"/></Setting>
            <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFractionHorizontal"/></Setting>
            <OutputArg Name="PatchSalt"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
            <OutputArg Name="PatchSaltDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
            <OutputArg Name="PatchSaltLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
            <OutputArg Name="PatchSaltLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
            <OutputArg Name="PatchSaltDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
        </Trigger:PeakDetectHorizontal>

    </Aggregate>

</Aggregate>


2022-03-03T23:48:47.537Z,1646351327.537 [CommandExec](IMPORTANT): Running ./Missions/Insert/Science.xml
2022-03-03T23:48:47.700Z,1646351327.700 [Default] Stopped
2022-03-03T23:48:47.700Z,1646351327.700 [Default](DEBUG): Aggregate::uninitialize Default
2022-03-03T23:48:47.700Z,1646351327.700 [Default:B.GoToSurface] Stopped
2022-03-03T23:48:47.700Z,1646351327.700 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-03-03T23:48:47.701Z,1646351327.701 [Default:CheckIn] Stopped
2022-03-03T23:48:47.701Z,1646351327.701 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2022-03-03T23:48:47.701Z,1646351327.701 [Default:CheckIn:Read_GPS] Stopped
2022-03-03T23:48:47.701Z,1646351327.701 [MissionManager](IMPORTANT): Started mission Science
2022-03-03T23:48:47.701Z,1646351327.701 [Science] Running Loop=1
2022-03-03T23:48:47.701Z,1646351327.701 [Science](DEBUG): Aggregate::initialize Science
2022-03-03T23:48:47.701Z,1646351327.701 [Science:A] Running Loop=1
2022-03-03T23:48:47.701Z,1646351327.701 [Science:B] Running Loop=1
2022-03-03T23:48:47.701Z,1646351327.701 [Science:C] Running Loop=1
2022-03-03T23:48:47.701Z,1646351327.701 [Science:D] Running Loop=1
2022-03-03T23:48:47.702Z,1646351327.702 [Science:E] Running Loop=1
2022-03-03T23:48:47.702Z,1646351327.702 [Science:F] Running Loop=1
2022-03-03T23:48:47.702Z,1646351327.702 [Science:Read_Oil] Running Loop=1
2022-03-03T23:48:47.702Z,1646351327.702 [Science:PeakDetectChl] Running Loop=1
2022-03-03T23:48:47.702Z,1646351327.702 [Science:PeakDetectChl](DEBUG): Aggregate::initialize Science:PeakDetectChl
2022-03-03T23:48:47.702Z,1646351327.702 [Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:48:47.702Z,1646351327.702 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:48:47.703Z,1646351327.703 [Science:HighestChlPeakReport] Running Loop=1
2022-03-03T23:48:47.704Z,1646351327.704 [Science:HighestChlPeakReport](DEBUG): Aggregate::initialize Science:HighestChlPeakReport
2022-03-03T23:48:47.704Z,1646351327.704 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-03-03T23:48:47.704Z,1646351327.704 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-03-03T23:48:47.704Z,1646351327.704 [Science:PeakDetectNO3] Running Loop=1
2022-03-03T23:48:47.705Z,1646351327.705 [Science:PeakDetectNO3](DEBUG): Aggregate::initialize Science:PeakDetectNO3
2022-03-03T23:48:47.705Z,1646351327.705 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:48:47.705Z,1646351327.705 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:48:47.706Z,1646351327.706 [Science:PeakDetectOil] Running Loop=1
2022-03-03T23:48:47.706Z,1646351327.706 [Science:PeakDetectOil](DEBUG): Aggregate::initialize Science:PeakDetectOil
2022-03-03T23:48:47.706Z,1646351327.706 [Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:48:47.706Z,1646351327.706 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:48:47.707Z,1646351327.707 [Science:HighestOilPeakReport] Running Loop=1
2022-03-03T23:48:47.707Z,1646351327.707 [Science:HighestOilPeakReport](DEBUG): Aggregate::initialize Science:HighestOilPeakReport
2022-03-03T23:48:47.707Z,1646351327.707 [Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-03-03T23:48:47.712Z,1646351327.712 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-03-03T23:48:47.712Z,1646351327.712 [Science:PeakDetectFDOM] Running Loop=1
