2023-02-22T19:28:25.763Z,1677094105.763 [Supervisor](DEBUG): Initializing supervisor.
2023-02-22T19:28:25.768Z,1677094105.768 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2023-02-22T19:28:25.768Z,1677094105.768 [SyncHandler](INFO): Protected caller Thread ID is 1082
2023-02-22T19:28:25.769Z,1677094105.769 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2023-02-22T19:28:25.770Z,1677094105.770 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2023-02-22T19:28:25.770Z,1677094105.770 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1083
2023-02-22T19:28:25.775Z,1677094105.775 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2023-02-22T19:28:25.792Z,1677094105.792 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2023-02-22T19:28:25.793Z,1677094105.793 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2023-02-22T19:28:25.793Z,1677094105.793 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 1084
2023-02-22T19:28:25.798Z,1677094105.798 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2023-02-22T19:28:25.799Z,1677094105.799 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2023-02-22T19:28:25.799Z,1677094105.799 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1085
2023-02-22T19:28:25.801Z,1677094105.801 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2023-02-22T19:28:25.802Z,1677094105.802 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2023-02-22T19:28:25.802Z,1677094105.802 [logger ThreadHandler](INFO): Protected caller Thread ID is 1086
2023-02-22T19:28:25.806Z,1677094105.806 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2023-02-22T19:28:25.806Z,1677094105.806 [Supervisor](INFO): Looking for Config files in directory: Config/
2023-02-22T19:28:25.812Z,1677094105.812 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2023-02-22T19:28:25.971Z,1677094105.971 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2023-02-22T19:28:25.973Z,1677094105.973 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2023-02-22T19:28:26.187Z,1677094106.187 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2023-02-22T19:28:26.188Z,1677094106.188 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2023-02-22T19:28:26.438Z,1677094106.438 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2023-02-22T19:28:26.440Z,1677094106.440 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2023-02-22T19:28:26.547Z,1677094106.547 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2023-02-22T19:28:26.549Z,1677094106.549 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2023-02-22T19:28:27.216Z,1677094107.216 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2023-02-22T19:28:27.217Z,1677094107.217 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2023-02-22T19:28:27.688Z,1677094107.688 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2023-02-22T19:28:27.689Z,1677094107.689 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2023-02-22T19:28:28.165Z,1677094108.165 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2023-02-22T19:28:28.166Z,1677094108.166 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2023-02-22T19:28:28.556Z,1677094108.556 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2023-02-22T19:28:28.558Z,1677094108.558 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2023-02-22T19:28:28.890Z,1677094108.890 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2023-02-22T19:28:29.290Z,1677094109.290 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2023-02-22T19:28:29.712Z,1677094109.712 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2023-02-22T19:28:29.713Z,1677094109.713 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2023-02-22T19:28:29.935Z,1677094109.935 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2023-02-22T19:28:29.936Z,1677094109.936 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2023-02-22T19:28:30.075Z,1677094110.075 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2023-02-22T19:28:30.076Z,1677094110.076 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2023-02-22T19:28:30.158Z,1677094110.158 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2023-02-22T19:28:30.238Z,1677094110.238 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2023-02-22T19:28:30.425Z,1677094110.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2023-02-22T19:28:30.426Z,1677094110.426 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2023-02-22T19:28:30.646Z,1677094110.646 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2023-02-22T19:28:30.648Z,1677094110.648 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2023-02-22T19:28:30.651Z,1677094110.651 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2023-02-22T19:28:30.735Z,1677094110.735 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2023-02-22T19:28:30.999Z,1677094110.999 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2023-02-22T19:28:31.000Z,1677094111.000 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2023-02-22T19:28:31.098Z,1677094111.098 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2023-02-22T19:28:31.254Z,1677094111.254 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2023-02-22T19:28:31.429Z,1677094111.429 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2023-02-22T19:28:31.514Z,1677094111.514 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2023-02-22T19:28:31.620Z,1677094111.620 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2023-02-22T19:28:31.725Z,1677094111.725 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2023-02-22T19:28:31.877Z,1677094111.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2023-02-22T19:28:31.979Z,1677094111.979 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2023-02-22T19:28:32.078Z,1677094112.078 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2023-02-22T19:28:32.078Z,1677094112.078 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2023-02-22T19:28:32.092Z,1677094112.092 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2023-02-22T19:28:32.254Z,1677094112.254 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2023-02-22T19:28:32.255Z,1677094112.255 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2023-02-22T19:28:32.422Z,1677094112.422 [BuoyancyServo] Loaded
2023-02-22T19:28:32.422Z,1677094112.422 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2023-02-22T19:28:32.443Z,1677094112.443 [ElevatorServo] Loaded
2023-02-22T19:28:32.443Z,1677094112.443 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2023-02-22T19:28:32.464Z,1677094112.464 [MassServo] Loaded
2023-02-22T19:28:32.465Z,1677094112.465 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2023-02-22T19:28:32.485Z,1677094112.485 [RudderServo] Loaded
2023-02-22T19:28:32.485Z,1677094112.485 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2023-02-22T19:28:32.501Z,1677094112.501 [ThrusterHE] Loaded
2023-02-22T19:28:32.501Z,1677094112.501 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2023-02-22T19:28:32.502Z,1677094112.502 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2023-02-22T19:28:32.502Z,1677094112.502 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2023-02-22T19:28:32.661Z,1677094112.661 [SBIT](DEBUG): Construct Startup Built In Test.
2023-02-22T19:28:32.677Z,1677094112.677 [SBIT] Loaded
2023-02-22T19:28:32.677Z,1677094112.677 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2023-02-22T19:28:32.680Z,1677094112.680 [IBIT](DEBUG): Construct Initiated Built In Test.
2023-02-22T19:28:32.701Z,1677094112.701 [IBIT] Loaded
2023-02-22T19:28:32.701Z,1677094112.701 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2023-02-22T19:28:32.707Z,1677094112.707 [CBIT](DEBUG): Construct Continuous Built In Test.
2023-02-22T19:28:32.929Z,1677094112.929 [CBIT] Loaded
2023-02-22T19:28:32.929Z,1677094112.929 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2023-02-22T19:28:32.930Z,1677094112.930 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2023-02-22T19:28:32.930Z,1677094112.930 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2023-02-22T19:28:33.081Z,1677094113.081 [ESPComponent] Loaded
2023-02-22T19:28:33.081Z,1677094113.081 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2023-02-22T19:28:33.101Z,1677094113.101 [PAR_Licor] Loaded
2023-02-22T19:28:33.101Z,1677094113.101 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2023-02-22T19:28:33.102Z,1677094113.102 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2023-02-22T19:28:33.103Z,1677094113.103 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2023-02-22T19:28:33.163Z,1677094113.163 [DepthRateCalculator] Loaded
2023-02-22T19:28:33.164Z,1677094113.164 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2023-02-22T19:28:33.169Z,1677094113.169 [PitchRateCalculator] Loaded
2023-02-22T19:28:33.169Z,1677094113.169 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2023-02-22T19:28:33.179Z,1677094113.179 [SpeedCalculator] Loaded
2023-02-22T19:28:33.180Z,1677094113.180 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2023-02-22T19:28:33.185Z,1677094113.185 [YawRateCalculator] Loaded
2023-02-22T19:28:33.185Z,1677094113.185 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2023-02-22T19:28:33.205Z,1677094113.205 [ElevatorOffsetCalculator] Loaded
2023-02-22T19:28:33.205Z,1677094113.205 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2023-02-22T19:28:33.205Z,1677094113.205 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2023-02-22T19:28:33.206Z,1677094113.206 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2023-02-22T19:28:33.318Z,1677094113.318 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2023-02-22T19:28:33.318Z,1677094113.318 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2023-02-22T19:28:33.346Z,1677094113.346 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2023-02-22T19:28:33.347Z,1677094113.347 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2023-02-22T19:28:33.462Z,1677094113.462 [DeadReckonUsingMultipleVelocitySources] Loaded
2023-02-22T19:28:33.463Z,1677094113.463 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2023-02-22T19:28:33.477Z,1677094113.477 [NavChart] Loaded
2023-02-22T19:28:33.477Z,1677094113.477 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2023-02-22T19:28:33.482Z,1677094113.482 [UniversalFixResidualReporter] Loaded
2023-02-22T19:28:33.483Z,1677094113.483 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2023-02-22T19:28:33.483Z,1677094113.483 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2023-02-22T19:28:33.484Z,1677094113.484 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2023-02-22T19:28:33.905Z,1677094113.905 [AHRS_M2] Loaded
2023-02-22T19:28:33.905Z,1677094113.905 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2023-02-22T19:28:33.940Z,1677094113.940 [BackseatComponent] Loaded
2023-02-22T19:28:33.940Z,1677094113.940 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2023-02-22T19:28:33.941Z,1677094113.941 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 409B54E0
2023-02-22T19:28:33.942Z,1677094113.942 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 1168
2023-02-22T19:28:33.945Z,1677094113.945 [LcmUniversalReporter] Loaded
2023-02-22T19:28:33.945Z,1677094113.945 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2023-02-22T19:28:35.104Z,1677094115.104 [BPC1] Loaded
2023-02-22T19:28:35.104Z,1677094115.104 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2023-02-22T19:28:35.325Z,1677094115.325 [DataOverHttps] Loaded
2023-02-22T19:28:35.325Z,1677094115.325 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2023-02-22T19:28:35.326Z,1677094115.326 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409E54E0
2023-02-22T19:28:35.327Z,1677094115.327 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1169
2023-02-22T19:28:35.348Z,1677094115.348 [Depth_Keller] Loaded
2023-02-22T19:28:35.348Z,1677094115.348 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2023-02-22T19:28:35.388Z,1677094115.388 [DVL_micro] Loaded
2023-02-22T19:28:35.388Z,1677094115.388 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2023-02-22T19:28:35.449Z,1677094115.449 [NAL9602] Loaded
2023-02-22T19:28:35.449Z,1677094115.449 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2023-02-22T19:28:35.475Z,1677094115.475 [Onboard] Loaded
2023-02-22T19:28:35.476Z,1677094115.476 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2023-02-22T19:28:35.477Z,1677094115.477 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 40A154E0
2023-02-22T19:28:35.477Z,1677094115.477 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1170
2023-02-22T19:28:35.489Z,1677094115.489 [Power24vConverter] Loaded
2023-02-22T19:28:35.490Z,1677094115.490 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2023-02-22T19:28:35.503Z,1677094115.503 [Radio_Surface] Loaded
2023-02-22T19:28:35.503Z,1677094115.503 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2023-02-22T19:28:35.505Z,1677094115.505 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 40A454E0
2023-02-22T19:28:35.505Z,1677094115.505 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1171
2023-02-22T19:28:35.506Z,1677094115.506 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2023-02-22T19:28:35.506Z,1677094115.506 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2023-02-22T19:28:35.567Z,1677094115.567 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2023-02-22T19:28:35.567Z,1677094115.567 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2023-02-22T19:28:35.621Z,1677094115.621 [VerticalControl](DEBUG): Construct VerticalControl.
