2021-03-24T22:12:39.733Z,1616623959.733 [Supervisor](DEBUG): Initializing supervisor.
2021-03-24T22:12:39.737Z,1616623959.737 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-03-24T22:12:39.738Z,1616623959.738 [SyncHandler](INFO): Protected caller Thread ID is 8807
2021-03-24T22:12:39.738Z,1616623959.738 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-03-24T22:12:39.739Z,1616623959.739 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-03-24T22:12:39.739Z,1616623959.739 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8808
2021-03-24T22:12:39.744Z,1616623959.744 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-03-24T22:12:39.763Z,1616623959.763 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-03-24T22:12:39.764Z,1616623959.764 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-03-24T22:12:39.765Z,1616623959.765 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8809
2021-03-24T22:12:39.767Z,1616623959.767 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-03-24T22:12:39.768Z,1616623959.768 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-03-24T22:12:39.768Z,1616623959.768 [logger ThreadHandler](INFO): Protected caller Thread ID is 8810
2021-03-24T22:12:39.772Z,1616623959.772 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-03-24T22:12:39.772Z,1616623959.772 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-03-24T22:12:39.774Z,1616623959.774 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-03-24T22:12:39.873Z,1616623959.873 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-03-24T22:12:39.874Z,1616623959.874 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-03-24T22:12:40.485Z,1616623960.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-03-24T22:12:40.486Z,1616623960.486 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-03-24T22:12:40.701Z,1616623960.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-03-24T22:12:40.702Z,1616623960.702 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-03-24T22:12:40.783Z,1616623960.783 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-03-24T22:12:40.912Z,1616623960.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-03-24T22:12:40.912Z,1616623960.912 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-03-24T22:12:40.994Z,1616623960.994 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-03-24T22:12:41.097Z,1616623961.097 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-03-24T22:12:41.097Z,1616623961.097 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-03-24T22:12:41.458Z,1616623961.458 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-03-24T22:12:41.459Z,1616623961.459 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-03-24T22:12:42.040Z,1616623962.040 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-03-24T22:12:42.041Z,1616623962.041 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-03-24T22:12:42.190Z,1616623962.190 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-03-24T22:12:42.190Z,1616623962.190 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-03-24T22:12:42.383Z,1616623962.383 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-03-24T22:12:42.384Z,1616623962.384 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-03-24T22:12:42.819Z,1616623962.819 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-03-24T22:12:42.820Z,1616623962.820 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-03-24T22:12:43.062Z,1616623963.062 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-03-24T22:12:43.063Z,1616623963.063 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-03-24T22:12:43.271Z,1616623963.271 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-03-24T22:12:43.271Z,1616623963.271 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-03-24T22:12:43.632Z,1616623963.632 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-03-24T22:12:43.633Z,1616623963.633 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-03-24T22:12:43.974Z,1616623963.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-03-24T22:12:43.976Z,1616623963.976 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2021-03-24T22:12:43.977Z,1616623963.977 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2021-03-24T22:12:44.062Z,1616623964.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2021-03-24T22:12:44.223Z,1616623964.223 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2021-03-24T22:12:44.334Z,1616623964.334 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2021-03-24T22:12:44.422Z,1616623964.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2021-03-24T22:12:44.519Z,1616623964.519 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2021-03-24T22:12:44.707Z,1616623964.707 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2021-03-24T22:12:44.965Z,1616623964.965 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-03-24T22:12:44.965Z,1616623964.965 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2021-03-24T22:12:45.063Z,1616623965.063 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2021-03-24T22:12:45.167Z,1616623965.167 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2021-03-24T22:12:45.315Z,1616623965.315 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2021-03-24T22:12:45.419Z,1616623965.419 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-03-24T22:12:45.439Z,1616623965.439 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-03-24T22:12:45.521Z,1616623965.521 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-03-24T22:12:45.522Z,1616623965.522 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-03-24T22:12:45.570Z,1616623965.570 [VerticalControl](DEBUG): Construct VerticalControl.
2021-03-24T22:12:45.631Z,1616623965.631 [VerticalControl] Loaded
2021-03-24T22:12:45.631Z,1616623965.631 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-03-24T22:12:45.634Z,1616623965.634 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-03-24T22:12:45.672Z,1616623965.672 [HorizontalControl] Loaded
2021-03-24T22:12:45.673Z,1616623965.673 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-03-24T22:12:45.675Z,1616623965.675 [SpeedControl](DEBUG): Construct SpeedControl.
2021-03-24T22:12:45.678Z,1616623965.678 [SpeedControl] Loaded
2021-03-24T22:12:45.679Z,1616623965.679 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-03-24T22:12:45.681Z,1616623965.681 [LoopControl](DEBUG): Construct LoopControl.
2021-03-24T22:12:45.682Z,1616623965.682 [LoopControl] Loaded
2021-03-24T22:12:45.682Z,1616623965.682 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-03-24T22:12:45.682Z,1616623965.682 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-03-24T22:12:45.683Z,1616623965.683 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-03-24T22:12:45.721Z,1616623965.721 [DepthRateCalculator] Loaded
2021-03-24T22:12:45.722Z,1616623965.722 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-03-24T22:12:45.726Z,1616623965.726 [PitchRateCalculator] Loaded
2021-03-24T22:12:45.727Z,1616623965.727 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-03-24T22:12:45.737Z,1616623965.737 [SpeedCalculator] Loaded
2021-03-24T22:12:45.737Z,1616623965.737 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-03-24T22:12:45.750Z,1616623965.750 [TempGradientCalculator] Loaded
2021-03-24T22:12:45.751Z,1616623965.751 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-03-24T22:12:45.755Z,1616623965.755 [YawRateCalculator] Loaded
2021-03-24T22:12:45.755Z,1616623965.755 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-03-24T22:12:45.772Z,1616623965.772 [ElevatorOffsetCalculator] Loaded
2021-03-24T22:12:45.772Z,1616623965.772 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-03-24T22:12:45.772Z,1616623965.772 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-03-24T22:12:45.773Z,1616623965.773 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-03-24T22:12:45.800Z,1616623965.800 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-03-24T22:12:45.800Z,1616623965.800 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-03-24T22:12:45.853Z,1616623965.853 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-03-24T22:12:45.854Z,1616623965.854 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-03-24T22:12:46.150Z,1616623966.150 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-03-24T22:12:46.150Z,1616623966.150 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-03-24T22:12:46.247Z,1616623966.247 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-03-24T22:12:46.248Z,1616623966.248 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-03-24T22:12:46.589Z,1616623966.589 [AHRS_M2] Loaded
2021-03-24T22:12:46.589Z,1616623966.589 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-03-24T22:12:46.618Z,1616623966.618 [BackseatComponent] Loaded
2021-03-24T22:12:46.618Z,1616623966.618 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-03-24T22:12:46.620Z,1616623966.620 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 408FE4E0
2021-03-24T22:12:46.620Z,1616623966.620 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 8892
2021-03-24T22:12:46.623Z,1616623966.623 [LcmUniversalReporter] Loaded
2021-03-24T22:12:46.623Z,1616623966.623 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-03-24T22:12:47.556Z,1616623967.556 [BPC1] Loaded
2021-03-24T22:12:47.556Z,1616623967.556 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-03-24T22:12:47.703Z,1616623967.703 [DataOverHttps] Loaded
2021-03-24T22:12:47.703Z,1616623967.703 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-03-24T22:12:47.704Z,1616623967.704 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4092E4E0
2021-03-24T22:12:47.705Z,1616623967.705 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8893
2021-03-24T22:12:47.724Z,1616623967.724 [Depth_Keller] Loaded
2021-03-24T22:12:47.724Z,1616623967.724 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-03-24T22:12:47.854Z,1616623967.854 [NAL9602] Loaded
2021-03-24T22:12:47.855Z,1616623967.855 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-03-24T22:12:47.883Z,1616623967.883 [Onboard] Loaded
2021-03-24T22:12:47.883Z,1616623967.883 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-03-24T22:12:47.884Z,1616623967.884 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4095E4E0
2021-03-24T22:12:47.885Z,1616623967.885 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 8894
2021-03-24T22:12:47.897Z,1616623967.897 [Radio_Surface] Loaded
2021-03-24T22:12:47.898Z,1616623967.898 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-03-24T22:12:47.899Z,1616623967.899 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4098E4E0
2021-03-24T22:12:47.899Z,1616623967.899 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8895
2021-03-24T22:12:47.974Z,1616623967.974 [RDI_Pathfinder] Loaded
2021-03-24T22:12:47.975Z,1616623967.975 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-03-24T22:12:47.976Z,1616623967.976 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-03-24T22:12:47.988Z,1616623967.988 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-03-24T22:12:48.170Z,1616623968.170 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-03-24T22:12:48.170Z,1616623968.170 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-03-24T22:12:48.183Z,1616623968.183 [NavChart] Loaded
2021-03-24T22:12:48.184Z,1616623968.184 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-03-24T22:12:48.189Z,1616623968.189 [UniversalFixResidualReporter] Loaded
2021-03-24T22:12:48.190Z,1616623968.190 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-03-24T22:12:48.190Z,1616623968.190 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-03-24T22:12:48.191Z,1616623968.191 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-03-24T22:12:48.323Z,1616623968.323 [SBIT](DEBUG): Construct Startup Built In Test.
2021-03-24T22:12:48.332Z,1616623968.332 [SBIT] Loaded
2021-03-24T22:12:48.333Z,1616623968.333 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-03-24T22:12:48.335Z,1616623968.335 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-03-24T22:12:48.348Z,1616623968.348 [IBIT] Loaded
2021-03-24T22:12:48.349Z,1616623968.349 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-03-24T22:12:48.354Z,1616623968.354 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-03-24T22:12:48.454Z,1616623968.454 [CBIT] Loaded
2021-03-24T22:12:48.454Z,1616623968.454 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-03-24T22:12:48.454Z,1616623968.454 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-03-24T22:12:48.455Z,1616623968.455 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-03-24T22:12:48.562Z,1616623968.562 [BuoyancyServo] Loaded
2021-03-24T22:12:48.563Z,1616623968.563 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-03-24T22:12:48.582Z,1616623968.582 [ElevatorServo] Loaded
2021-03-24T22:12:48.582Z,1616623968.582 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-03-24T22:12:48.601Z,1616623968.601 [MassServo] Loaded
2021-03-24T22:12:48.601Z,1616623968.601 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-03-24T22:12:48.619Z,1616623968.619 [RudderServo] Loaded
2021-03-24T22:12:48.620Z,1616623968.620 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-03-24T22:12:48.637Z,1616623968.637 [ThrusterServo] Loaded
2021-03-24T22:12:48.638Z,1616623968.638 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-03-24T22:12:48.638Z,1616623968.638 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-03-24T22:12:48.639Z,1616623968.639 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-03-24T22:12:48.649Z,1616623968.649 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-03-24T22:12:48.650Z,1616623968.650 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-03-24T22:12:48.816Z,1616623968.816 [CTD_Seabird] Loaded
2021-03-24T22:12:48.816Z,1616623968.816 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-03-24T22:12:48.817Z,1616623968.817 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40ABB4E0
2021-03-24T22:12:48.817Z,1616623968.817 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8896
2021-03-24T22:12:48.837Z,1616623968.837 [PAR_Licor] Loaded
2021-03-24T22:12:48.837Z,1616623968.837 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-03-24T22:12:48.870Z,1616623968.870 [WetLabsBB2FL] Loaded
2021-03-24T22:12:48.870Z,1616623968.870 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-03-24T22:12:48.871Z,1616623968.871 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40AEB4E0
2021-03-24T22:12:48.871Z,1616623968.871 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 8897
2021-03-24T22:12:48.872Z,1616623968.872 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-03-24T22:12:48.878Z,1616623968.878 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-03-24T22:12:48.881Z,1616623968.881 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-03-24T22:12:48.893Z,1616623968.893 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-03-24T22:12:48.894Z,1616623968.894 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B1B4E0
2021-03-24T22:12:48.894Z,1616623968.894 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8898
2021-03-24T22:12:48.899Z,1616623968.899 [Supervisor](INFO): Main Thread ID is 8496
2021-03-24T22:12:48.899Z,1616623968.899 [Supervisor](DEBUG): Running supervisor.
2021-03-24T22:12:48.899Z,1616623968.899 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8899
2021-03-24T22:12:48.902Z,1616623968.902 [controlThread ThreadHandler](INFO): Handler Thread ID is 8900
2021-03-24T22:12:48.902Z,1616623968.902 [controlThread](DEBUG): Initializing ControlThread
2021-03-24T22:12:48.903Z,1616623968.903 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-03-24T22:12:48.905Z,1616623968.905 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-03-24T22:12:48.905Z,1616623968.905 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-03-24T22:12:48.906Z,1616623968.906 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-03-24T22:12:48.906Z,1616623968.906 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-03-24T22:12:48.907Z,1616623968.907 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-03-24T22:12:48.907Z,1616623968.907 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-03-24T22:12:48.907Z,1616623968.907 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-03-24T22:12:48.908Z,1616623968.908 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-03-24T22:12:48.908Z,1616623968.908 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-03-24T22:12:48.913Z,1616623968.913 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-03-24T22:12:48.914Z,1616623968.914 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-03-24T22:12:48.914Z,1616623968.914 [SBIT](INFO): Initialize SBIT Component.
2021-03-24T22:12:48.914Z,1616623968.914 [SBIT](IMPORTANT): git: 2021-03-22
2021-03-24T22:12:48.915Z,1616623968.915 [SBIT](INFO): git hash: c086f31f44ef30168cb38b2179cdcdc6e70e9d06
2021-03-24T22:12:48.915Z,1616623968.915 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-03-24T22:12:48.916Z,1616623968.916 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2021-03-24T22:12:48.917Z,1616623968.917 [SBIT](INFO): Beginning SBIT in 40.000000 seconds.
2021-03-24T22:12:48.918Z,1616623968.918 [IBIT](INFO): Initialize IBIT Component.
2021-03-24T22:12:48.919Z,1616623968.919 [CBIT](DEBUG): Initialize CBIT Component.
2021-03-24T22:12:48.920Z,1616623968.920 [logger ThreadHandler](INFO): Handler Thread ID is 8901
2021-03-24T22:12:48.932Z,1616623968.932 [CBIT](DEBUG): Initialized mux pins.
2021-03-24T22:12:48.932Z,1616623968.932 [CBIT](DEBUG): Initializing the watchdog timer.
2021-03-24T22:12:48.937Z,1616623968.937 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 8902
2021-03-24T22:12:48.945Z,1616623968.945 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8903
2021-03-24T22:12:48.946Z,1616623968.946 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-03-24T22:12:48.953Z,1616623968.953 [Onboard ThreadHandler](INFO): Handler Thread ID is 8904
2021-03-24T22:12:48.957Z,1616623968.957 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-03-24T22:12:48.957Z,1616623968.957 [CBIT](DEBUG): Initializing heartbeat.
2021-03-24T22:12:48.973Z,1616623968.973 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8905
2021-03-24T22:12:48.993Z,1616623968.993 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8906
2021-03-24T22:12:48.993Z,1616623968.993 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-03-24T22:12:48.998Z,1616623968.998 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 8908
2021-03-24T22:12:49.001Z,1616623969.001 [WetLabsBB2FL](INFO): Powering up
2021-03-24T22:12:49.002Z,1616623969.002 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8910
2021-03-24T22:12:49.005Z,1616623969.005 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-03-24T22:12:49.005Z,1616623969.005 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-03-24T22:12:49.006Z,1616623969.006 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-03-24T22:12:49.006Z,1616623969.006 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-03-24T22:12:49.006Z,1616623969.006 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-03-24T22:12:49.006Z,1616623969.006 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-03-24T22:12:49.006Z,1616623969.006 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-03-24T22:12:49.006Z,1616623969.006 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-03-24T22:12:49.007Z,1616623969.007 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-03-24T22:12:49.008Z,1616623969.008 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-03-24T22:12:49.028Z,1616623969.028 [CBIT](DEBUG): Deactivating GF circuits.
2021-03-24T22:12:49.028Z,1616623969.028 [CBIT](DEBUG): Deactivating emergency mode.
2021-03-24T22:12:49.064Z,1616623969.064 [CBIT](DEBUG): Backplane powered.
2021-03-24T22:12:49.069Z,1616623969.069 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-03-24T22:12:49.089Z,1616623969.089 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:12:49.133Z,1616623969.133 [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>