2022-03-03T23:48:47.712Z,1646351327.712 [Science:PeakDetectFDOM](DEBUG): Aggregate::initialize Science:PeakDetectFDOM
2022-03-03T23:48:47.713Z,1646351327.713 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:48:47.713Z,1646351327.713 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:48:47.714Z,1646351327.714 [Science:PeakDetectSalinity] Running Loop=1
2022-03-03T23:48:47.714Z,1646351327.714 [Science:PeakDetectSalinity](DEBUG): Aggregate::initialize Science:PeakDetectSalinity
2022-03-03T23:48:47.714Z,1646351327.714 [Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-03-03T23:48:47.714Z,1646351327.714 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-03-03T23:48:47.715Z,1646351327.715 [Science:HighestSaltPeakReport] Running Loop=1
2022-03-03T23:48:47.715Z,1646351327.715 [Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize Science:HighestSaltPeakReport
2022-03-03T23:48:47.720Z,1646351327.720 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-03-03T23:48:47.720Z,1646351327.720 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-03-03T23:48:47.720Z,1646351327.720 [Science:OceanCurrent] Running Loop=1
2022-03-03T23:48:47.721Z,1646351327.721 [Science:OceanCurrent](DEBUG): Aggregate::initialize Science:OceanCurrent
2022-03-03T23:48:47.721Z,1646351327.721 [Science:OceanCurrent:A.] Running Loop=1
2022-03-03T23:48:47.721Z,1646351327.721 [Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-03-03T23:48:47.722Z,1646351327.722 [Science:HighestSaltPeakReport] Stopped
2022-03-03T23:48:47.722Z,1646351327.722 [Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize Science:HighestSaltPeakReport
2022-03-03T23:48:47.722Z,1646351327.722 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-03-03T23:48:47.722Z,1646351327.722 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-03-03T23:48:47.722Z,1646351327.722 [Science:PeakDetectSalinity] Stopped
2022-03-03T23:48:47.722Z,1646351327.722 [Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize Science:PeakDetectSalinity
2022-03-03T23:48:47.722Z,1646351327.722 [Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-03-03T23:48:47.722Z,1646351327.722 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:48:47.722Z,1646351327.722 [Science:PeakDetectFDOM] Stopped
2022-03-03T23:48:47.722Z,1646351327.722 [Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize Science:PeakDetectFDOM
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:48:47.723Z,1646351327.723 [Science:HighestOilPeakReport] Stopped
2022-03-03T23:48:47.723Z,1646351327.723 [Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize Science:HighestOilPeakReport
2022-03-03T23:48:47.723Z,1646351327.723 [Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-03-03T23:48:47.723Z,1646351327.723 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectOil] Stopped
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectOil](DEBUG): Aggregate::uninitialize Science:PeakDetectOil
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectNO3] Stopped
2022-03-03T23:48:47.723Z,1646351327.723 [Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize Science:PeakDetectNO3
2022-03-03T23:48:47.740Z,1646351327.740 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-03-03T23:48:47.740Z,1646351327.740 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:48:47.740Z,1646351327.740 [Science:HighestChlPeakReport] Stopped
2022-03-03T23:48:47.740Z,1646351327.740 [Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize Science:HighestChlPeakReport
2022-03-03T23:48:47.740Z,1646351327.740 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-03-03T23:48:47.740Z,1646351327.740 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-03-03T23:48:47.740Z,1646351327.740 [Science:PeakDetectChl] Stopped
2022-03-03T23:48:47.741Z,1646351327.741 [Science:PeakDetectChl](DEBUG): Aggregate::uninitialize Science:PeakDetectChl