2023-02-22T19:28:35.674Z,1677094115.674 [VerticalControl] Loaded
2023-02-22T19:28:35.674Z,1677094115.674 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2023-02-22T19:28:35.677Z,1677094115.677 [HorizontalControl](DEBUG): Construct HorizontalControl.
2023-02-22T19:28:35.715Z,1677094115.715 [HorizontalControl] Loaded
2023-02-22T19:28:35.715Z,1677094115.715 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2023-02-22T19:28:35.717Z,1677094115.717 [SpeedControl](DEBUG): Construct SpeedControl.
2023-02-22T19:28:35.719Z,1677094115.719 [SpeedControl] Loaded
2023-02-22T19:28:35.719Z,1677094115.719 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2023-02-22T19:28:35.722Z,1677094115.722 [LoopControl](DEBUG): Construct LoopControl.
2023-02-22T19:28:35.723Z,1677094115.723 [LoopControl] Loaded
2023-02-22T19:28:35.723Z,1677094115.723 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2023-02-22T19:28:35.723Z,1677094115.723 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2023-02-22T19:28:35.724Z,1677094115.724 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2023-02-22T19:28:35.735Z,1677094115.735 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2023-02-22T19:28:35.735Z,1677094115.735 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2023-02-22T19:28:36.074Z,1677094116.074 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2023-02-22T19:28:36.080Z,1677094116.080 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2023-02-22T19:28:36.083Z,1677094116.083 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2023-02-22T19:28:36.093Z,1677094116.093 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2023-02-22T19:28:36.094Z,1677094116.094 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B3F4E0
2023-02-22T19:28:36.095Z,1677094116.095 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1172
2023-02-22T19:28:36.099Z,1677094116.099 [Supervisor](INFO): Main Thread ID is 825
2023-02-22T19:28:36.099Z,1677094116.099 [Supervisor](DEBUG): Running supervisor.
2023-02-22T19:28:36.100Z,1677094116.100 [CommandExec ThreadHandler](INFO): Handler Thread ID is 1173
2023-02-22T19:28:36.101Z,1677094116.101 [CommandExec](INFO): Initializing the command executive.
2023-02-22T19:28:36.102Z,1677094116.102 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1174
2023-02-22T19:28:36.104Z,1677094116.104 [controlThread ThreadHandler](INFO): Handler Thread ID is 1175
2023-02-22T19:28:36.105Z,1677094116.105 [controlThread](DEBUG): Initializing ControlThread
2023-02-22T19:28:36.106Z,1677094116.106 [SBIT](INFO): Initialize SBIT Component.
2023-02-22T19:28:36.107Z,1677094116.107 [SBIT](IMPORTANT): git: 2023-02-15A-1-g98c560e2e
2023-02-22T19:28:36.107Z,1677094116.107 [SBIT](INFO): git hash: 98c560e2e862bfc439cbc2881c3a6b20e1bb1b72
2023-02-22T19:28:36.107Z,1677094116.107 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2023-02-22T19:28:36.109Z,1677094116.109 [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
2023-02-22T19:28:36.110Z,1677094116.110 [SBIT](INFO): Beginning SBIT in 46.000000 seconds.
2023-02-22T19:28:36.110Z,1677094116.110 [IBIT](INFO): Initialize IBIT Component.
2023-02-22T19:28:36.111Z,1677094116.111 [CBIT](DEBUG): Initialize CBIT Component.
2023-02-22T19:28:36.112Z,1677094116.112 [logger ThreadHandler](INFO): Handler Thread ID is 1176
2023-02-22T19:28:36.124Z,1677094116.124 [CBIT](DEBUG): Initialized mux pins.
2023-02-22T19:28:36.124Z,1677094116.124 [CBIT](DEBUG): Initializing the watchdog timer.
2023-02-22T19:28:36.132Z,1677094116.132 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 1177
2023-02-22T19:28:36.148Z,1677094116.148 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2023-02-22T19:28:36.148Z,1677094116.148 [CBIT](DEBUG): Initializing heartbeat.
2023-02-22T19:28:36.149Z,1677094116.149 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1178
2023-02-22T19:28:36.150Z,1677094116.150 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2023-02-22T19:28:36.160Z,1677094116.160 [Onboard ThreadHandler](INFO): Handler Thread ID is 1179
2023-02-22T19:28:36.190Z,1677094116.190 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1180
2023-02-22T19:28:36.200Z,1677094116.200 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1181
2023-02-22T19:28:36.209Z,1677094116.209 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2023-02-22T19:28:36.209Z,1677094116.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2023-02-22T19:28:36.209Z,1677094116.209 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2023-02-22T19:28:36.209Z,1677094116.209 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2023-02-22T19:28:36.209Z,1677094116.209 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2023-02-22T19:28:36.210Z,1677094116.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2023-02-22T19:28:36.210Z,1677094116.210 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2023-02-22T19:28:36.210Z,1677094116.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2023-02-22T19:28:36.210Z,1677094116.210 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA69M.000
2023-02-22T19:28:36.210Z,1677094116.210 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA69M.000
2023-02-22T19:28:36.220Z,1677094116.220 [CBIT](DEBUG): Deactivating GF circuits.
2023-02-22T19:28:36.220Z,1677094116.220 [CBIT](DEBUG): Deactivating emergency mode.
2023-02-22T19:28:36.256Z,1677094116.256 [CBIT](DEBUG): Backplane powered.
2023-02-22T19:28:36.260Z,1677094116.260 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2023-02-22T19:28:36.261Z,1677094116.261 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2023-02-22T19:28:36.261Z,1677094116.261 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2023-02-22T19:28:36.261Z,1677094116.261 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2023-02-22T19:28:36.262Z,1677094116.262 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2023-02-22T19:28:36.263Z,1677094116.263 [NavChart](DEBUG): Initialize NavChart Navigation.
2023-02-22T19:28:36.263Z,1677094116.263 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2023-02-22T19:28:36.269Z,1677094116.269 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2023-02-22T19:28:36.271Z,1677094116.271 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2023-02-22T19:28:36.271Z,1677094116.271 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2023-02-22T19:28:36.272Z,1677094116.272 [LoopControl](DEBUG): Initialize LoopControlComponent.
2023-02-22T19:28:36.273Z,1677094116.273 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2023-02-22T19:28:36.310Z,1677094116.310 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2023-02-22T19:28:36.346Z,1677094116.346 [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>


2023-02-22T19:28:36.346Z,1677094116.346 [MissionManager](INFO): Loading Mission from file: Missions/Default.xml
2023-02-22T19:28:36.432Z,1677094116.432 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2023-02-22T19:28:36.433Z,1677094116.433 [Default:A.Wait](DEBUG): Construct Wait.
2023-02-22T19:28:36.435Z,1677094116.435 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2023-02-22T19:28:36.470Z,1677094116.470 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2023-02-22T19:28:36.489Z,1677094116.489 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2023-02-22T19:28:36.495Z,1677094116.495 [Default:E.Execute](DEBUG): Construct Execute.