2021-03-24T22:12:49.133Z,1616623969.133 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-03-24T22:12:49.200Z,1616623969.200 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-03-24T22:12:49.201Z,1616623969.201 [Default:A.Wait](DEBUG): Construct Wait.
2021-03-24T22:12:49.204Z,1616623969.204 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:12:49.228Z,1616623969.228 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-03-24T22:12:49.255Z,1616623969.255 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-03-24T22:12:49.277Z,1616623969.277 [Default:E.Execute](DEBUG): Construct Execute.
2021-03-24T22:12:49.280Z,1616623969.280 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2021-03-24T22:12:49.292Z,1616623969.292 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,RDI_Pathfinder,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-03-24T22:12:49.300Z,1616623969.300 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-03-24T22:12:49.301Z,1616623969.301 [AHRS_M2](INFO): AHRS_M2: Not simulateHardware.
2021-03-24T22:12:49.373Z,1616623969.373 [Depth_Keller](ERROR): Pressure reading out of range: 1650.297119 decibar
2021-03-24T22:12:49.376Z,1616623969.376 [Radio_Surface](INFO): Powering up
2021-03-24T22:12:49.390Z,1616623969.390 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-03-24T22:12:49.422Z,1616623969.422 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-03-24T22:12:49.429Z,1616623969.429 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-03-24T22:12:49.430Z,1616623969.430 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-03-24T22:12:49.437Z,1616623969.437 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-03-24T22:12:49.438Z,1616623969.438 [MassServo](DEBUG): Initializing EZServoServo.
2021-03-24T22:12:49.444Z,1616623969.444 [MassServo](DEBUG): Initializing MassServo.
2021-03-24T22:12:49.445Z,1616623969.445 [RudderServo](DEBUG): Initializing EZServoServo.
2021-03-24T22:12:49.456Z,1616623969.456 [RudderServo](DEBUG): Initializing RudderServo.
2021-03-24T22:12:49.457Z,1616623969.457 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-03-24T22:12:49.465Z,1616623969.465 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-03-24T22:12:50.436Z,1616623970.436 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-03-24T22:12:50.436Z,1616623970.436 [RudderServo](FAULT): Rudder failed to initialize
2021-03-24T22:12:50.436Z,1616623970.436 [RudderServo] Communications Fault, FailCount= 1
2021-03-24T22:12:50.436Z,1616623970.436 [RudderServo](ERROR): Communications Fault
2021-03-24T22:12:50.536Z,1616623970.536 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-03-24T22:12:50.693Z,1616623970.693 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-03-24T22:12:50.693Z,1616623970.693 [RudderServo](INFO): Powering down
2021-03-24T22:12:51.372Z,1616623971.372 [RudderServo](DEBUG): Initializing EZServoServo.
2021-03-24T22:12:51.493Z,1616623971.493 [RudderServo](DEBUG): Initializing RudderServo.
2021-03-24T22:12:51.497Z,1616623971.497 [CBIT](INFO): Clearing failed state for component RudderServo
2021-03-24T22:12:51.497Z,1616623971.497 [RudderServo] No Fault, FailCount= 1
2021-03-24T22:12:51.612Z,1616623971.612 [WetLabsBB2FL](INFO): Powering down
2021-03-24T22:13:18.018Z,1616623998.018 [NAL9602](INFO): Powering up NAL9602
2021-03-24T22:13:28.934Z,1616624008.934 [NAL9602](INFO): NAL9602 initialized
2021-03-24T22:13:29.379Z,1616624009.379 [SBIT](IMPORTANT): Beginning Startup BIT
2021-03-24T22:13:29.387Z,1616624009.387 [CBIT](IMPORTANT): Beginning ground fault scan
2021-03-24T22:13:40.311Z,1616624020.311 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.004720
CHAN A1 (24V): -0.000050
CHAN A2 (12V): -0.007256
CHAN A3 (5V): -0.002724
CHAN B0 (3.3V): -0.000619
CHAN B1 (3.15aV): -0.000167
CHAN B2 (3.15bV): -0.000425
CHAN B3 (GND): 0.002221
OPEN: 0.005094
Full Scale Calc: 4.765 mA, -1.589 mA
2021-03-24T22:14:23.164Z,1616624063.164 [SBIT](IMPORTANT): SBIT PASSED
2021-03-24T22:14:23.164Z,1616624063.164 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-03-24T22:14:23.165Z,1616624063.165 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count;