2022-03-03T23:48:47.741Z,1646351327.741 [Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-03-03T23:48:47.741Z,1646351327.741 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-03-03T23:48:47.741Z,1646351327.741 [Science:OceanCurrent:A.] Running Loop=1
2022-03-03T23:48:47.741Z,1646351327.741 [Science:Read_Oil] Stopped
2022-03-03T23:48:47.741Z,1646351327.741 [Science:F] Stopped
2022-03-03T23:48:47.741Z,1646351327.741 [Science:E] Stopped
2022-03-03T23:48:47.741Z,1646351327.741 [Science:D] Stopped
2022-03-03T23:48:47.741Z,1646351327.741 [Science:C] Running Loop=1
2022-03-03T23:48:47.742Z,1646351327.742 [Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2022-03-03T23:48:47.742Z,1646351327.742 [Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2022-03-03T23:48:47.742Z,1646351327.742 [Science:B] Running Loop=1
2022-03-03T23:48:47.743Z,1646351327.743 [Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2022-03-03T23:48:47.743Z,1646351327.743 [Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2022-03-03T23:48:47.743Z,1646351327.743 [Science:A] Stopped
2022-03-03T23:48:52.217Z,1646351332.217 [CommandExec](IMPORTANT): got command report
2022-03-03T23:48:52.217Z,1646351332.217 [Reporter](INFO): CTD_NeilBrown.sea_water_temperature reporting when touched
2022-03-03T23:48:55.224Z,1646351335.224 [CTD_NeilBrown](FAULT): Failed to acquire real or simulated CTD data within timeout.
2022-03-03T23:48:55.224Z,1646351335.224 [CTD_NeilBrown] Communications Fault, FailCount= 1
2022-03-03T23:48:55.225Z,1646351335.225 [CTD_NeilBrown](ERROR): Communications Fault
2022-03-03T23:48:55.446Z,1646351335.446 [CBIT](ERROR): Communications Fault in component: CTD_NeilBrown
2022-03-03T23:48:55.447Z,1646351335.447 [CBIT](FAULT): Communications Fault in component: CTD_NeilBrown
2022-03-03T23:49:06.257Z,1646351346.257 [CommandExec](IMPORTANT): got command show variable internalSim
2022-03-03T23:49:06.343Z,1646351346.343 [CommandExec](IMPORTANT): InternalSim.loadAtStartup (bool)
2022-03-03T23:49:14.041Z,1646351354.041 [CommandExec](IMPORTANT): got command get InternalSim.loadAtStartup
2022-03-03T23:49:14.041Z,1646351354.041 [CommandExec](IMPORTANT): InternalSim.loadAtStartup 0 bool
2022-03-03T23:49:20.972Z,1646351360.972 [CommandExec](IMPORTANT): got command configSet InternalSim.loadAtStartup 1.000000 bool persist
2022-03-03T23:49:20.972Z,1646351360.972 [CommandExec](IMPORTANT): configSet InternalSim.loadAtStartup requires a restart to take effect.
2022-03-03T23:49:24.821Z,1646351364.821 [CommandExec](IMPORTANT): got command restart application
2022-03-03T23:49:25.824Z,1646351365.824 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2022-03-03T23:49:25.824Z,1646351365.824 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:25.824Z,1646351365.824 [CommandExec](INFO): Uninitializing the command executive.
2022-03-03T23:49:25.824Z,1646351365.824 [CommandExec](INFO): Uninitializing the command scheduler.
2022-03-03T23:49:25.825Z,1646351365.825 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:25.948Z,1646351365.948 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2022-03-03T23:49:25.948Z,1646351365.948 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2022-03-03T23:49:25.948Z,1646351365.948 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:25.949Z,1646351365.949 [NavChartDb](INFO): Join timeout helper Thread ID is 8538
2022-03-03T23:49:26.064Z,1646351366.064 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:26.064Z,1646351366.064 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:26.068Z,1646351366.068 [ComponentRegistry](INFO): Shutting down DAT ThreadHandler
2022-03-03T23:49:26.068Z,1646351366.068 [DAT ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:26.069Z,1646351366.069 [DAT](INFO): Join timeout helper Thread ID is 8539
2022-03-03T23:49:26.080Z,1646351366.080 [MissionManager](INFO): MissionManager is completed.