2023-02-22T19:28:36.507Z,1677094116.507 [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="P4H">
                <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>


2023-02-22T19:28:36.512Z,1677094116.512 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,BPC1,Depth_Keller,DVL_micro,NAL9602,Power24vConverter,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2023-02-22T19:28:36.549Z,1677094116.549 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-02-22T19:28:36.592Z,1677094116.592 [Radio_Surface](INFO): Powering up
2023-02-22T19:28:36.628Z,1677094116.628 [Depth_Keller](ERROR): Pressure reading out of range: 1895.444336 decibar
2023-02-22T19:28:36.641Z,1677094116.641 [Power24vConverter](INFO): Powering up.
2023-02-22T19:28:36.657Z,1677094116.657 [DepthRateCalculator](ERROR): Depth measurement is not active
2023-02-22T19:28:36.690Z,1677094116.690 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:28:36.696Z,1677094116.696 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2023-02-22T19:28:36.697Z,1677094116.697 [ElevatorServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:28:36.708Z,1677094116.708 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2023-02-22T19:28:36.709Z,1677094116.709 [MassServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:28:36.716Z,1677094116.716 [MassServo](DEBUG): Initializing MassServo.
2023-02-22T19:28:36.717Z,1677094116.717 [RudderServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:28:36.725Z,1677094116.725 [RudderServo](DEBUG): Initializing RudderServo.
2023-02-22T19:28:36.725Z,1677094116.725 [ThrusterHE](DEBUG): Initializing EZServoServo.
2023-02-22T19:28:36.732Z,1677094116.732 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2023-02-22T19:28:37.668Z,1677094117.668 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2023-02-22T19:28:37.668Z,1677094117.668 [RudderServo](FAULT): Rudder failed to initialize
2023-02-22T19:28:37.668Z,1677094117.668 [RudderServo] Communications Fault, FailCount= 1
2023-02-22T19:28:37.668Z,1677094117.668 [RudderServo](ERROR): Communications Fault
2023-02-22T19:28:37.672Z,1677094117.672 [CBIT](ERROR): Communications Fault in component: RudderServo
2023-02-22T19:28:37.889Z,1677094117.889 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2023-02-22T19:28:37.890Z,1677094117.890 [RudderServo](INFO): Powering down
2023-02-22T19:28:38.560Z,1677094118.560 [RudderServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:28:38.681Z,1677094118.681 [RudderServo](DEBUG): Initializing RudderServo.
2023-02-22T19:28:38.685Z,1677094118.685 [CBIT](INFO): Clearing failed state for component RudderServo
2023-02-22T19:28:38.685Z,1677094118.685 [RudderServo] No Fault, FailCount= 1
2023-02-22T19:28:40.656Z,1677094120.656 [AHRS_M2](ERROR): Set Trigger UART error: serial timeout
2023-02-22T19:28:41.868Z,1677094121.868 [AHRS_M2](ERROR): Subscribe Roll UART error: serial timeout
2023-02-22T19:28:44.696Z,1677094124.696 [AHRS_M2](ERROR): Subscribe Temperature UART error: serial timeout
2023-02-22T19:28:53.909Z,1677094133.909 [DVL_micro](FAULT): Failed to initialize within timeout.
2023-02-22T19:28:53.909Z,1677094133.909 [DVL_micro] Communications Fault, FailCount= 1
2023-02-22T19:28:53.909Z,1677094133.909 [DVL_micro](ERROR): Communications Fault
2023-02-22T19:28:53.972Z,1677094133.972 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-02-22T19:28:54.385Z,1677094134.385 [DVL_micro](INFO): Powering down
2023-02-22T19:28:55.173Z,1677094135.173 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-02-22T19:28:55.173Z,1677094135.173 [DVL_micro] No Fault, FailCount= 1
2023-02-22T19:28:55.924Z,1677094135.924 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2023-02-22T19:28:55.924Z,1677094135.924 [AHRS_M2] Data Fault, FailCount= 1
2023-02-22T19:28:55.924Z,1677094135.924 [AHRS_M2](ERROR): Data Fault
2023-02-22T19:28:55.972Z,1677094135.972 [CBIT](ERROR): Data Fault in component: AHRS_M2
2023-02-22T19:28:56.316Z,1677094136.316 [AHRS_M2](INFO): Powering down
2023-02-22T19:28:57.228Z,1677094137.228 [CBIT](INFO): Clearing failed state for component AHRS_M2
2023-02-22T19:28:57.228Z,1677094137.228 [AHRS_M2] No Fault, FailCount= 1
2023-02-22T19:28:57.528Z,1677094137.528 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-02-22T19:29:05.629Z,1677094145.629 [NAL9602](INFO): Powering up NAL9602
2023-02-22T19:29:10.875Z,1677094150.875 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2023-02-22T19:29:10.875Z,1677094150.875 [AHRS_M2] Data Fault, FailCount= 2
2023-02-22T19:29:10.875Z,1677094150.875 [AHRS_M2](ERROR): Data Fault
2023-02-22T19:29:10.909Z,1677094150.909 [CBIT](ERROR): Data Fault in component: AHRS_M2
2023-02-22T19:29:11.264Z,1677094151.264 [AHRS_M2](INFO): Powering down
2023-02-22T19:29:12.093Z,1677094152.093 [CBIT](INFO): Clearing failed state for component AHRS_M2
2023-02-22T19:29:12.093Z,1677094152.093 [AHRS_M2] No Fault, FailCount= 2
2023-02-22T19:29:12.488Z,1677094152.488 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-02-22T19:29:12.887Z,1677094152.887 [DVL_micro](FAULT): Failed to initialize within timeout.
2023-02-22T19:29:12.887Z,1677094152.887 [DVL_micro] Communications Fault, FailCount= 2
2023-02-22T19:29:12.887Z,1677094152.887 [DVL_micro](ERROR): Communications Fault
2023-02-22T19:29:12.925Z,1677094152.925 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-02-22T19:29:13.352Z,1677094153.352 [DVL_micro](INFO): Powering down
2023-02-22T19:29:14.113Z,1677094154.113 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-02-22T19:29:14.113Z,1677094154.113 [DVL_micro] No Fault, FailCount= 2
2023-02-22T19:29:16.538Z,1677094156.538 [NAL9602](INFO): NAL9602 initialized
2023-02-22T19:29:22.609Z,1677094162.609 [SBIT](IMPORTANT): Beginning Startup BIT
2023-02-22T19:29:22.613Z,1677094162.613 [CBIT](IMPORTANT): Beginning ground fault scan
2023-02-22T19:29:25.888Z,1677094165.888 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2023-02-22T19:29:25.888Z,1677094165.888 [AHRS_M2] Data Fault, FailCount= 3
2023-02-22T19:29:25.888Z,1677094165.888 [AHRS_M2](ERROR): Data Fault
2023-02-22T19:29:26.008Z,1677094166.008 [CBIT](ERROR): Data Fault in component: AHRS_M2
2023-02-22T19:29:26.220Z,1677094166.220 [AHRS_M2](INFO): Powering down
2023-02-22T19:29:27.125Z,1677094167.125 [CBIT](INFO): Clearing failed state for component AHRS_M2
2023-02-22T19:29:27.125Z,1677094167.125 [AHRS_M2] No Fault, FailCount= 3
2023-02-22T19:29:27.430Z,1677094167.430 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-02-22T19:29:30.988Z,1677094170.988 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:31.556Z,1677094171.556 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:32.012Z,1677094172.012 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:32.021Z,1677094172.021 [DVL_micro](FAULT): Failed to initialize within timeout.
2023-02-22T19:29:32.021Z,1677094172.021 [DVL_micro] Communications Fault, FailCount= 3
2023-02-22T19:29:32.021Z,1677094172.021 [DVL_micro](ERROR): Communications Fault
2023-02-22T19:29:32.121Z,1677094172.121 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-02-22T19:29:32.121Z,1677094172.121 [CBIT](CRITICAL): Communications Fault in component: DVL_micro
2023-02-22T19:29:32.456Z,1677094172.456 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:32.536Z,1677094172.536 [DVL_micro](INFO): Powering down
2023-02-22T19:29:32.654Z,1677094172.654 [CommandExec](FAULT): Scheduling is paused
2023-02-22T19:29:32.655Z,1677094172.655 [CBIT](INFO): Critical error at 20230222T192932
2023-02-22T19:29:32.655Z,1677094172.655 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2023-02-22T19:29:33.068Z,1677094173.068 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:33.516Z,1677094173.516 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:33.960Z,1677094173.960 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:34.480Z,1677094174.480 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:34.624Z,1677094174.624 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.006370
CHAN A1 (24V): 0.000687
CHAN A2 (12V): -0.005535
CHAN A3 (5V): -0.002577
CHAN B0 (3.3V): -0.001214
CHAN B1 (3.15aV): -0.001567
CHAN B2 (3.15bV): -0.001114
CHAN B3 (GND): 0.000208
OPEN: 0.004435
Full Scale: +/- 1 mA
2023-02-22T19:29:34.948Z,1677094174.948 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:35.196Z,1677094175.196 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:35.592Z,1677094175.592 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:35.682Z,1677094175.682 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.529350
2023-02-22T19:29:35.996Z,1677094175.996 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:36.388Z,1677094176.388 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:36.804Z,1677094176.804 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:37.204Z,1677094177.204 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:37.608Z,1677094177.608 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:38.016Z,1677094178.016 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:38.412Z,1677094178.412 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:39.052Z,1677094179.052 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:39.268Z,1677094179.268 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:39.676Z,1677094179.676 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:40.080Z,1677094180.080 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:40.476Z,1677094180.476 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:40.476Z,1677094180.476 [AHRS_M2](FAULT): Failed to initialize within timeout.