2021-03-24T22:14:23.165Z,1616624063.165 [SBIT](IMPORTANT): CBIT.gf24Offset=143 microampere;

2021-03-24T22:14:23.165Z,1616624063.165 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2021-03-24T22:14:23.165Z,1616624063.165 [SBIT](IMPORTANT): DAT.sbdAddress=6 enum;

2021-03-24T22:14:23.165Z,1616624063.165 [SBIT](IMPORTANT): DAT.surfaceThreshold=-0.5 meter;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): DAT.verbosity=0 count;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): DataOverHttps.loadAtStartup=1 bool;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): Dock.depth=22.5 meter;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): Dock.lat=36.8137 degree;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): Dock.lon=-121.818 degree;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): Dock.transponderCode=50 count;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): Docked.dockingDepthOffset=1.5 meter;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2021-03-24T22:14:23.166Z,1616624063.166 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 0.150000 kelvin;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): Express linearApproximation acoustic_contact_range 5.000000 meter;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): LineCapture.armSpeed=1 meter_per_second;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): LineCapture.midcourseDepth=20 meter;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): LineCapture.rolloutDistance=200 meter;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): Undock.reverseThrustTimeout=0 second;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): Undock.undockDepth=15 meter;

2021-03-24T22:14:23.167Z,1616624063.167 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=250.315511 cubic_centimeter;

2021-03-24T22:14:23.168Z,1616624063.168 [SBIT](IMPORTANT): VerticalControl.massDefault=5.224349 millimeter;