2022-03-03T23:49:26.080Z,1646351366.080 [MissionManager](INFO): Uninitializing Mission Science
2022-03-03T23:49:26.080Z,1646351366.080 [Science] Stopped
2022-03-03T23:49:26.081Z,1646351366.081 [Science](DEBUG): Aggregate::uninitialize Science
2022-03-03T23:49:26.081Z,1646351366.081 [Science:B] Stopped
2022-03-03T23:49:26.081Z,1646351366.081 [Science:C] Stopped
2022-03-03T23:49:26.081Z,1646351366.081 [Science:OceanCurrent] Stopped
2022-03-03T23:49:26.081Z,1646351366.081 [Science:OceanCurrent](DEBUG): Aggregate::uninitialize Science:OceanCurrent
2022-03-03T23:49:26.081Z,1646351366.081 [Science:OceanCurrent:A.] Stopped
2022-03-03T23:49:26.308Z,1646351366.308 [DAT](INFO): Powering down
2022-03-03T23:49:26.380Z,1646351366.380 [DAT ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:26.381Z,1646351366.381 [DAT](INFO): Powering down
2022-03-03T23:49:26.381Z,1646351366.381 [DAT ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:26.392Z,1646351366.392 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2022-03-03T23:49:26.392Z,1646351366.392 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:26.392Z,1646351366.392 [Radio_Surface](INFO): Join timeout helper Thread ID is 8540
2022-03-03T23:49:26.485Z,1646351366.485 [MissionManager](IMPORTANT): Started mission Default
2022-03-03T23:49:26.485Z,1646351366.485 [Default] Running Loop=1
2022-03-03T23:49:26.485Z,1646351366.485 [Default](DEBUG): Aggregate::initialize Default
2022-03-03T23:49:26.485Z,1646351366.485 [Default:B.GoToSurface] Running Loop=1
2022-03-03T23:49:26.485Z,1646351366.485 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-03-03T23:49:26.486Z,1646351366.486 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-03-03T23:49:26.486Z,1646351366.486 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-03-03T23:49:26.486Z,1646351366.486 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-03-03T23:49:26.487Z,1646351366.487 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-03-03T23:49:26.487Z,1646351366.487 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-03-03T23:49:26.487Z,1646351366.487 [Default:A.Wait] Running Loop=1
2022-03-03T23:49:26.488Z,1646351366.488 [Default:A.Wait](DEBUG): Initialize Wait Component.
2022-03-03T23:49:26.692Z,1646351366.692 [Radio_Surface](INFO): Powering down
2022-03-03T23:49:26.693Z,1646351366.693 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:26.693Z,1646351366.693 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:26.696Z,1646351366.696 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2022-03-03T23:49:26.696Z,1646351366.696 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:26.696Z,1646351366.696 [Onboard](INFO): Join timeout helper Thread ID is 8541
2022-03-03T23:49:27.488Z,1646351367.488 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2022-03-03T23:49:29.584Z,1646351369.584 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:29.584Z,1646351369.584 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:29.601Z,1646351369.601 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2022-03-03T23:49:29.601Z,1646351369.601 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:29.601Z,1646351369.601 [DataOverHttps](INFO): Join timeout helper Thread ID is 8542
2022-03-03T23:49:30.500Z,1646351370.500 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:30.500Z,1646351370.500 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.513Z,1646351370.513 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2022-03-03T23:49:30.513Z,1646351370.513 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.513Z,1646351370.513 [CTD_Seabird](INFO): Join timeout helper Thread ID is 8543
2022-03-03T23:49:30.604Z,1646351370.604 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:30.604Z,1646351370.604 [CTD_Seabird](INFO): Powering down
2022-03-03T23:49:30.616Z,1646351370.616 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.621Z,1646351370.621 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2022-03-03T23:49:30.621Z,1646351370.621 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.621Z,1646351370.621 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 8544
2022-03-03T23:49:30.776Z,1646351370.776 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:30.776Z,1646351370.776 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.781Z,1646351370.781 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2022-03-03T23:49:30.781Z,1646351370.781 [logger ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.781Z,1646351370.781 [logger](INFO): Join timeout helper Thread ID is 8545