2023-02-22T19:29:40.476Z,1677094180.476 [AHRS_M2] Communications Fault, FailCount= 4
2023-02-22T19:29:40.476Z,1677094180.476 [AHRS_M2](ERROR): Communications Fault
2023-02-22T19:29:40.612Z,1677094180.612 [CBIT](ERROR): Communications Fault in component: AHRS_M2
2023-02-22T19:29:40.789Z,1677094180.789 [AHRS_M2](INFO): Powering down
2023-02-22T19:29:41.728Z,1677094181.728 [CBIT](INFO): Clearing failed state for component AHRS_M2
2023-02-22T19:29:41.728Z,1677094181.728 [AHRS_M2] No Fault, FailCount= 4
2023-02-22T19:29:42.006Z,1677094182.006 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-02-22T19:29:42.109Z,1677094182.109 [RudderServo](FAULT): Overload Error
2023-02-22T19:29:42.109Z,1677094182.109 [RudderServo] Hardware Fault, FailCount= 1
2023-02-22T19:29:42.109Z,1677094182.109 [RudderServo](ERROR): Hardware Fault
2023-02-22T19:29:42.136Z,1677094182.136 [CBIT](ERROR): Hardware Fault in component: RudderServo
2023-02-22T19:29:42.493Z,1677094182.493 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2023-02-22T19:29:42.493Z,1677094182.493 [RudderServo](INFO): Powering down
2023-02-22T19:29:43.377Z,1677094183.377 [RudderServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:29:43.497Z,1677094183.497 [RudderServo](DEBUG): Initializing RudderServo.
2023-02-22T19:29:43.502Z,1677094183.502 [CBIT](INFO): Clearing failed state for component RudderServo
2023-02-22T19:29:43.502Z,1677094183.502 [RudderServo] No Fault, FailCount= 1
2023-02-22T19:29:45.332Z,1677094185.332 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:45.964Z,1677094185.964 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:46.165Z,1677094186.165 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:46.580Z,1677094186.580 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:46.980Z,1677094186.980 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:47.384Z,1677094187.384 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:47.788Z,1677094187.788 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:48.196Z,1677094188.196 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:48.288Z,1677094188.288 [RudderServo](FAULT): Overload Error
2023-02-22T19:29:48.288Z,1677094188.288 [RudderServo] Hardware Fault, FailCount= 2
2023-02-22T19:29:48.288Z,1677094188.288 [RudderServo](ERROR): Hardware Fault
2023-02-22T19:29:48.323Z,1677094188.323 [CBIT](ERROR): Hardware Fault in component: RudderServo
2023-02-22T19:29:48.592Z,1677094188.592 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:48.640Z,1677094188.640 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2023-02-22T19:29:48.641Z,1677094188.641 [RudderServo](INFO): Powering down
2023-02-22T19:29:48.000Z,1677094189.000 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:49.404Z,1677094189.404 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:49.467Z,1677094189.467 [RudderServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:29:49.585Z,1677094189.585 [RudderServo](DEBUG): Initializing RudderServo.
2023-02-22T19:29:49.589Z,1677094189.589 [CBIT](INFO): Clearing failed state for component RudderServo
2023-02-22T19:29:49.589Z,1677094189.589 [RudderServo] No Fault, FailCount= 2
2023-02-22T19:29:49.804Z,1677094189.804 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:50.212Z,1677094190.212 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:50.616Z,1677094190.616 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:51.245Z,1677094191.245 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:51.760Z,1677094191.760 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:51.960Z,1677094191.960 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:52.348Z,1677094192.348 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:52.756Z,1677094192.756 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:53.144Z,1677094193.144 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:53.564Z,1677094193.564 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:53.972Z,1677094193.972 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:54.024Z,1677094194.024 [RudderServo](FAULT): Overload Error
2023-02-22T19:29:54.024Z,1677094194.024 [RudderServo] Hardware Fault, FailCount= 3
2023-02-22T19:29:54.024Z,1677094194.024 [RudderServo](ERROR): Hardware Fault
2023-02-22T19:29:54.050Z,1677094194.050 [CBIT](ERROR): Hardware Fault in component: RudderServo
2023-02-22T19:29:54.050Z,1677094194.050 [CBIT](CRITICAL): Hardware Fault in component: RudderServo
2023-02-22T19:29:54.368Z,1677094194.368 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:54.387Z,1677094194.387 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2023-02-22T19:29:54.387Z,1677094194.387 [RudderServo](INFO): Powering down
2023-02-22T19:29:54.391Z,1677094194.391 [CBIT](INFO): Critical error at 20230222T192954
2023-02-22T19:29:54.760Z,1677094194.760 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:55.180Z,1677094195.180 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2023-02-22T19:29:55.180Z,1677094195.180 [AHRS_M2](FAULT): Failed to initialize within timeout.
2023-02-22T19:29:55.180Z,1677094195.180 [AHRS_M2] Communications Fault, FailCount= 5
2023-02-22T19:29:55.180Z,1677094195.180 [AHRS_M2](ERROR): Communications Fault
2023-02-22T19:29:55.221Z,1677094195.221 [RudderServo](DEBUG): Initializing EZServoServo.
2023-02-22T19:29:55.341Z,1677094195.341 [RudderServo](DEBUG): Initializing RudderServo.
2023-02-22T19:29:55.346Z,1677094195.346 [CBIT](ERROR): Communications Fault in component: AHRS_M2
2023-02-22T19:29:55.346Z,1677094195.346 [CBIT](CRITICAL): Communications Fault in component: AHRS_M2
2023-02-22T19:29:55.484Z,1677094195.484 [AHRS_M2](INFO): Powering down
2023-02-22T19:29:55.610Z,1677094195.610 [CBIT](INFO): Critical error at 20230222T192955
2023-02-22T19:30:02.394Z,1677094202.394 [SBIT](ERROR): Could not read rudderAngleReader_.
2023-02-22T19:30:02.394Z,1677094202.394 [SBIT](FAULT): Control surface position failure.
2023-02-22T19:30:04.919Z,1677094204.919 [CommandExec](IMPORTANT): got command report mod NAL9602.sigQuality
2023-02-22T19:30:05.270Z,1677094205.270 [Reporter](INFO): NAL9602.sigQuality 0 count
2023-02-22T19:30:10.224Z,1677094210.224 [CommandExec](IMPORTANT): got command failComponent
2023-02-22T19:30:10.225Z,1677094210.225 [CommandExec](IMPORTANT): Failed components:
2023-02-22T19:30:10.225Z,1677094210.225 [CommandExec](IMPORTANT): RudderServo: Hardware Fault
2023-02-22T19:30:10.225Z,1677094210.225 [CommandExec](IMPORTANT): AHRS_M2: Communications Fault
2023-02-22T19:30:10.225Z,1677094210.225 [CommandExec](IMPORTANT): DVL_micro: Communications Fault
2023-02-22T19:30:16.133Z,1677094216.133 [SBIT](ERROR): Could not read rudderAngleReader_.
2023-02-22T19:30:16.133Z,1677094216.133 [SBIT](FAULT): Control surface position failure.