2021-03-24T22:14:23.499Z,1616624063.499 [MissionManager](IMPORTANT): Started mission Startup
2021-03-24T22:14:23.499Z,1616624063.499 [Startup] Running Loop=1
2021-03-24T22:14:23.499Z,1616624063.499 [Startup](DEBUG): Aggregate::initialize Startup
2021-03-24T22:14:23.500Z,1616624063.500 [Startup:A.GoToSurface] Running Loop=1
2021-03-24T22:14:23.500Z,1616624063.500 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:14:23.501Z,1616624063.501 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T22:14:23.501Z,1616624063.501 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T22:14:23.501Z,1616624063.501 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T22:14:23.502Z,1616624063.502 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:14:23.502Z,1616624063.502 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:14:23.503Z,1616624063.503 [Startup:StartupSatComms] Running Loop=1
2021-03-24T22:14:23.504Z,1616624063.504 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-03-24T22:14:23.504Z,1616624063.504 [Startup:StartupSatComms:A] Running Loop=1
2021-03-24T22:14:23.986Z,1616624063.986 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-03-24T22:15:16.881Z,1616624116.881 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.021458
2021-03-24T22:15:23.675Z,1616624123.675 [Startup:StartupSatComms:A](INFO): Timed out from 2021-03-24T22:14:23.5Z
2021-03-24T22:15:23.675Z,1616624123.675 [Startup:StartupSatComms:A] Stopped
2021-03-24T22:15:23.675Z,1616624123.675 [Startup:StartupSatComms:B] Running Loop=1
2021-03-24T22:15:24.083Z,1616624124.083 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-03-24T22:15:31.388Z,1616624131.388 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T212600/Courier0016.lzma
2021-03-24T22:15:32.390Z,1616624132.390 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Courier0016.lzma.bak
2021-03-24T22:15:32.390Z,1616624132.390 [DataOverHttps](INFO): SBD MOMSN=15445189
2021-03-24T22:15:47.987Z,1616624147.987 [DataOverHttps](INFO): Sending 150 bytes from file Logs/20210324T221239/Courier0000.lzma
2021-03-24T22:15:48.986Z,1616624148.986 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0000.lzma.bak
2021-03-24T22:15:48.986Z,1616624148.986 [DataOverHttps](INFO): SBD MOMSN=15445191
2021-03-24T22:15:49.188Z,1616624149.188 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2021-03-24T22:15:49.188Z,1616624149.188 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:15:49.198Z,1616624149.198 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:15:49.564Z,1616624149.564 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:15:49.564Z,1616624149.564 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2021-03-24T22:16:04.614Z,1616624164.614 [DataOverHttps](INFO): Sending 276 bytes from file Logs/20210312T194817/Express0008.lzma
2021-03-24T22:16:05.614Z,1616624165.614 [DataOverHttps](INFO): Moved sent file to Logs/20210312T194817/Express0008.lzma.bak
2021-03-24T22:16:05.614Z,1616624165.614 [DataOverHttps](INFO): SBD MOMSN=15445194
2021-03-24T22:16:21.409Z,1616624181.409 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20210312T194817/Express0011.lzma
2021-03-24T22:16:22.410Z,1616624182.410 [DataOverHttps](INFO): Moved sent file to Logs/20210312T194817/Express0011.lzma.bak
2021-03-24T22:16:22.410Z,1616624182.410 [DataOverHttps](INFO): SBD MOMSN=15445202
2021-03-24T22:16:23.883Z,1616624183.883 [Startup:StartupSatComms:B](INFO): Timed out from 2021-03-24T22:15:23.7Z
2021-03-24T22:16:23.883Z,1616624183.883 [Startup:StartupSatComms:B] Stopped
2021-03-24T22:16:23.883Z,1616624183.883 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-03-24T22:16:23.883Z,1616624183.883 [Startup:StartupSatComms] Stopped
2021-03-24T22:16:23.884Z,1616624183.884 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-03-24T22:16:23.911Z,1616624183.911 [Startup](INFO): Completed Startup
2021-03-24T22:16:23.911Z,1616624183.911 [MissionManager](INFO): Startup is completed.
2021-03-24T22:16:23.911Z,1616624183.911 [MissionManager](INFO): Uninitializing Mission Startup
2021-03-24T22:16:23.911Z,1616624183.911 [Startup] Stopped
2021-03-24T22:16:23.911Z,1616624183.911 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-03-24T22:16:23.911Z,1616624183.911 [Startup:A.GoToSurface] Stopped
2021-03-24T22:16:23.911Z,1616624183.911 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:16:24.299Z,1616624184.299 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T22:16:24.299Z,1616624184.299 [Default] Running Loop=1
2021-03-24T22:16:24.299Z,1616624184.299 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T22:16:24.299Z,1616624184.299 [Default:B.GoToSurface] Running Loop=1
2021-03-24T22:16:24.299Z,1616624184.299 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:16:24.305Z,1616624184.305 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T22:16:24.306Z,1616624184.306 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T22:16:24.306Z,1616624184.306 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T22:16:24.306Z,1616624184.306 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:16:24.307Z,1616624184.307 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:16:24.307Z,1616624184.307 [Default:A.Wait] Running Loop=1
2021-03-24T22:16:24.307Z,1616624184.307 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:16:37.622Z,1616624197.622 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T22:16:37.622Z,1616624197.622 [Default:A.Wait] Stopped
2021-03-24T22:16:37.622Z,1616624197.622 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:16:38.030Z,1616624198.030 [Default:CheckIn] Running Loop=1
2021-03-24T22:16:38.030Z,1616624198.030 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:16:38.030Z,1616624198.030 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:16:38.473Z,1616624198.473 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-03-24T22:17:06.346Z,1616624226.346 [DataOverHttps](INFO): Sending 459 bytes from file Logs/20210318T222524/Express0001.lzma
2021-03-24T22:17:07.346Z,1616624227.346 [DataOverHttps](INFO): Moved sent file to Logs/20210318T222524/Express0001.lzma.bak
2021-03-24T22:17:07.346Z,1616624227.346 [DataOverHttps](INFO): SBD MOMSN=15445210
2021-03-24T22:18:31.929Z,1616624311.929 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2021-03-24T22:18:50.137Z,1616624330.137 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2021-03-24T22:18:50.137Z,1616624330.137 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:18:50.155Z,1616624330.155 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:18:50.558Z,1616624330.558 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:18:50.558Z,1616624330.558 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2021-03-24T22:20:11.777Z,1616624411.777 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2021-03-24T22:20:18.217Z,1616624418.217 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-03-24T22:20:18.220Z,1616624418.220 [BPC1](INFO): Received data from all battery sticks.
2021-03-24T22:21:38.190Z,1616624498.190 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T22:16:38.0Z
2021-03-24T22:21:38.190Z,1616624498.190 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T22:21:38.190Z,1616624498.190 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T22:21:38.581Z,1616624498.581 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-03-24T22:21:45.161Z,1616624505.161 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20210324T221239/Courier0004.lzma
2021-03-24T22:21:46.162Z,1616624506.162 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0004.lzma.bak
2021-03-24T22:21:46.162Z,1616624506.162 [DataOverHttps](INFO): SBD MOMSN=15445222
2021-03-24T22:21:51.153Z,1616624511.153 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2021-03-24T22:21:51.153Z,1616624511.153 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:21:51.167Z,1616624511.167 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:21:51.525Z,1616624511.525 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:21:51.525Z,1616624511.525 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2021-03-24T22:22:01.689Z,1616624521.689 [DataOverHttps](INFO): Sending 648 bytes from file Logs/20210321T222100/Express0001.lzma
2021-03-24T22:22:02.690Z,1616624522.690 [DataOverHttps](INFO): Moved sent file to Logs/20210321T222100/Express0001.lzma.bak
2021-03-24T22:22:02.690Z,1616624522.690 [DataOverHttps](INFO): SBD MOMSN=15445224
2021-03-24T22:22:18.543Z,1616624538.543 [DataOverHttps](INFO): Sending 1181 bytes from file Logs/20210323T220220/Express0001.lzma
2021-03-24T22:22:19.542Z,1616624539.542 [DataOverHttps](INFO): Moved sent file to Logs/20210323T220220/Express0001.lzma.bak
2021-03-24T22:22:19.542Z,1616624539.542 [DataOverHttps](INFO): SBD MOMSN=15445239
2021-03-24T22:22:35.170Z,1616624555.170 [DataOverHttps](INFO): Sending 632 bytes from file Logs/20210323T221646/Express0001.lzma
2021-03-24T22:22:36.170Z,1616624556.170 [DataOverHttps](INFO): Moved sent file to Logs/20210323T221646/Express0001.lzma.bak
2021-03-24T22:22:36.170Z,1616624556.170 [DataOverHttps](INFO): SBD MOMSN=15445277
2021-03-24T22:22:51.731Z,1616624571.731 [DataOverHttps](INFO): Sending 609 bytes from file Logs/20210323T222809/Express0001.lzma
2021-03-24T22:22:52.730Z,1616624572.730 [DataOverHttps](INFO): Moved sent file to Logs/20210323T222809/Express0001.lzma.bak
2021-03-24T22:22:52.730Z,1616624572.730 [DataOverHttps](INFO): SBD MOMSN=15445290
2021-03-24T22:23:08.279Z,1616624588.279 [DataOverHttps](INFO): Sending 1191 bytes from file Logs/20210324T212143/Express0001.lzma
2021-03-24T22:23:09.278Z,1616624589.278 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212143/Express0001.lzma.bak
2021-03-24T22:23:09.278Z,1616624589.278 [DataOverHttps](INFO): SBD MOMSN=15445302
2021-03-24T22:23:24.897Z,1616624604.897 [DataOverHttps](INFO): Sending 276 bytes from file Logs/20210324T212143/Express0005.lzma
2021-03-24T22:23:25.894Z,1616624605.894 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212143/Express0005.lzma.bak
2021-03-24T22:23:25.894Z,1616624605.894 [DataOverHttps](INFO): SBD MOMSN=15445338
2021-03-24T22:23:31.290Z,1616624611.290 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T22:23:31.290Z,1616624611.290 [NAL9602] Data Fault, FailCount= 1
2021-03-24T22:23:31.290Z,1616624611.290 [NAL9602](ERROR): Data Fault
2021-03-24T22:23:31.406Z,1616624611.406 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T22:23:31.693Z,1616624611.693 [NAL9602](INFO): Powering down
2021-03-24T22:23:32.520Z,1616624612.520 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T22:23:32.520Z,1616624612.520 [NAL9602] No Fault, FailCount= 1
2021-03-24T22:23:41.518Z,1616624621.518 [DataOverHttps](INFO): Sending 1158 bytes from file Logs/20210324T212600/Express0001.lzma
2021-03-24T22:23:42.518Z,1616624622.518 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Express0001.lzma.bak
2021-03-24T22:23:42.518Z,1616624622.518 [DataOverHttps](INFO): SBD MOMSN=15445352
2021-03-24T22:23:58.040Z,1616624638.040 [DataOverHttps](INFO): Sending 1573 bytes from file Logs/20210324T212600/Express0005.lzma
2021-03-24T22:23:59.038Z,1616624639.038 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Express0005.lzma.bak
2021-03-24T22:23:59.038Z,1616624639.038 [DataOverHttps](INFO): SBD MOMSN=15445387
2021-03-24T22:24:01.997Z,1616624641.997 [NAL9602](INFO): Powering up NAL9602
2021-03-24T22:24:12.911Z,1616624652.911 [NAL9602](INFO): NAL9602 initialized
2021-03-24T22:24:14.608Z,1616624654.608 [DataOverHttps](INFO): Sending 207 bytes from file Logs/20210324T212600/Express0008.lzma
2021-03-24T22:24:15.610Z,1616624655.610 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Express0008.lzma.bak
2021-03-24T22:24:15.610Z,1616624655.610 [DataOverHttps](INFO): SBD MOMSN=15445512
2021-03-24T22:24:31.232Z,1616624671.232 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20210324T212600/Express0011.lzma
2021-03-24T22:24:32.234Z,1616624672.234 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Express0011.lzma.bak
2021-03-24T22:24:32.234Z,1616624672.234 [DataOverHttps](INFO): SBD MOMSN=15445517
2021-03-24T22:24:47.720Z,1616624687.720 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20210324T212600/Express0014.lzma
2021-03-24T22:24:48.722Z,1616624688.722 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Express0014.lzma.bak
2021-03-24T22:24:48.722Z,1616624688.722 [DataOverHttps](INFO): SBD MOMSN=15445522
2021-03-24T22:24:52.133Z,1616624692.133 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2021-03-24T22:24:52.133Z,1616624692.133 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:24:52.170Z,1616624692.170 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:24:52.538Z,1616624692.538 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:24:52.538Z,1616624692.538 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2021-03-24T22:25:04.360Z,1616624704.360 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20210324T212600/Express0017.lzma
2021-03-24T22:25:05.362Z,1616624705.362 [DataOverHttps](INFO): Moved sent file to Logs/20210324T212600/Express0017.lzma.bak
2021-03-24T22:25:05.362Z,1616624705.362 [DataOverHttps](INFO): SBD MOMSN=15445527
2021-03-24T22:25:21.055Z,1616624721.055 [DataOverHttps](INFO): Sending 1127 bytes from file Logs/20210324T221239/Express0001.lzma
2021-03-24T22:25:22.067Z,1616624722.067 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0001.lzma.bak
2021-03-24T22:25:22.067Z,1616624722.067 [DataOverHttps](INFO): SBD MOMSN=15445534
2021-03-24T22:25:37.628Z,1616624737.628 [DataOverHttps](INFO): Sending 188 bytes from file Logs/20210324T221239/Express0005.lzma
2021-03-24T22:25:38.630Z,1616624738.630 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0005.lzma.bak
2021-03-24T22:25:38.630Z,1616624738.630 [DataOverHttps](INFO): SBD MOMSN=15445569
2021-03-24T22:25:40.585Z,1616624740.585 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T22:25:40.585Z,1616624740.585 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T22:25:40.586Z,1616624740.586 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:27:53.126Z,1616624873.126 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2021-03-24T22:27:53.126Z,1616624873.126 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:27:53.136Z,1616624873.136 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:27:53.526Z,1616624873.526 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:27:53.526Z,1616624873.526 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2021-03-24T22:30:41.180Z,1616625041.180 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-24T22:30:41.181Z,1616625041.181 [Default:CheckIn:C.Wait] Stopped