2022-03-03T23:49:30.784Z,1646351370.784 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:30.784Z,1646351370.784 [logger ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.801Z,1646351370.801 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2022-03-03T23:49:30.801Z,1646351370.801 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.801Z,1646351370.801 [CommandLine](INFO): Join timeout helper Thread ID is 8546
2022-03-03T23:49:30.808Z,1646351370.808 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:30.808Z,1646351370.808 [CommandLine ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.821Z,1646351370.821 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2022-03-03T23:49:30.821Z,1646351370.821 [CommandExec ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.821Z,1646351370.821 [CommandExec](INFO): Join timeout helper Thread ID is 8547
2022-03-03T23:49:30.822Z,1646351370.822 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2022-03-03T23:49:30.823Z,1646351370.823 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.823Z,1646351370.823 [controlThread](INFO): Join timeout helper Thread ID is 8548
2022-03-03T23:49:30.904Z,1646351370.904 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2022-03-03T23:49:30.904Z,1646351370.904 [controlThread](DEBUG): Uninitializing ControlThread
2022-03-03T23:49:30.907Z,1646351370.907 [NAL9602](INFO): Powering down
2022-03-03T23:49:30.909Z,1646351370.909 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2022-03-03T23:49:30.909Z,1646351370.909 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2022-03-03T23:49:30.910Z,1646351370.910 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2022-03-03T23:49:30.910Z,1646351370.910 [MissionManager](INFO): Uninitializing Mission Default
2022-03-03T23:49:30.910Z,1646351370.910 [Default] Stopped
2022-03-03T23:49:30.910Z,1646351370.910 [Default](DEBUG): Aggregate::uninitialize Default
2022-03-03T23:49:30.910Z,1646351370.910 [Default:A.Wait] Stopped
2022-03-03T23:49:30.910Z,1646351370.910 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2022-03-03T23:49:30.910Z,1646351370.910 [Default:B.GoToSurface] Stopped
2022-03-03T23:49:30.910Z,1646351370.910 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-03-03T23:49:30.913Z,1646351370.913 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2022-03-03T23:49:30.913Z,1646351370.913 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2022-03-03T23:49:30.914Z,1646351370.914 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2022-03-03T23:49:30.914Z,1646351370.914 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2022-03-03T23:49:30.914Z,1646351370.914 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2022-03-03T23:49:30.914Z,1646351370.914 [BuoyancyServo](INFO): Powering down
2022-03-03T23:49:30.928Z,1646351370.928 [MassServo](DEBUG): Uninitialize Mass Servo.
2022-03-03T23:49:30.928Z,1646351370.928 [MassServo](INFO): Powering down
2022-03-03T23:49:30.929Z,1646351370.929 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2022-03-03T23:49:30.929Z,1646351370.929 [ThrusterHE](INFO): Powering down
2022-03-03T23:49:30.930Z,1646351370.930 [SBIT](DEBUG): Uninitialize SBIT Component.
2022-03-03T23:49:30.930Z,1646351370.930 [IBIT](DEBUG): Uninitialize IBIT Component.
2022-03-03T23:49:30.930Z,1646351370.930 [CBIT](DEBUG): Uninitialize CBIT Component.
2022-03-03T23:49:30.931Z,1646351370.931 [CBIT](DEBUG): Powering off loads.
2022-03-03T23:49:30.944Z,1646351370.944 [CBIT](DEBUG): Disabling WDT.
2022-03-03T23:49:30.956Z,1646351370.956 [CBIT](DEBUG): Opening all GF detection circuits.
2022-03-03T23:49:30.957Z,1646351370.957 [controlThread ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.990Z,1646351370.990 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:30.994Z,1646351370.994 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:31.021Z,1646351371.021 [DAT ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:31.025Z,1646351371.025 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:31.027Z,1646351371.027 [Onboard ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:31.033Z,1646351371.033 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:31.120Z,1646351371.120 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2022-03-03T23:49:31.169Z,1646351371.169 [logger ThreadHandler](INFO): Thread cancelled.