2023-02-22T19:30:16.524Z,1677094216.524 [SBIT](CRITICAL): SBIT FAILED
2023-02-22T19:30:16.525Z,1677094216.525 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2023-02-22T19:30:16.525Z,1677094216.525 [SBIT](IMPORTANT): CBIT.vehicleOpen=1 bool;

2023-02-22T19:30:16.525Z,1677094216.525 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): Depth_Keller.offset=-0.8 decibar;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): ESPComponent.sampleTimeout=4 minute;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): ESPComponent.simulateHardware=1 bool;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): ElevatorServo.offsetAngle=1 degree;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): Express none WetLabsBB2FL.BackscatteringCoeff470nm;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): Express none WetLabsBB2FL.BackscatteringCoeff650nm;

2023-02-22T19:30:16.526Z,1677094216.526 [SBIT](IMPORTANT): VerticalControl.massDefault=-6.557592 millimeter;

2023-02-22T19:30:16.527Z,1677094216.527 [SBIT](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2023-02-22T19:30:16.528Z,1677094216.528 [CBIT](INFO): Critical error at 20230222T193016
2023-02-22T19:30:16.941Z,1677094216.941 [MissionManager](IMPORTANT): Started mission Startup
2023-02-22T19:30:16.941Z,1677094216.941 [Startup] Running Loop=1
2023-02-22T19:30:16.941Z,1677094216.941 [Startup](DEBUG): Aggregate::initialize Startup
2023-02-22T19:30:16.941Z,1677094216.941 [Startup:A.GoToSurface] Running Loop=1
2023-02-22T19:30:16.941Z,1677094216.941 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-02-22T19:30:16.942Z,1677094216.942 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-02-22T19:30:16.942Z,1677094216.942 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-02-22T19:30:16.943Z,1677094216.943 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-02-22T19:30:16.943Z,1677094216.943 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-02-22T19:30:16.943Z,1677094216.943 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-02-22T19:30:16.945Z,1677094216.945 [Startup:StartupSatComms] Running Loop=1
2023-02-22T19:30:16.945Z,1677094216.945 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2023-02-22T19:30:16.945Z,1677094216.945 [Startup:StartupSatComms:A] Running Loop=1
2023-02-22T19:30:17.394Z,1677094217.394 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2023-02-22T19:30:17.836Z,1677094217.836 [CommandExec](IMPORTANT): got command failComponent none RudderServo
2023-02-22T19:30:17.836Z,1677094217.836 [RudderServo] No Fault, FailCount= 3
2023-02-22T19:30:17.836Z,1677094217.836 [CommandExec](IMPORTANT): RudderServo failureMode is No Fault
2023-02-22T19:30:36.306Z,1677094236.306 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2023-02-22T19:30:36.306Z,1677094236.306 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2023-02-22T19:30:36.306Z,1677094236.306 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2023-02-22T19:30:36.317Z,1677094236.317 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2023-02-22T19:30:36.715Z,1677094236.715 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2023-02-22T19:30:36.715Z,1677094236.715 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2023-02-22T19:30:44.985Z,1677094244.985 [CommandExec](IMPORTANT): got command report
2023-02-22T19:30:44.985Z,1677094244.985 [Reporter](INFO): NAL9602.sigQuality reporting changes
2023-02-22T19:30:53.201Z,1677094253.201 [CommandExec](IMPORTANT): got command ! echo 0 > /dev/loadB6
2023-02-22T19:31:17.105Z,1677094277.105 [Startup:StartupSatComms:A](INFO): Timed out from 2023-02-22T19:30:16.9Z
2023-02-22T19:31:17.105Z,1677094277.105 [Startup:StartupSatComms:A] Stopped
2023-02-22T19:31:17.105Z,1677094277.105 [Startup:StartupSatComms:B] Running Loop=1
2023-02-22T19:31:17.511Z,1677094277.511 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2023-02-22T19:32:17.313Z,1677094337.313 [Startup:StartupSatComms:B](INFO): Timed out from 2023-02-22T19:31:17.1Z
2023-02-22T19:32:17.313Z,1677094337.313 [Startup:StartupSatComms:B] Stopped
2023-02-22T19:32:17.313Z,1677094337.313 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2023-02-22T19:32:17.313Z,1677094337.313 [Startup:StartupSatComms] Stopped
2023-02-22T19:32:17.314Z,1677094337.314 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2023-02-22T19:32:17.314Z,1677094337.314 [Startup](INFO): Completed Startup
2023-02-22T19:32:17.314Z,1677094337.314 [MissionManager](INFO): Startup is completed.
2023-02-22T19:32:17.315Z,1677094337.315 [MissionManager](INFO): Uninitializing Mission Startup
2023-02-22T19:32:17.315Z,1677094337.315 [Startup] Stopped
2023-02-22T19:32:17.315Z,1677094337.315 [Startup](DEBUG): Aggregate::uninitialize Startup
2023-02-22T19:32:17.315Z,1677094337.315 [Startup:A.GoToSurface] Stopped
2023-02-22T19:32:17.315Z,1677094337.315 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-02-22T19:32:17.721Z,1677094337.721 [MissionManager](IMPORTANT): Started mission Default
2023-02-22T19:32:17.721Z,1677094337.721 [Default] Running Loop=1
2023-02-22T19:32:17.721Z,1677094337.721 [Default](DEBUG): Aggregate::initialize Default
2023-02-22T19:32:17.721Z,1677094337.721 [Default:B.GoToSurface] Running Loop=1
2023-02-22T19:32:17.721Z,1677094337.721 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-02-22T19:32:17.722Z,1677094337.722 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-02-22T19:32:17.722Z,1677094337.722 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-02-22T19:32:17.722Z,1677094337.722 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-02-22T19:32:17.722Z,1677094337.722 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-02-22T19:32:17.723Z,1677094337.723 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-02-22T19:32:17.723Z,1677094337.723 [Default:A.Wait] Running Loop=1
2023-02-22T19:32:17.723Z,1677094337.723 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-02-22T19:32:31.037Z,1677094351.037 [Default:A.Wait](INFO): Done Waiting.
2023-02-22T19:32:31.037Z,1677094351.037 [Default:A.Wait] Stopped
2023-02-22T19:32:31.037Z,1677094351.037 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-02-22T19:32:31.441Z,1677094351.441 [Default:CheckIn] Running Loop=1
2023-02-22T19:32:31.441Z,1677094351.441 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2023-02-22T19:32:31.441Z,1677094351.441 [Default:CheckIn:Read_GPS] Running Loop=1
2023-02-22T19:32:31.845Z,1677094351.845 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2023-02-22T19:32:32.266Z,1677094352.266 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-02-22T19:32:32.266Z,1677094352.266 [DVL_micro] No Fault, FailCount= 3
2023-02-22T19:32:37.583Z,1677094357.583 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2023-02-22T19:32:37.583Z,1677094357.583 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2023-02-22T19:32:37.583Z,1677094357.583 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2023-02-22T19:32:37.594Z,1677094357.594 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2023-02-22T19:32:38.008Z,1677094358.008 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2023-02-22T19:32:38.008Z,1677094358.008 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2023-02-22T19:32:47.618Z,1677094367.618 [DVL_micro](INFO): Failure count cleared after critical for DVL_micro
2023-02-22T19:34:19.708Z,1677094459.708 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2023-02-22T19:34:26.579Z,1677094466.579 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2023-02-22T19:34:26.579Z,1677094466.579 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0000.0,1489.0,000
2023-02-22T19:34:38.435Z,1677094478.435 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2023-02-22T19:34:38.435Z,1677094478.435 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2023-02-22T19:34:38.435Z,1677094478.435 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2023-02-22T19:34:38.447Z,1677094478.447 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2023-02-22T19:34:38.769Z,1677094478.769 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2023-02-22T19:34:38.769Z,1677094478.769 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2023-02-22T19:34:55.274Z,1677094495.274 [CBIT](INFO): Clearing failed state for component AHRS_M2
2023-02-22T19:34:55.274Z,1677094495.274 [AHRS_M2] No Fault, FailCount= 5
2023-02-22T19:34:55.660Z,1677094495.660 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2023-02-22T19:34:59.323Z,1677094499.323 [AHRS_M2](INFO): Failure count cleared after critical for AHRS_M2
2023-02-22T19:36:11.629Z,1677094571.629 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2023-02-22T19:36:11.632Z,1677094571.632 [BPC1](INFO): Received data from all battery sticks.
2023-02-22T19:36:30.793Z,1677094590.793 [CommandExec](IMPORTANT): got command ! echo 0 > /dev/loadB2
2023-02-22T19:36:41.110Z,1677094601.110 [DVL_micro](ERROR): No DVL communication! Re-initializing
2023-02-22T19:36:41.110Z,1677094601.110 [DVL_micro] Communications Fault, FailCount= 1
2023-02-22T19:36:41.110Z,1677094601.110 [DVL_micro](ERROR): Communications Fault
2023-02-22T19:36:41.128Z,1677094601.128 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-02-22T19:36:41.589Z,1677094601.589 [DVL_micro](INFO): Powering down
2023-02-22T19:36:42.374Z,1677094602.374 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-02-22T19:36:42.374Z,1677094602.374 [DVL_micro] No Fault, FailCount= 1
2023-02-22T19:37:00.101Z,1677094620.101 [DVL_micro](FAULT): Failed to initialize within timeout.
2023-02-22T19:37:00.101Z,1677094620.101 [DVL_micro] Communications Fault, FailCount= 2
2023-02-22T19:37:00.101Z,1677094620.101 [DVL_micro](ERROR): Communications Fault
2023-02-22T19:37:00.131Z,1677094620.131 [CBIT](ERROR): Communications Fault in component: DVL_micro
2023-02-22T19:37:00.353Z,1677094620.353 [CommandExec](IMPORTANT): got command ! echo 1 > /dev/loadB2
2023-02-22T19:37:00.584Z,1677094620.584 [DVL_micro](INFO): Powering down
2023-02-22T19:37:01.329Z,1677094621.329 [CBIT](INFO): Clearing failed state for component DVL_micro
2023-02-22T19:37:01.329Z,1677094621.329 [DVL_micro] No Fault, FailCount= 2
2023-02-22T19:37:15.556Z,1677094635.556 [CommandExec](IMPORTANT): got command failComponent
2023-02-22T19:37:15.557Z,1677094635.557 [CommandExec](IMPORTANT): Failed components:
2023-02-22T19:37:15.557Z,1677094635.557 [CommandExec](IMPORTANT): No failed Components.