2021-03-24T22:30:41.181Z,1616625041.181 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:30:41.181Z,1616625041.181 [Default:CheckIn:D] Running Loop=1
2021-03-24T22:30:41.566Z,1616625041.566 [Default:CheckIn:D] Stopped
2021-03-24T22:30:41.566Z,1616625041.566 [Default:CheckIn:E] Running Loop=1
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 14.287778 min 
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn:E] Stopped
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn] Stopped
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn](INFO): Running loop #2
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn] Running Loop=2
2021-03-24T22:30:41.986Z,1616625041.986 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:30:41.987Z,1616625041.987 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:30:54.098Z,1616625054.098 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2021-03-24T22:30:54.098Z,1616625054.098 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:30:54.108Z,1616625054.108 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:30:54.502Z,1616625054.502 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:30:54.502Z,1616625054.502 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2021-03-24T22:32:17.750Z,1616625137.750 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223216
2021-03-24T22:32:25.017Z,1616625145.017 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k99r 1 4
2021-03-24T22:32:25.042Z,1616625145.042 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k99r 1 4.000000
2021-03-24T22:32:25.042Z,1616625145.042 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=k99r
2021-03-24T22:32:25.043Z,1616625145.043 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 4 with id='k99r'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:32:26.019Z,1616625146.019 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223225
2021-03-24T22:32:33.332Z,1616625153.332 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k99r 2 4
2021-03-24T22:32:33.373Z,1616625153.373 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k99r 2 4.000000
2021-03-24T22:32:33.373Z,1616625153.373 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=k99r
2021-03-24T22:32:33.374Z,1616625153.374 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 4 with id='k99r'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:32:34.334Z,1616625154.334 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223233
2021-03-24T22:32:41.580Z,1616625161.580 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k99r 3 4
2021-03-24T22:32:41.677Z,1616625161.677 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k99r 3 4.000000
2021-03-24T22:32:41.677Z,1616625161.677 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=k99r
2021-03-24T22:32:41.678Z,1616625161.678 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 4 with id='k99r'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:32:42.582Z,1616625162.582 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223241
2021-03-24T22:32:49.784Z,1616625169.784 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k99r 4 4
2021-03-24T22:32:49.885Z,1616625169.885 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k99r 4 4.000000
2021-03-24T22:32:49.885Z,1616625169.885 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=k99r
2021-03-24T22:32:49.886Z,1616625169.886 [CommandLine](IMPORTANT): Scheduled #4 (#4 of 4 with id='k99r'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:32:50.077Z,1616625170.077 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:32:50.078Z,1616625170.078 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:32:50.201Z,1616625170.201 [MissionManager](INFO): DefineArg profile_station_backseat.MissionTimeout = 4.000000 h
2021-03-24T22:32:50.204Z,1616625170.204 [MissionManager](INFO): DefineArg profile_station_backseat.NeedCommsTime = 60.000000 min
2021-03-24T22:32:50.207Z,1616625170.207 [MissionManager](INFO): DefineArg profile_station_backseat.Lat = 36.806966 arcdeg
2021-03-24T22:32:50.210Z,1616625170.210 [MissionManager](INFO): DefineArg profile_station_backseat.Lon = -121.824326 arcdeg
2021-03-24T22:32:50.213Z,1616625170.213 [MissionManager](INFO): DefineArg profile_station_backseat.Radius = 300.000000 m
2021-03-24T22:32:50.216Z,1616625170.216 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinDepth = 2.000000 m
2021-03-24T22:32:50.219Z,1616625170.219 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMaxDepth = 20.000000 m
2021-03-24T22:32:50.222Z,1616625170.222 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinAltitude = 7.000000 m
2021-03-24T22:32:50.225Z,1616625170.225 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoPitch = 20.000000 arcdeg
2021-03-24T22:32:50.228Z,1616625170.228 [MissionManager](INFO): DefineArg profile_station_backseat.Speed = 1.000000 m/s
2021-03-24T22:32:50.231Z,1616625170.231 [MissionManager](INFO): DefineArg profile_station_backseat.CircleMaxError = 100.000000 m
2021-03-24T22:32:50.234Z,1616625170.234 [MissionManager](INFO): DefineArg profile_station_backseat.CircleTurnToPort = 0 bool
2021-03-24T22:32:50.237Z,1616625170.237 [MissionManager](INFO): DefineArg profile_station_backseat.KwpHeading = 0.010000 rad/m
2021-03-24T22:32:50.239Z,1616625170.239 [MissionManager](INFO): DefineArg profile_station_backseat.MinAltitude = 5.000000 m
2021-03-24T22:32:50.242Z,1616625170.242 [MissionManager](INFO): DefineArg profile_station_backseat.MaxDepth = 205.000000 m
2021-03-24T22:32:50.246Z,1616625170.246 [MissionManager](INFO): DefineArg profile_station_backseat.MinOffshore = 2.000000 km
2021-03-24T22:32:50.246Z,1616625170.246 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-03-24T22:32:50.704Z,1616625170.704 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectChlActive = 0 bool
2021-03-24T22:32:50.710Z,1616625170.710 [MissionManager](INFO): DefineArg profile_station_backseat:Science.TimeWindowPeakReport = nan min
2021-03-24T22:32:50.717Z,1616625170.717 [MissionManager](INFO): DefineArg profile_station_backseat:Science.HighestChlPeakReportActive = 0 bool
2021-03-24T22:32:50.720Z,1616625170.720 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PatchTracking = 0 bool
2021-03-24T22:32:50.727Z,1616625170.727 [MissionManager](INFO): DefineArg profile_station_backseat:Science.FilterWidthHorizontal = 3.000000 count
2021-03-24T22:32:50.730Z,1616625170.730 [MissionManager](INFO): DefineArg profile_station_backseat:Science.NumProfilesSlidingwindow = 100.000000 count
2021-03-24T22:32:50.749Z,1616625170.749 [MissionManager](INFO): DefineArg profile_station_backseat:Science.OffPeakFractionHorizontal = 80.000000 %
2021-03-24T22:32:50.752Z,1616625170.752 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectNO3Active = 0 bool
2021-03-24T22:32:50.758Z,1616625170.758 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectOilActive = 0 bool
2021-03-24T22:32:50.765Z,1616625170.765 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectFDOMActive = 0 bool
2021-03-24T22:32:50.768Z,1616625170.768 [MissionManager](INFO): DefineArg profile_station_backseat:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-03-24T22:32:50.783Z,1616625170.783 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledAanderaaO2 = 0.000000 bool
2021-03-24T22:32:50.786Z,1616625170.786 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223249
2021-03-24T22:32:50.801Z,1616625170.801 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledNeilBrown = 0.000000 bool
2021-03-24T22:32:50.817Z,1616625170.817 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledSeabird = 1.000000 bool
2021-03-24T22:32:50.848Z,1616625170.848 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-03-24T22:32:50.852Z,1616625170.852 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-03-24T22:32:50.855Z,1616625170.855 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-03-24T22:32:50.886Z,1616625170.886 [MissionManager](INFO): DefineArg profile_station_backseat:Science.LowPassWindowLength = 20.000000 count
2021-03-24T22:32:50.930Z,1616625170.930 [MissionManager](INFO): DefineArg profile_station_backseat:Science.MedianFilterLen = 5.000000 count
2021-03-24T22:32:50.933Z,1616625170.933 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakShallowBound = nan m
2021-03-24T22:32:50.936Z,1616625170.936 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDeepBound = nan m
2021-03-24T22:32:50.951Z,1616625170.951 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChl = 0.000000 ug/l
2021-03-24T22:32:50.954Z,1616625170.954 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlDepth = 0.000000 m
2021-03-24T22:32:50.982Z,1616625170.982 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlTemperature = 0.000000 degC
2021-03-24T22:32:50.985Z,1616625170.985 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLatitude = nan arcdeg
2021-03-24T22:32:50.988Z,1616625170.988 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLongitude = nan arcdeg
2021-03-24T22:32:50.991Z,1616625170.991 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3 = 0.000000 umol/l
2021-03-24T22:32:51.020Z,1616625171.020 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Depth = 0.000000 m
2021-03-24T22:32:51.023Z,1616625171.023 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Latitude = nan arcdeg
2021-03-24T22:32:51.026Z,1616625171.026 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Longitude = nan arcdeg
2021-03-24T22:32:51.063Z,1616625171.063 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChl = 0.000000 m
2021-03-24T22:32:51.066Z,1616625171.066 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDepth = 0.000000 m
2021-03-24T22:32:51.069Z,1616625171.069 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLatitude = nan arcdeg
2021-03-24T22:32:51.072Z,1616625171.072 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLongitude = nan arcdeg
2021-03-24T22:32:51.109Z,1616625171.109 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDistance = nan m
2021-03-24T22:32:51.112Z,1616625171.112 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOil = 0.000000 kg/m3
2021-03-24T22:32:51.115Z,1616625171.115 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilDepth = 0.000000 m
2021-03-24T22:32:51.142Z,1616625171.142 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLatitude = nan arcdeg
2021-03-24T22:32:51.145Z,1616625171.145 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLongitude = nan arcdeg
2021-03-24T22:32:51.148Z,1616625171.148 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOM = 0.000000 ppb
2021-03-24T22:32:51.151Z,1616625171.151 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMDepth = 0.000000 m
2021-03-24T22:32:51.154Z,1616625171.154 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMTemperature = nan degC
2021-03-24T22:32:51.157Z,1616625171.157 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLatitude = nan arcdeg
2021-03-24T22:32:51.180Z,1616625171.180 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLongitude = nan arcdeg
2021-03-24T22:32:51.183Z,1616625171.183 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchFDOMDistance = nan m
2021-03-24T22:32:51.302Z,1616625171.302 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:32:51.342Z,1616625171.342 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-03-24T22:32:51.375Z,1616625171.375 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:32:51.402Z,1616625171.402 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:32:51.433Z,1616625171.433 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:32:51.467Z,1616625171.467 [MissionManager](INFO): RedefineArg profile_station_backseat:Science.PeakDetectChlActive = value:1 bool
2021-03-24T22:32:51.467Z,1616625171.467 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T22:32:51.556Z,1616625171.556 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.DiveInterval = 3.000000 h
2021-03-24T22:32:51.591Z,1616625171.591 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T22:32:51.594Z,1616625171.594 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T22:32:51.598Z,1616625171.598 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T22:32:51.617Z,1616625171.617 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T22:32:51.625Z,1616625171.625 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T22:32:51.627Z,1616625171.627 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T22:32:51.699Z,1616625171.699 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:32:51.748Z,1616625171.748 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T22:32:51.801Z,1616625171.801 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T22:32:51.804Z,1616625171.804 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T22:32:51.807Z,1616625171.807 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T22:32:51.813Z,1616625171.813 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:32:51.837Z,1616625171.837 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:32:51.867Z,1616625171.867 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T22:32:51.939Z,1616625171.939 [profile_station_backseat:K.BackseatDriver](DEBUG): Construct BackseatDriver.
2021-03-24T22:32:51.944Z,1616625171.944 [profile_station_backseat:Profile:A.Pitch](DEBUG): Construct.
2021-03-24T22:32:51.951Z,1616625171.951 [profile_station_backseat:Profile:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T22:32:51.971Z,1616625171.971 [profile_station_backseat:Profile:C.SetSpeed](DEBUG): Construct.
2021-03-24T22:32:51.978Z,1616625171.978 [profile_station_backseat:Profile:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:32:52.013Z,1616625172.013 [profile_station_backseat:Profile:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:32:52.033Z,1616625172.033 [profile_station_backseat:Profile:F.YoYo](DEBUG): Construct YoYo.
2021-03-24T22:32:52.089Z,1616625172.089 [profile_station_backseat:Profile:CircleWrapper:B.Circle](DEBUG): Construct.
2021-03-24T22:32:52.164Z,1616625172.164 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station_backseat">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><CustomUri Uri="_.Lat"/></Elapsed>
            <Lt><Elapsed><Arg Name="Lat"/></Elapsed></Lt>
            <Or><Elapsed><CustomUri Uri="_.Lon"/></Elapsed><Lt><Elapsed><Arg Name="Lon"/></Elapsed></Lt></Or>
        </When>