2023-02-22T19:37:28.689Z,1677094648.689 [CommandExec](IMPORTANT): got command run ./Missions/Insert/Science.xml
2023-02-22T19:37:28.689Z,1677094648.689 [MissionManager](INFO): Loading Mission from file: ./Missions/Insert/Science.xml
2023-02-22T19:37:28.987Z,1677094648.987 [MissionManager](INFO): DefineArg Science.PeakDetectChlActive = 0 bool
2023-02-22T19:37:28.990Z,1677094648.990 [MissionManager](INFO): DefineArg Science.TimeWindowPeakReport = nan min
2023-02-22T19:37:28.993Z,1677094648.993 [MissionManager](INFO): DefineArg Science.HighestChlPeakReportActive = 0 bool
2023-02-22T19:37:28.996Z,1677094648.996 [MissionManager](INFO): DefineArg Science.HighestSaltPeakReportActive = 0 bool
2023-02-22T19:37:28.999Z,1677094648.999 [MissionManager](INFO): DefineArg Science.HighestOilPeakReportActive = 0 bool
2023-02-22T19:37:29.001Z,1677094649.001 [MissionManager](INFO): DefineArg Science.PatchTracking = 0 bool
2023-02-22T19:37:29.004Z,1677094649.004 [MissionManager](INFO): DefineArg Science.DetectTrough = 0 bool
2023-02-22T19:37:29.007Z,1677094649.007 [MissionManager](INFO): DefineArg Science.FilterWidthHorizontal = 3.000000 count
2023-02-22T19:37:29.010Z,1677094649.010 [MissionManager](INFO): DefineArg Science.NumProfilesSlidingwindow = 100.000000 count
2023-02-22T19:37:29.013Z,1677094649.013 [MissionManager](INFO): DefineArg Science.OffPeakFractionHorizontal = 80.000000 %
2023-02-22T19:37:29.016Z,1677094649.016 [MissionManager](INFO): DefineArg Science.PeakDetectNO3Active = 0 bool
2023-02-22T19:37:29.019Z,1677094649.019 [MissionManager](INFO): DefineArg Science.PeakDetectOilActive = 0 bool
2023-02-22T19:37:29.022Z,1677094649.022 [MissionManager](INFO): DefineArg Science.PeakDetectFDOMActive = 0 bool
2023-02-22T19:37:29.025Z,1677094649.025 [MissionManager](INFO): DefineArg Science.PeakDetectSalinityActive = 0 bool
2023-02-22T19:37:29.028Z,1677094649.028 [MissionManager](INFO): DefineArg Science.UpwardDerivativeOfTemperatureActive = 0 bool
2023-02-22T19:37:29.031Z,1677094649.031 [MissionManager](INFO): DefineArg Science.EnabledAanderaaO2 = 0 bool
2023-02-22T19:37:29.035Z,1677094649.035 [MissionManager](INFO): DefineArg Science.EnabledNeilBrown = 0 bool
2023-02-22T19:37:29.084Z,1677094649.084 [MissionManager](INFO): DefineArg Science.EnabledSeabird = 0 bool
2023-02-22T19:37:29.088Z,1677094649.088 [MissionManager](INFO): DefineArg Science.EnabledWetLabsBB2FL = 0 bool
2023-02-22T19:37:29.091Z,1677094649.091 [MissionManager](INFO): DefineArg Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2023-02-22T19:37:29.104Z,1677094649.104 [MissionManager](INFO): DefineArg Science.EnabledWetLabsUBAT = 0 bool
2023-02-22T19:37:29.107Z,1677094649.107 [MissionManager](INFO): DefineArg Science.LowPassWindowLength = 20.000000 count
2023-02-22T19:37:29.110Z,1677094649.110 [MissionManager](INFO): DefineArg Science.MedianFilterLen = 5.000000 count
2023-02-22T19:37:29.130Z,1677094649.130 [MissionManager](INFO): DefineArg Science.PeakShallowBound = nan m
2023-02-22T19:37:29.133Z,1677094649.133 [MissionManager](INFO): DefineArg Science.PeakDeepBound = nan m
2023-02-22T19:37:29.136Z,1677094649.136 [MissionManager](INFO): DefineArg Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2023-02-22T19:37:29.158Z,1677094649.158 [MissionManager](INFO): DefineOutput Science.PeakChl = 0.000000 ug/l
2023-02-22T19:37:29.170Z,1677094649.170 [MissionManager](INFO): DefineOutput Science.PeakChlDepth = 0.000000 m
2023-02-22T19:37:29.206Z,1677094649.206 [MissionManager](INFO): DefineOutput Science.PeakChlTemperature = 0.000000 degC
2023-02-22T19:37:29.210Z,1677094649.210 [MissionManager](INFO): DefineOutput Science.PeakChlLatitude = nan arcdeg
2023-02-22T19:37:29.230Z,1677094649.230 [MissionManager](INFO): DefineOutput Science.PeakChlLongitude = nan arcdeg
2023-02-22T19:37:29.234Z,1677094649.234 [MissionManager](INFO): DefineOutput Science.PeakNO3 = 0.000000 umol/l
2023-02-22T19:37:29.238Z,1677094649.238 [MissionManager](INFO): DefineOutput Science.PeakNO3Depth = 0.000000 m
2023-02-22T19:37:29.253Z,1677094649.253 [MissionManager](INFO): DefineOutput Science.PeakNO3Latitude = nan arcdeg
2023-02-22T19:37:29.257Z,1677094649.257 [MissionManager](INFO): DefineOutput Science.PeakNO3Longitude = nan arcdeg
2023-02-22T19:37:29.273Z,1677094649.273 [MissionManager](INFO): DefineOutput Science.PeakOil = 0.000000 kg/m3
2023-02-22T19:37:29.301Z,1677094649.301 [MissionManager](INFO): DefineOutput Science.PeakOilDepth = 0.000000 m
2023-02-22T19:37:29.309Z,1677094649.309 [MissionManager](INFO): DefineOutput Science.PeakOilLatitude = nan arcdeg
2023-02-22T19:37:29.320Z,1677094649.320 [MissionManager](INFO): DefineOutput Science.PeakOilLongitude = nan arcdeg
2023-02-22T19:37:29.328Z,1677094649.328 [MissionManager](INFO): DefineOutput Science.PeakFDOM = 0.000000 ppb
2023-02-22T19:37:29.331Z,1677094649.331 [MissionManager](INFO): DefineOutput Science.PeakFDOMDepth = 0.000000 m
2023-02-22T19:37:29.346Z,1677094649.346 [MissionManager](INFO): DefineOutput Science.PeakFDOMTemperature = nan degC
2023-02-22T19:37:29.367Z,1677094649.367 [MissionManager](INFO): DefineOutput Science.PeakFDOMLatitude = nan arcdeg
2023-02-22T19:37:29.375Z,1677094649.375 [MissionManager](INFO): DefineOutput Science.PeakFDOMLongitude = nan arcdeg
2023-02-22T19:37:29.390Z,1677094649.390 [MissionManager](INFO): DefineOutput Science.PatchFDOMDistance = nan m
2023-02-22T19:37:29.394Z,1677094649.394 [MissionManager](INFO): DefineOutput Science.PeakSalt = 0.000000 psu
2023-02-22T19:37:29.398Z,1677094649.398 [MissionManager](INFO): DefineOutput Science.PeakSaltDepth = 0.000000 m
2023-02-22T19:37:29.409Z,1677094649.409 [MissionManager](INFO): DefineOutput Science.PeakSaltTemperature = 0.000000 degC
2023-02-22T19:37:29.414Z,1677094649.414 [MissionManager](INFO): DefineOutput Science.PeakSaltLatitude = nan arcdeg
2023-02-22T19:37:29.426Z,1677094649.426 [MissionManager](INFO): DefineOutput Science.PeakSaltLongitude = nan arcdeg
2023-02-22T19:37:29.441Z,1677094649.441 [MissionManager](INFO): DefineOutput Science.PatchChl = 0.000000 ug/l
2023-02-22T19:37:29.445Z,1677094649.445 [MissionManager](INFO): DefineOutput Science.PatchChlDepth = 0.000000 m
2023-02-22T19:37:29.449Z,1677094649.449 [MissionManager](INFO): DefineOutput Science.PatchChlLatitude = nan arcdeg
2023-02-22T19:37:29.465Z,1677094649.465 [MissionManager](INFO): DefineOutput Science.PatchChlLongitude = nan arcdeg
2023-02-22T19:37:29.472Z,1677094649.472 [MissionManager](INFO): DefineOutput Science.PatchChlDistance = nan m
2023-02-22T19:37:29.475Z,1677094649.475 [MissionManager](INFO): DefineOutput Science.PatchSalt = 0.000000 psu
2023-02-22T19:37:29.483Z,1677094649.483 [MissionManager](INFO): DefineOutput Science.PatchSaltDepth = 0.000000 m
2023-02-22T19:37:29.490Z,1677094649.490 [MissionManager](INFO): DefineOutput Science.PatchSaltLatitude = nan arcdeg
2023-02-22T19:37:29.498Z,1677094649.498 [MissionManager](INFO): DefineOutput Science.PatchSaltLongitude = nan arcdeg
2023-02-22T19:37:29.506Z,1677094649.506 [MissionManager](INFO): DefineOutput Science.PatchSaltDistance = nan m
2023-02-22T19:37:29.520Z,1677094649.520 [MissionManager](INFO): DefineOutput Science.PatchOil = 0.000000 psu
2023-02-22T19:37:29.523Z,1677094649.523 [MissionManager](INFO): DefineOutput Science.PatchOilDepth = 0.000000 m
2023-02-22T19:37:29.531Z,1677094649.531 [MissionManager](INFO): DefineOutput Science.PatchOilLatitude = nan arcdeg
2023-02-22T19:37:29.538Z,1677094649.538 [MissionManager](INFO): DefineOutput Science.PatchOilLongitude = nan arcdeg
2023-02-22T19:37:29.543Z,1677094649.543 [MissionManager](INFO): DefineOutput Science.PatchOilDistance = nan m
2023-02-22T19:37:29.691Z,1677094649.691 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2023-02-22T19:37:29.724Z,1677094649.724 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2023-02-22T19:37:29.770Z,1677094649.770 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2023-02-22T19:37:29.805Z,1677094649.805 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2023-02-22T19:37:29.832Z,1677094649.832 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2023-02-22T19:37:29.865Z,1677094649.865 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2023-02-22T19:37:29.890Z,1677094649.890 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2023-02-22T19:37:29.918Z,1677094649.918 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2023-02-22T19:37:30.064Z,1677094650.064 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!--
    Copyright (c) 2008 Monterey Bay Aquarium Research Institute (MBARI)