        <Assign><Sequence/><Arg Name="Lat"/><CustomUri Uri="_.Lat"/></Assign>

        <Assign><Sequence/><Arg Name="Lon"/><CustomUri Uri="_.Lon"/></Assign>

<!--        <Syslog>Upadating circle _.Lat/_.Lon <CustomUri Uri="_.Lat"/><Units:arcdeg/>/<CustomUri Uri="_.Lon"/><Units:arcdeg/></Syslog>-->

    </Aggregate>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="Profile">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Description>
                Another depth envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for depth-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="4096"/>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>


2021-03-24T22:32:52.165Z,1616625172.165 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:33:01.412Z,1616625181.412 [DataOverHttps](INFO): Received command:stop
2021-03-24T22:33:03.504Z,1616625183.504 [CommandLine](IMPORTANT): got command set profile_station_backseat.MissionTimeout 11.000000 hour
2021-03-24T22:33:03.505Z,1616625183.505 [CommandLine](IMPORTANT): got command set profile_station_backseat.NeedCommsTime 180.000000 minute
2021-03-24T22:33:03.506Z,1616625183.506 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lat 36.806961 degree
2021-03-24T22:33:03.527Z,1616625183.527 [CommandLine](IMPORTANT): got command stop
2021-03-24T22:33:03.537Z,1616625183.537 [CommandLine](IMPORTANT): Scheduling is paused for 3 commands
2021-03-24T22:33:03.538Z,1616625183.538 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T22:33:12.754Z,1616625192.754 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lon -121.823997 degree
2021-03-24T22:33:12.755Z,1616625192.755 [CommandLine](IMPORTANT): got command set profile_station_backseat.Radius 100.000000 meter
2021-03-24T22:33:12.756Z,1616625192.756 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinDepth 3.000000 meter
2021-03-24T22:33:12.756Z,1616625192.756 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMaxDepth 21.000000 meter
2021-03-24T22:33:22.951Z,1616625202.951 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinAltitude 9.000000 meter
2021-03-24T22:33:22.951Z,1616625202.951 [CommandLine](IMPORTANT): got command set profile_station_backseat.Speed 0.800000 meter_per_second
2021-03-24T22:33:22.952Z,1616625202.952 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleMaxError 50.000000 meter
2021-03-24T22:33:22.953Z,1616625202.953 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleTurnToPort 1.000000 bool
2021-03-24T22:33:30.955Z,1616625210.955 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinAltitude 7.000000 meter
2021-03-24T22:33:30.956Z,1616625210.956 [CommandLine](IMPORTANT): got command set profile_station_backseat.MaxDepth 35.000000 meter
2021-03-24T22:33:30.957Z,1616625210.957 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinOffshore 1.000000 kilometer
2021-03-24T22:33:30.957Z,1616625210.957 [CommandLine](IMPORTANT): got command run
2021-03-24T22:33:30.972Z,1616625210.972 [CommandLine](IMPORTANT): Running 
2021-03-24T22:33:31.285Z,1616625211.285 [Default] Stopped
2021-03-24T22:33:31.286Z,1616625211.286 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T22:33:31.286Z,1616625211.286 [Default:B.GoToSurface] Stopped
2021-03-24T22:33:31.286Z,1616625211.286 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:33:31.286Z,1616625211.286 [Default:CheckIn] Stopped
2021-03-24T22:33:31.286Z,1616625211.286 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T22:33:31.286Z,1616625211.286 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T22:33:31.286Z,1616625211.286 [MissionManager](IMPORTANT): Started mission profile_station_backseat
2021-03-24T22:33:31.286Z,1616625211.286 [profile_station_backseat] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat](DEBUG): Aggregate::initialize profile_station_backseat
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science](DEBUG): Aggregate::initialize profile_station_backseat:Science
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:A] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:D] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:F] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:Read_Oil] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:33:31.287Z,1616625211.287 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:33:31.288Z,1616625211.288 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:33:31.288Z,1616625211.288 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:33:31.294Z,1616625211.294 [profile_station_backseat:Science:HighestChlPeakReport] Running Loop=1
2021-03-24T22:33:31.294Z,1616625211.294 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:33:31.295Z,1616625211.295 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-03-24T22:33:31.295Z,1616625211.295 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-03-24T22:33:31.295Z,1616625211.295 [profile_station_backseat:Science:PeakDetectNO3] Running Loop=1
2021-03-24T22:33:31.295Z,1616625211.295 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:33:31.296Z,1616625211.296 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:33:31.296Z,1616625211.296 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:33:31.333Z,1616625211.333 [profile_station_backseat:Science:PeakDetectOil] Running Loop=1
2021-03-24T22:33:31.334Z,1616625211.334 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:33:31.334Z,1616625211.334 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:33:31.334Z,1616625211.334 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:33:31.336Z,1616625211.336 [profile_station_backseat:Science:PeakDetectFDOM] Running Loop=1
2021-03-24T22:33:31.336Z,1616625211.336 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:33:31.336Z,1616625211.336 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:33:31.336Z,1616625211.336 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:33:31.338Z,1616625211.338 [profile_station_backseat:Science:OceanCurrent] Running Loop=1
2021-03-24T22:33:31.338Z,1616625211.338 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:33:31.338Z,1616625211.338 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:33:31.338Z,1616625211.338 [profile_station_backseat:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:33:31.339Z,1616625211.339 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T22:33:31.340Z,1616625211.340 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:33:31.340Z,1616625211.340 [profile_station_backseat:K.BackseatDriver](DEBUG): Initialize.
2021-03-24T22:33:31.512Z,1616625211.512 [profile_station_backseat:C] Running Loop=1
2021-03-24T22:33:31.512Z,1616625211.512 [BackseatComponent](INFO): Powering up
2021-03-24T22:33:31.513Z,1616625211.513 [BackseatComponent](INFO): Subscribing to LCM channels.
2021-03-24T22:33:31.537Z,1616625211.537 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:33:31.564Z,1616625211.564 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:33:31.564Z,1616625211.564 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:33:31.565Z,1616625211.565 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:33:31.565Z,1616625211.565 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:33:31.566Z,1616625211.566 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:33:31.566Z,1616625211.566 [profile_station_backseat:C] Stopped
2021-03-24T22:33:31.566Z,1616625211.566 [profile_station_backseat:E] Running Loop=1
2021-03-24T22:33:31.566Z,1616625211.566 [profile_station_backseat:NeedComms] Running Loop=1
2021-03-24T22:33:31.567Z,1616625211.567 [profile_station_backseat:NeedComms](DEBUG): Aggregate::initialize profile_station_backseat:NeedComms
2021-03-24T22:33:31.567Z,1616625211.567 [profile_station_backseat:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T22:33:31.567Z,1616625211.567 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:33:31.567Z,1616625211.567 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T22:33:31.567Z,1616625211.567 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T22:33:31.568Z,1616625211.568 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T22:33:31.568Z,1616625211.568 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:33:31.569Z,1616625211.569 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:33:31.569Z,1616625211.569 [profile_station_backseat:NeedComms:A] Running Loop=1
2021-03-24T22:33:31.570Z,1616625211.570 [profile_station_backseat:NeedComms:A](ERROR): data element is not active.
2021-03-24T22:33:31.570Z,1616625211.570 [profile_station_backseat:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T22:33:31.570Z,1616625211.570 [profile_station_backseat:NeedComms:A] Stopped
2021-03-24T22:33:31.570Z,1616625211.570 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:33:31.571Z,1616625211.571 [profile_station_backseat:Science:PeakDetectFDOM] Stopped
2021-03-24T22:33:31.571Z,1616625211.571 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:33:31.571Z,1616625211.571 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-03-24T22:33:31.571Z,1616625211.571 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:33:31.572Z,1616625211.572 [profile_station_backseat:Science:PeakDetectOil] Stopped
2021-03-24T22:33:31.572Z,1616625211.572 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:33:31.572Z,1616625211.572 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-03-24T22:33:31.572Z,1616625211.572 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:33:31.588Z,1616625211.588 [profile_station_backseat:Science:PeakDetectNO3] Stopped
2021-03-24T22:33:31.588Z,1616625211.588 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:33:31.588Z,1616625211.588 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-03-24T22:33:31.588Z,1616625211.588 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:33:31.588Z,1616625211.588 [profile_station_backseat:Science:HighestChlPeakReport] Stopped
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:Read_Oil] Stopped
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:F] Stopped
2021-03-24T22:33:31.589Z,1616625211.589 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:33:31.590Z,1616625211.590 [profile_station_backseat:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-03-24T22:33:31.590Z,1616625211.590 [profile_station_backseat:Science:D] Stopped
2021-03-24T22:33:31.590Z,1616625211.590 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:33:31.591Z,1616625211.591 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-03-24T22:33:31.592Z,1616625211.592 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-03-24T22:33:31.592Z,1616625211.592 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:33:31.597Z,1616625211.597 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-03-24T22:33:31.597Z,1616625211.597 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-03-24T22:33:31.597Z,1616625211.597 [profile_station_backseat:Science:A] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [MissionManager](INFO): MissionManager is completed.
2021-03-24T22:33:31.598Z,1616625211.598 [MissionManager](INFO): Uninitializing Mission profile_station_backseat
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat](DEBUG): Aggregate::uninitialize profile_station_backseat
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science](DEBUG): Aggregate::uninitialize profile_station_backseat:Science
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science:B] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science:C] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science:E] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science:OceanCurrent] Stopped
2021-03-24T22:33:31.598Z,1616625211.598 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:Science:OceanCurrent:A.] Stopped
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:Science:PeakDetectChl] Stopped
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:NeedComms] Stopped
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:NeedComms](DEBUG): Aggregate::uninitialize profile_station_backseat:NeedComms
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:NeedComms:B.GoToSurface] Stopped
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:StandardEnvelopes] Stopped
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:33:31.599Z,1616625211.599 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T22:33:31.600Z,1616625211.600 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T22:33:31.600Z,1616625211.600 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T22:33:31.600Z,1616625211.600 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T22:33:31.600Z,1616625211.600 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T22:33:31.600Z,1616625211.600 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T22:33:31.612Z,1616625211.612 [profile_station_backseat:E] Stopped
2021-03-24T22:33:31.612Z,1616625211.612 [profile_station_backseat:K.BackseatDriver] Stopped
2021-03-24T22:33:31.612Z,1616625211.612 [profile_station_backseat:K.BackseatDriver](DEBUG): Uninitialize.
2021-03-24T22:33:31.839Z,1616625211.839 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T22:33:31.839Z,1616625211.839 [Default] Running Loop=1
2021-03-24T22:33:31.840Z,1616625211.840 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T22:33:31.840Z,1616625211.840 [Default:B.GoToSurface] Running Loop=1
2021-03-24T22:33:31.840Z,1616625211.840 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:33:31.857Z,1616625211.857 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T22:33:31.857Z,1616625211.857 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T22:33:31.857Z,1616625211.857 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T22:33:31.858Z,1616625211.858 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:33:31.858Z,1616625211.858 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:33:31.858Z,1616625211.858 [Default:A.Wait] Running Loop=1
2021-03-24T22:33:31.858Z,1616625211.858 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:33:36.350Z,1616625216.350 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223335
2021-03-24T22:33:43.584Z,1616625223.584 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9bb 1 4