    MBARI Proprietary Information. All Rights Reserved
-->
<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">
        <Sequence/>
        <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>


2023-02-22T19:37:30.068Z,1677094650.068 [CommandExec](IMPORTANT): Running ./Missions/Insert/Science.xml
2023-02-22T19:37:30.426Z,1677094650.426 [Default] Stopped
2023-02-22T19:37:30.426Z,1677094650.426 [Default](DEBUG): Aggregate::uninitialize Default
2023-02-22T19:37:30.426Z,1677094650.426 [Default:B.GoToSurface] Stopped
2023-02-22T19:37:30.426Z,1677094650.426 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-02-22T19:37:30.426Z,1677094650.426 [Default:CheckIn] Stopped
2023-02-22T19:37:30.426Z,1677094650.426 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2023-02-22T19:37:30.426Z,1677094650.426 [Default:CheckIn:Read_GPS] Stopped
2023-02-22T19:37:30.427Z,1677094650.427 [MissionManager](IMPORTANT): Started mission Science
2023-02-22T19:37:30.427Z,1677094650.427 [Science] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science](DEBUG): Aggregate::initialize Science
2023-02-22T19:37:30.427Z,1677094650.427 [Science:A] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science:B] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science:C] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science:D] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science:E] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science:F] Running Loop=1
2023-02-22T19:37:30.427Z,1677094650.427 [Science:Read_Oil] Running Loop=1
2023-02-22T19:37:30.428Z,1677094650.428 [Science:PeakDetectChl] Running Loop=1
2023-02-22T19:37:30.428Z,1677094650.428 [Science:PeakDetectChl](DEBUG): Aggregate::initialize Science:PeakDetectChl
2023-02-22T19:37:30.428Z,1677094650.428 [Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2023-02-22T19:37:30.428Z,1677094650.428 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2023-02-22T19:37:30.430Z,1677094650.430 [Science:HighestChlPeakReport] Running Loop=1
2023-02-22T19:37:30.430Z,1677094650.430 [Science:HighestChlPeakReport](DEBUG): Aggregate::initialize Science:HighestChlPeakReport
2023-02-22T19:37:30.431Z,1677094650.431 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2023-02-22T19:37:30.431Z,1677094650.431 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2023-02-22T19:37:30.431Z,1677094650.431 [Science:PeakDetectNO3] Running Loop=1
2023-02-22T19:37:30.431Z,1677094650.431 [Science:PeakDetectNO3](DEBUG): Aggregate::initialize Science:PeakDetectNO3
2023-02-22T19:37:30.431Z,1677094650.431 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2023-02-22T19:37:30.436Z,1677094650.436 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2023-02-22T19:37:30.438Z,1677094650.438 [Science:PeakDetectOil] Running Loop=1
2023-02-22T19:37:30.438Z,1677094650.438 [Science:PeakDetectOil](DEBUG): Aggregate::initialize Science:PeakDetectOil
2023-02-22T19:37:30.438Z,1677094650.438 [Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2023-02-22T19:37:30.438Z,1677094650.438 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2023-02-22T19:37:30.439Z,1677094650.439 [Science:HighestOilPeakReport] Running Loop=1
2023-02-22T19:37:30.448Z,1677094650.448 [Science:HighestOilPeakReport](DEBUG): Aggregate::initialize Science:HighestOilPeakReport
2023-02-22T19:37:30.448Z,1677094650.448 [Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2023-02-22T19:37:30.448Z,1677094650.448 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2023-02-22T19:37:30.449Z,1677094650.449 [Science:PeakDetectFDOM] Running Loop=1
2023-02-22T19:37:30.449Z,1677094650.449 [Science:PeakDetectFDOM](DEBUG): Aggregate::initialize Science:PeakDetectFDOM
2023-02-22T19:37:30.449Z,1677094650.449 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2023-02-22T19:37:30.449Z,1677094650.449 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2023-02-22T19:37:30.451Z,1677094650.451 [Science:PeakDetectSalinity] Running Loop=1
2023-02-22T19:37:30.451Z,1677094650.451 [Science:PeakDetectSalinity](DEBUG): Aggregate::initialize Science:PeakDetectSalinity
2023-02-22T19:37:30.451Z,1677094650.451 [Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2023-02-22T19:37:30.451Z,1677094650.451 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2023-02-22T19:37:30.454Z,1677094650.454 [Science:HighestSaltPeakReport] Running Loop=1
2023-02-22T19:37:30.454Z,1677094650.454 [Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize Science:HighestSaltPeakReport
2023-02-22T19:37:30.454Z,1677094650.454 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2023-02-22T19:37:30.454Z,1677094650.454 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2023-02-22T19:37:30.455Z,1677094650.455 [Science:OceanCurrent] Running Loop=1
2023-02-22T19:37:30.455Z,1677094650.455 [Science:OceanCurrent](DEBUG): Aggregate::initialize Science:OceanCurrent
2023-02-22T19:37:30.455Z,1677094650.455 [Science:OceanCurrent:A.] Running Loop=1
2023-02-22T19:37:30.455Z,1677094650.455 [Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2023-02-22T19:37:30.465Z,1677094650.465 [Science:HighestSaltPeakReport] Stopped
2023-02-22T19:37:30.465Z,1677094650.465 [Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize Science:HighestSaltPeakReport
2023-02-22T19:37:30.465Z,1677094650.465 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2023-02-22T19:37:30.465Z,1677094650.465 [Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2023-02-22T19:37:30.465Z,1677094650.465 [Science:PeakDetectSalinity] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize Science:PeakDetectSalinity
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectFDOM] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize Science:PeakDetectFDOM
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2023-02-22T19:37:30.466Z,1677094650.466 [Science:HighestOilPeakReport] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize Science:HighestOilPeakReport
2023-02-22T19:37:30.466Z,1677094650.466 [Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectOil] Stopped
2023-02-22T19:37:30.466Z,1677094650.466 [Science:PeakDetectOil](DEBUG): Aggregate::uninitialize Science:PeakDetectOil
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectNO3] Stopped
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize Science:PeakDetectNO3
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2023-02-22T19:37:30.467Z,1677094650.467 [Science:HighestChlPeakReport] Stopped
2023-02-22T19:37:30.467Z,1677094650.467 [Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize Science:HighestChlPeakReport
2023-02-22T19:37:30.467Z,1677094650.467 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2023-02-22T19:37:30.467Z,1677094650.467 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectChl] Stopped
2023-02-22T19:37:30.467Z,1677094650.467 [Science:PeakDetectChl](DEBUG): Aggregate::uninitialize Science:PeakDetectChl
2023-02-22T19:37:30.472Z,1677094650.472 [Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2023-02-22T19:37:30.472Z,1677094650.472 [Science:OceanCurrent:A.] Running Loop=1
2023-02-22T19:37:30.472Z,1677094650.472 [Science:Read_Oil] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:F] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:E] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:D] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:C] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:B] Stopped
2023-02-22T19:37:30.472Z,1677094650.472 [Science:A] Stopped
2023-02-22T19:37:39.316Z,1677094659.316 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2023-02-22T19:37:39.316Z,1677094659.316 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2023-02-22T19:37:39.327Z,1677094659.327 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2023-02-22T19:37:39.788Z,1677094659.788 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2023-02-22T19:37:39.788Z,1677094659.788 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2023-02-22T19:37:47.086Z,1677094667.086 [CommandExec](IMPORTANT): got command get CTD_Seabird.loadAtStartup
2023-02-22T19:37:47.086Z,1677094667.086 [CommandExec](IMPORTANT): CTD_Seabird.loadAtStartup 0 bool
2023-02-22T19:38:39.849Z,1677094719.849 [CommandExec](IMPORTANT): got command restart application
2023-02-22T19:38:40.852Z,1677094720.852 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2023-02-22T19:38:40.852Z,1677094720.852 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:40.852Z,1677094720.852 [CommandExec](INFO): Uninitializing the command executive.
2023-02-22T19:38:40.852Z,1677094720.852 [CommandExec](INFO): Uninitializing the command scheduler.
2023-02-22T19:38:40.853Z,1677094720.853 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:40.880Z,1677094720.880 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2023-02-22T19:38:40.880Z,1677094720.880 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2023-02-22T19:38:40.880Z,1677094720.880 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:40.881Z,1677094720.881 [NavChartDb](INFO): Join timeout helper Thread ID is 1218
2023-02-22T19:38:41.138Z,1677094721.138 [MissionManager](INFO): MissionManager is completed.
2023-02-22T19:38:41.138Z,1677094721.138 [MissionManager](INFO): Uninitializing Mission Science
2023-02-22T19:38:41.138Z,1677094721.138 [Science] Stopped
2023-02-22T19:38:41.138Z,1677094721.138 [Science](DEBUG): Aggregate::uninitialize Science
2023-02-22T19:38:41.138Z,1677094721.138 [Science:OceanCurrent] Stopped
2023-02-22T19:38:41.138Z,1677094721.138 [Science:OceanCurrent](DEBUG): Aggregate::uninitialize Science:OceanCurrent
2023-02-22T19:38:41.138Z,1677094721.138 [Science:OceanCurrent:A.] Stopped
2023-02-22T19:38:41.204Z,1677094721.204 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:41.205Z,1677094721.205 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:41.224Z,1677094721.224 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2023-02-22T19:38:41.224Z,1677094721.224 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:41.224Z,1677094721.224 [Radio_Surface](INFO): Join timeout helper Thread ID is 1219
2023-02-22T19:38:41.416Z,1677094721.416 [Radio_Surface](INFO): Powering down
2023-02-22T19:38:41.417Z,1677094721.417 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:41.418Z,1677094721.418 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:41.432Z,1677094721.432 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2023-02-22T19:38:41.432Z,1677094721.432 [Onboard ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:41.432Z,1677094721.432 [Onboard](INFO): Join timeout helper Thread ID is 1220
2023-02-22T19:38:41.553Z,1677094721.553 [MissionManager](IMPORTANT): Started mission Default
2023-02-22T19:38:41.553Z,1677094721.553 [Default] Running Loop=1
2023-02-22T19:38:41.554Z,1677094721.554 [Default](DEBUG): Aggregate::initialize Default
2023-02-22T19:38:41.554Z,1677094721.554 [Default:B.GoToSurface] Running Loop=1
2023-02-22T19:38:41.554Z,1677094721.554 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2023-02-22T19:38:41.554Z,1677094721.554 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2023-02-22T19:38:41.554Z,1677094721.554 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2023-02-22T19:38:41.555Z,1677094721.555 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2023-02-22T19:38:41.555Z,1677094721.555 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2023-02-22T19:38:41.555Z,1677094721.555 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2023-02-22T19:38:41.562Z,1677094721.562 [Default:A.Wait] Running Loop=1
2023-02-22T19:38:41.562Z,1677094721.562 [Default:A.Wait](DEBUG): Initialize Wait Component.
2023-02-22T19:38:41.660Z,1677094721.660 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:41.661Z,1677094721.661 [Onboard ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:41.684Z,1677094721.684 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2023-02-22T19:38:41.684Z,1677094721.684 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:41.684Z,1677094721.684 [DataOverHttps](INFO): Join timeout helper Thread ID is 1221
2023-02-22T19:38:42.652Z,1677094722.652 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:42.652Z,1677094722.652 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.669Z,1677094722.669 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2023-02-22T19:38:42.669Z,1677094722.669 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.670Z,1677094722.670 [BackseatComponent](INFO): Join timeout helper Thread ID is 1222
2023-02-22T19:38:42.678Z,1677094722.678 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:42.678Z,1677094722.678 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.689Z,1677094722.689 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2023-02-22T19:38:42.689Z,1677094722.689 [logger ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.689Z,1677094722.689 [logger](INFO): Join timeout helper Thread ID is 1223
2023-02-22T19:38:42.721Z,1677094722.721 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:42.721Z,1677094722.721 [logger ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.722Z,1677094722.722 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2023-02-22T19:38:42.722Z,1677094722.722 [CommandLine ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.723Z,1677094722.723 [CommandLine](INFO): Join timeout helper Thread ID is 1224
2023-02-22T19:38:42.822Z,1677094722.822 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:42.823Z,1677094722.823 [CommandLine ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.841Z,1677094722.841 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2023-02-22T19:38:42.841Z,1677094722.841 [CommandExec ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.841Z,1677094722.841 [CommandExec](INFO): Join timeout helper Thread ID is 1225
2023-02-22T19:38:42.842Z,1677094722.842 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2023-02-22T19:38:42.842Z,1677094722.842 [controlThread ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:42.843Z,1677094722.843 [controlThread](INFO): Join timeout helper Thread ID is 1226
2023-02-22T19:38:43.104Z,1677094723.104 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2023-02-22T19:38:43.104Z,1677094723.104 [controlThread](DEBUG): Uninitializing ControlThread
2023-02-22T19:38:43.105Z,1677094723.105 [AHRS_M2](INFO): Powering down
2023-02-22T19:38:43.248Z,1677094723.248 [DVL_micro](INFO): Powering down
2023-02-22T19:38:43.249Z,1677094723.249 [NAL9602](INFO): Powering down
2023-02-22T19:38:43.250Z,1677094723.250 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2023-02-22T19:38:43.251Z,1677094723.251 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2023-02-22T19:38:43.252Z,1677094723.252 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2023-02-22T19:38:43.252Z,1677094723.252 [MissionManager](INFO): Uninitializing Mission Default
2023-02-22T19:38:43.252Z,1677094723.252 [Default] Stopped
2023-02-22T19:38:43.252Z,1677094723.252 [Default](DEBUG): Aggregate::uninitialize Default
2023-02-22T19:38:43.253Z,1677094723.253 [Default:A.Wait] Stopped
2023-02-22T19:38:43.253Z,1677094723.253 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2023-02-22T19:38:43.253Z,1677094723.253 [Default:B.GoToSurface] Stopped
2023-02-22T19:38:43.253Z,1677094723.253 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2023-02-22T19:38:43.255Z,1677094723.255 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2023-02-22T19:38:43.256Z,1677094723.256 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2023-02-22T19:38:43.256Z,1677094723.256 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2023-02-22T19:38:43.256Z,1677094723.256 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2023-02-22T19:38:43.257Z,1677094723.257 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2023-02-22T19:38:43.257Z,1677094723.257 [BuoyancyServo](INFO): Powering down
2023-02-22T19:38:43.268Z,1677094723.268 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2023-02-22T19:38:43.268Z,1677094723.268 [ElevatorServo](INFO): Powering down
2023-02-22T19:38:43.269Z,1677094723.269 [MassServo](DEBUG): Uninitialize Mass Servo.
2023-02-22T19:38:43.269Z,1677094723.269 [MassServo](INFO): Powering down
2023-02-22T19:38:43.270Z,1677094723.270 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2023-02-22T19:38:43.270Z,1677094723.270 [RudderServo](INFO): Powering down
2023-02-22T19:38:43.271Z,1677094723.271 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2023-02-22T19:38:43.271Z,1677094723.271 [ThrusterHE](INFO): Powering down
2023-02-22T19:38:43.272Z,1677094723.272 [SBIT](DEBUG): Uninitialize SBIT Component.
2023-02-22T19:38:43.272Z,1677094723.272 [IBIT](DEBUG): Uninitialize IBIT Component.
2023-02-22T19:38:43.272Z,1677094723.272 [CBIT](DEBUG): Uninitialize CBIT Component.
2023-02-22T19:38:43.272Z,1677094723.272 [CBIT](DEBUG): Powering off loads.
2023-02-22T19:38:43.284Z,1677094723.284 [CBIT](DEBUG): Disabling WDT.
2023-02-22T19:38:43.296Z,1677094723.296 [CBIT](DEBUG): Opening all GF detection circuits.
2023-02-22T19:38:43.297Z,1677094723.297 [controlThread ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:43.361Z,1677094723.361 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:43.364Z,1677094723.364 [Onboard ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:43.371Z,1677094723.371 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:43.414Z,1677094723.414 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:43.463Z,1677094723.463 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2023-02-22T19:38:43.522Z,1677094723.522 [logger ThreadHandler](INFO): Thread cancelled.