2021-03-24T22:33:43.685Z,1616625223.685 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9bb 1 4.000000
2021-03-24T22:33:43.685Z,1616625223.685 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=k9bb
2021-03-24T22:33:43.686Z,1616625223.686 [CommandLine](IMPORTANT): Scheduled #5 (#1 of 4 with id='k9bb'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:33:44.590Z,1616625224.590 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223343
2021-03-24T22:33:45.191Z,1616625225.191 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T22:33:45.191Z,1616625225.191 [Default:A.Wait] Stopped
2021-03-24T22:33:45.191Z,1616625225.191 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:33:45.558Z,1616625225.558 [Default:CheckIn] Running Loop=1
2021-03-24T22:33:45.558Z,1616625225.558 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:33:45.558Z,1616625225.558 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:33:49.354Z,1616625229.354 [BackseatComponent](INFO): Sent LCM shutdown request.
2021-03-24T22:33:51.928Z,1616625231.928 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9bb 2 4
2021-03-24T22:33:51.985Z,1616625231.985 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9bb 2 4.000000
2021-03-24T22:33:51.985Z,1616625231.985 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=k9bb
2021-03-24T22:33:51.986Z,1616625231.986 [CommandLine](IMPORTANT): Scheduled #6 (#2 of 4 with id='k9bb'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:33:52.930Z,1616625232.930 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223351
2021-03-24T22:33:55.277Z,1616625235.277 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2021-03-24T22:33:55.278Z,1616625235.278 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:33:55.304Z,1616625235.304 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:33:55.676Z,1616625235.676 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:33:55.676Z,1616625235.676 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2021-03-24T22:34:00.185Z,1616625240.185 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9bb 3 4
2021-03-24T22:34:00.286Z,1616625240.286 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9bb 3 4.000000
2021-03-24T22:34:00.286Z,1616625240.286 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=k9bb
2021-03-24T22:34:00.287Z,1616625240.287 [CommandLine](IMPORTANT): Scheduled #7 (#3 of 4 with id='k9bb'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:34:01.186Z,1616625241.186 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223400
2021-03-24T22:34:04.436Z,1616625244.436 [BackseatComponent](INFO): Powering down
2021-03-24T22:34:04.640Z,1616625244.640 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2021-03-24T22:34:04.641Z,1616625244.641 [LcmUniversalReporter](INFO): Deactivating messaging.
2021-03-24T22:34:08.540Z,1616625248.540 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9bb 4 4
2021-03-24T22:34:08.599Z,1616625248.599 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9bb 4 4.000000
2021-03-24T22:34:08.600Z,1616625248.600 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=k9bb
2021-03-24T22:34:08.600Z,1616625248.600 [CommandLine](IMPORTANT): Scheduled #8 (#4 of 4 with id='k9bb'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:34:08.849Z,1616625248.849 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:34:08.850Z,1616625248.850 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:34:09.010Z,1616625249.010 [MissionManager](INFO): DefineArg profile_station_backseat.MissionTimeout = 4.000000 h
2021-03-24T22:34:09.012Z,1616625249.012 [MissionManager](INFO): DefineArg profile_station_backseat.NeedCommsTime = 60.000000 min
2021-03-24T22:34:09.022Z,1616625249.022 [MissionManager](INFO): DefineArg profile_station_backseat.Lat = 36.806966 arcdeg
2021-03-24T22:34:09.029Z,1616625249.029 [MissionManager](INFO): DefineArg profile_station_backseat.Lon = -121.824326 arcdeg
2021-03-24T22:34:09.031Z,1616625249.031 [MissionManager](INFO): DefineArg profile_station_backseat.Radius = 300.000000 m
2021-03-24T22:34:09.073Z,1616625249.073 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinDepth = 2.000000 m
2021-03-24T22:34:09.075Z,1616625249.075 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMaxDepth = 20.000000 m
2021-03-24T22:34:09.079Z,1616625249.079 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinAltitude = 7.000000 m
2021-03-24T22:34:09.082Z,1616625249.082 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoPitch = 20.000000 arcdeg
2021-03-24T22:34:09.084Z,1616625249.084 [MissionManager](INFO): DefineArg profile_station_backseat.Speed = 1.000000 m/s
2021-03-24T22:34:09.087Z,1616625249.087 [MissionManager](INFO): DefineArg profile_station_backseat.CircleMaxError = 100.000000 m
2021-03-24T22:34:09.101Z,1616625249.101 [MissionManager](INFO): DefineArg profile_station_backseat.CircleTurnToPort = 0 bool
2021-03-24T22:34:09.103Z,1616625249.103 [MissionManager](INFO): DefineArg profile_station_backseat.KwpHeading = 0.010000 rad/m
2021-03-24T22:34:09.105Z,1616625249.105 [MissionManager](INFO): DefineArg profile_station_backseat.MinAltitude = 5.000000 m
2021-03-24T22:34:09.107Z,1616625249.107 [MissionManager](INFO): DefineArg profile_station_backseat.MaxDepth = 205.000000 m
2021-03-24T22:34:09.111Z,1616625249.111 [MissionManager](INFO): DefineArg profile_station_backseat.MinOffshore = 2.000000 km
2021-03-24T22:34:09.111Z,1616625249.111 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-03-24T22:34:09.391Z,1616625249.391 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectChlActive = 0 bool
2021-03-24T22:34:09.393Z,1616625249.393 [MissionManager](INFO): DefineArg profile_station_backseat:Science.TimeWindowPeakReport = nan min
2021-03-24T22:34:09.395Z,1616625249.395 [MissionManager](INFO): DefineArg profile_station_backseat:Science.HighestChlPeakReportActive = 0 bool
2021-03-24T22:34:09.405Z,1616625249.405 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PatchTracking = 0 bool
2021-03-24T22:34:09.407Z,1616625249.407 [MissionManager](INFO): DefineArg profile_station_backseat:Science.FilterWidthHorizontal = 3.000000 count
2021-03-24T22:34:09.413Z,1616625249.413 [MissionManager](INFO): DefineArg profile_station_backseat:Science.NumProfilesSlidingwindow = 100.000000 count
2021-03-24T22:34:09.415Z,1616625249.415 [MissionManager](INFO): DefineArg profile_station_backseat:Science.OffPeakFractionHorizontal = 80.000000 %
2021-03-24T22:34:09.472Z,1616625249.472 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectNO3Active = 0 bool
2021-03-24T22:34:09.478Z,1616625249.478 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectOilActive = 0 bool
2021-03-24T22:34:09.481Z,1616625249.481 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectFDOMActive = 0 bool
2021-03-24T22:34:09.483Z,1616625249.483 [MissionManager](INFO): DefineArg profile_station_backseat:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-03-24T22:34:09.493Z,1616625249.493 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledAanderaaO2 = 0.000000 bool
2021-03-24T22:34:09.496Z,1616625249.496 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledNeilBrown = 0.000000 bool
2021-03-24T22:34:09.502Z,1616625249.502 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledSeabird = 1.000000 bool
2021-03-24T22:34:09.513Z,1616625249.513 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-03-24T22:34:09.516Z,1616625249.516 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-03-24T22:34:09.537Z,1616625249.537 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-03-24T22:34:09.540Z,1616625249.540 [MissionManager](INFO): DefineArg profile_station_backseat:Science.LowPassWindowLength = 20.000000 count
2021-03-24T22:34:09.542Z,1616625249.542 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223408
2021-03-24T22:34:09.558Z,1616625249.558 [MissionManager](INFO): DefineArg profile_station_backseat:Science.MedianFilterLen = 5.000000 count
2021-03-24T22:34:09.564Z,1616625249.564 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakShallowBound = nan m
2021-03-24T22:34:09.593Z,1616625249.593 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDeepBound = nan m
2021-03-24T22:34:09.595Z,1616625249.595 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChl = 0.000000 ug/l
2021-03-24T22:34:09.610Z,1616625249.610 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlDepth = 0.000000 m
2021-03-24T22:34:09.612Z,1616625249.612 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlTemperature = 0.000000 degC
2021-03-24T22:34:09.624Z,1616625249.624 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLatitude = nan arcdeg
2021-03-24T22:34:09.638Z,1616625249.638 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLongitude = nan arcdeg
2021-03-24T22:34:09.653Z,1616625249.653 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3 = 0.000000 umol/l
2021-03-24T22:34:09.655Z,1616625249.655 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Depth = 0.000000 m
2021-03-24T22:34:09.663Z,1616625249.663 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Latitude = nan arcdeg
2021-03-24T22:34:09.681Z,1616625249.681 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Longitude = nan arcdeg
2021-03-24T22:34:09.683Z,1616625249.683 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChl = 0.000000 m
2021-03-24T22:34:09.698Z,1616625249.698 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDepth = 0.000000 m
2021-03-24T22:34:09.712Z,1616625249.712 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLatitude = nan arcdeg
2021-03-24T22:34:09.715Z,1616625249.715 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLongitude = nan arcdeg
2021-03-24T22:34:09.729Z,1616625249.729 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDistance = nan m
2021-03-24T22:34:09.732Z,1616625249.732 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOil = 0.000000 kg/m3
2021-03-24T22:34:09.746Z,1616625249.746 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilDepth = 0.000000 m
2021-03-24T22:34:09.761Z,1616625249.761 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLatitude = nan arcdeg
2021-03-24T22:34:09.763Z,1616625249.763 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLongitude = nan arcdeg
2021-03-24T22:34:09.791Z,1616625249.791 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOM = 0.000000 ppb
2021-03-24T22:34:09.810Z,1616625249.810 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMDepth = 0.000000 m
2021-03-24T22:34:09.833Z,1616625249.833 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMTemperature = nan degC
2021-03-24T22:34:09.835Z,1616625249.835 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLatitude = nan arcdeg
2021-03-24T22:34:09.846Z,1616625249.846 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLongitude = nan arcdeg
2021-03-24T22:34:09.848Z,1616625249.848 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchFDOMDistance = nan m
2021-03-24T22:34:09.923Z,1616625249.923 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:34:09.972Z,1616625249.972 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-03-24T22:34:10.001Z,1616625250.001 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:34:10.031Z,1616625250.031 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:34:10.071Z,1616625250.071 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:34:10.114Z,1616625250.114 [MissionManager](INFO): RedefineArg profile_station_backseat:Science.PeakDetectChlActive = value:1 bool
2021-03-24T22:34:10.114Z,1616625250.114 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T22:34:10.267Z,1616625250.267 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.DiveInterval = 3.000000 h
2021-03-24T22:34:10.281Z,1616625250.281 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T22:34:10.283Z,1616625250.283 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T22:34:10.286Z,1616625250.286 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T22:34:10.288Z,1616625250.288 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T22:34:10.306Z,1616625250.306 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T22:34:10.320Z,1616625250.320 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T22:34:10.330Z,1616625250.330 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:34:10.355Z,1616625250.355 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T22:34:10.436Z,1616625250.436 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T22:34:10.438Z,1616625250.438 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T22:34:10.440Z,1616625250.440 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T22:34:10.441Z,1616625250.441 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:34:10.462Z,1616625250.462 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:34:10.491Z,1616625250.491 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T22:34:10.514Z,1616625250.514 [profile_station_backseat:K.BackseatDriver](DEBUG): Construct BackseatDriver.
2021-03-24T22:34:10.518Z,1616625250.518 [profile_station_backseat:Profile:A.Pitch](DEBUG): Construct.
2021-03-24T22:34:10.523Z,1616625250.523 [profile_station_backseat:Profile:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T22:34:10.525Z,1616625250.525 [profile_station_backseat:Profile:C.SetSpeed](DEBUG): Construct.
2021-03-24T22:34:10.528Z,1616625250.528 [profile_station_backseat:Profile:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:34:10.534Z,1616625250.534 [profile_station_backseat:Profile:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:34:10.552Z,1616625250.552 [profile_station_backseat:Profile:F.YoYo](DEBUG): Construct YoYo.
2021-03-24T22:34:10.559Z,1616625250.559 [profile_station_backseat:Profile:CircleWrapper:B.Circle](DEBUG): Construct.
2021-03-24T22:34:10.615Z,1616625250.615 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station_backseat">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><CustomUri Uri="_.Lat"/></Elapsed>
            <Lt><Elapsed><Arg Name="Lat"/></Elapsed></Lt>
            <Or><Elapsed><CustomUri Uri="_.Lon"/></Elapsed><Lt><Elapsed><Arg Name="Lon"/></Elapsed></Lt></Or>
        </When>

        <Assign><Sequence/><Arg Name="Lat"/><CustomUri Uri="_.Lat"/></Assign>

        <Assign><Sequence/><Arg Name="Lon"/><CustomUri Uri="_.Lon"/></Assign>

<!--        <Syslog>Upadating circle _.Lat/_.Lon <CustomUri Uri="_.Lat"/><Units:arcdeg/>/<CustomUri Uri="_.Lon"/><Units:arcdeg/></Syslog>-->

    </Aggregate>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="Profile">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Description>
                Another depth envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for depth-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="4096"/>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>


2021-03-24T22:34:10.616Z,1616625250.616 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:34:14.225Z,1616625254.225 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T22:34:14.226Z,1616625254.226 [NAL9602] Data Fault, FailCount= 2
2021-03-24T22:34:14.226Z,1616625254.226 [NAL9602](ERROR): Data Fault
2021-03-24T22:34:14.315Z,1616625254.315 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T22:34:14.629Z,1616625254.629 [NAL9602](INFO): Powering down
2021-03-24T22:34:15.487Z,1616625255.487 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T22:34:15.487Z,1616625255.487 [NAL9602] No Fault, FailCount= 2
2021-03-24T22:34:19.263Z,1616625259.263 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9c6 1 4
2021-03-24T22:34:21.224Z,1616625261.224 [CommandLine](IMPORTANT): got command set profile_station_backseat.MissionTimeout 11.000000 hour
2021-03-24T22:34:21.225Z,1616625261.225 [CommandLine](IMPORTANT): got command set profile_station_backseat.NeedCommsTime 180.000000 minute
2021-03-24T22:34:21.226Z,1616625261.226 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lat 36.806961 degree
2021-03-24T22:34:21.241Z,1616625261.241 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9c6 1 
2021-03-24T22:34:21.241Z,1616625261.241 [CommandLine](FAULT): Incomplete syntax. Try: help schedule
2021-03-24T22:34:21.247Z,1616625261.247 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223419
2021-03-24T22:34:31.744Z,1616625271.744 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9c6 2 4
2021-03-24T22:34:33.747Z,1616625273.747 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lon -121.823997 degree
2021-03-24T22:34:33.748Z,1616625273.748 [CommandLine](IMPORTANT): got command set profile_station_backseat.Radius 100.000000 meter
2021-03-24T22:34:33.749Z,1616625273.749 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinDepth 3.000000 meter
2021-03-24T22:34:33.750Z,1616625273.750 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMaxDepth 21.000000 meter
2021-03-24T22:34:33.761Z,1616625273.761 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9c6 2 4.000000
2021-03-24T22:34:33.766Z,1616625273.766 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223431
2021-03-24T22:34:33.771Z,1616625273.771 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=k9c6
2021-03-24T22:34:33.772Z,1616625273.772 [CommandLine](IMPORTANT): Scheduled #9 (#2 of 4 with id='k9c6'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:34:43.280Z,1616625283.280 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9c6 3 4
2021-03-24T22:34:44.933Z,1616625284.933 [NAL9602](INFO): Powering up NAL9602
2021-03-24T22:34:47.311Z,1616625287.311 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinAltitude 9.000000 meter
2021-03-24T22:34:47.312Z,1616625287.312 [CommandLine](IMPORTANT): got command set profile_station_backseat.Speed 0.800000 meter_per_second
2021-03-24T22:34:47.313Z,1616625287.313 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleMaxError 50.000000 meter
2021-03-24T22:34:47.314Z,1616625287.314 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleTurnToPort 1.000000 bool
2021-03-24T22:34:47.369Z,1616625287.369 [CommandLine](IMPORTANT): got command schedule asap 
2021-03-24T22:34:47.369Z,1616625287.369 [CommandLine](FAULT): Incomplete syntax. Try: help schedule
2021-03-24T22:34:47.372Z,1616625287.372 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223443
2021-03-24T22:34:54.716Z,1616625294.716 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9c6 4 4
2021-03-24T22:34:54.781Z,1616625294.781 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9c6 4 4.000000
2021-03-24T22:34:54.781Z,1616625294.781 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=k9c6
2021-03-24T22:34:54.782Z,1616625294.782 [CommandLine](IMPORTANT): Scheduled #10 (#4 of 4 with id='k9c6'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:34:55.842Z,1616625295.842 [NAL9602](INFO): NAL9602 initialized
2021-03-24T22:36:56.254Z,1616625416.254 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2021-03-24T22:36:56.254Z,1616625416.254 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:36:56.264Z,1616625416.264 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:36:56.655Z,1616625416.655 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:36:56.655Z,1616625416.655 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2021-03-24T22:37:17.322Z,1616625437.322 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223716
2021-03-24T22:37:24.600Z,1616625444.600 [DataOverHttps](INFO): Received command:stop
2021-03-24T22:37:24.694Z,1616625444.694 [CommandLine](IMPORTANT): got command stop
2021-03-24T22:37:24.695Z,1616625444.695 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T22:37:40.845Z,1616625460.845 [CommandLine](IMPORTANT): got command schedule list
2021-03-24T22:37:40.845Z,1616625460.845 [CommandLine](IMPORTANT): Scheduled #9 (#2 of 4 with id='k9c6'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:37:40.846Z,1616625460.846 [CommandLine](IMPORTANT): Scheduled #10 (#4 of 4 with id='k9c6'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:37:40.847Z,1616625460.847 [CommandLine](FAULT): Scheduling was paused by a command at 2021-03-24T22:37:24Z
2021-03-24T22:37:47.597Z,1616625467.597 [CommandLine](IMPORTANT): got command schedule clear
2021-03-24T22:37:47.597Z,1616625467.597 [CommandLine](IMPORTANT): #Cleared scheduled commands:2
2021-03-24T22:38:36.386Z,1616625516.386 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223835
2021-03-24T22:38:43.620Z,1616625523.620 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9jk 1 4
2021-03-24T22:38:43.657Z,1616625523.657 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9jk 1 4.000000
2021-03-24T22:38:43.657Z,1616625523.657 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=k9jk
2021-03-24T22:38:43.658Z,1616625523.658 [CommandLine](IMPORTANT): Scheduled #11 (#1 of 4 with id='k9jk'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:38:44.623Z,1616625524.623 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223843
2021-03-24T22:38:45.731Z,1616625525.731 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T22:33:45.6Z
2021-03-24T22:38:45.731Z,1616625525.731 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T22:38:45.731Z,1616625525.731 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T22:38:51.913Z,1616625531.913 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0007.lzma
2021-03-24T22:38:51.915Z,1616625531.915 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9jk 2 4
2021-03-24T22:38:51.965Z,1616625531.965 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9jk 2 4.000000
2021-03-24T22:38:51.966Z,1616625531.966 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=k9jk
2021-03-24T22:38:51.966Z,1616625531.966 [CommandLine](IMPORTANT): Scheduled #12 (#2 of 4 with id='k9jk'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:38:53.162Z,1616625533.162 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0007.lzma.bak
2021-03-24T22:38:53.163Z,1616625533.163 [DataOverHttps](IMPORTANT): SBD MOMSN=15445595, MTMSN=20210324T223851
2021-03-24T22:39:00.270Z,1616625540.270 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9jk 3 4
2021-03-24T22:39:00.310Z,1616625540.310 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9jk 3 4.000000
2021-03-24T22:39:00.310Z,1616625540.310 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=k9jk
2021-03-24T22:39:00.311Z,1616625540.311 [CommandLine](IMPORTANT): Scheduled #13 (#3 of 4 with id='k9jk'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:39:01.443Z,1616625541.443 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223900
2021-03-24T22:39:08.640Z,1616625548.640 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0013.lzma
2021-03-24T22:39:08.642Z,1616625548.642 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9jk 4 4
2021-03-24T22:39:08.717Z,1616625548.717 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9jk 4 4.000000
2021-03-24T22:39:08.718Z,1616625548.718 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=k9jk
2021-03-24T22:39:08.718Z,1616625548.718 [CommandLine](IMPORTANT): Scheduled #14 (#4 of 4 with id='k9jk'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:39:08.952Z,1616625548.952 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:39:08.952Z,1616625548.952 [MissionManager](INFO): Uninitializing Mission profile_station_backseat
2021-03-24T22:39:08.981Z,1616625548.981 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:39:09.121Z,1616625549.121 [MissionManager](INFO): DefineArg profile_station_backseat.MissionTimeout = 4.000000 h
2021-03-24T22:39:09.123Z,1616625549.123 [MissionManager](INFO): DefineArg profile_station_backseat.NeedCommsTime = 60.000000 min
2021-03-24T22:39:09.125Z,1616625549.125 [MissionManager](INFO): DefineArg profile_station_backseat.Lat = 36.806966 arcdeg
2021-03-24T22:39:09.127Z,1616625549.127 [MissionManager](INFO): DefineArg profile_station_backseat.Lon = -121.824326 arcdeg
2021-03-24T22:39:09.129Z,1616625549.129 [MissionManager](INFO): DefineArg profile_station_backseat.Radius = 300.000000 m
2021-03-24T22:39:09.131Z,1616625549.131 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinDepth = 2.000000 m
2021-03-24T22:39:09.133Z,1616625549.133 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMaxDepth = 20.000000 m
2021-03-24T22:39:09.135Z,1616625549.135 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinAltitude = 7.000000 m
2021-03-24T22:39:09.147Z,1616625549.147 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoPitch = 20.000000 arcdeg
2021-03-24T22:39:09.150Z,1616625549.150 [MissionManager](INFO): DefineArg profile_station_backseat.Speed = 1.000000 m/s
2021-03-24T22:39:09.152Z,1616625549.152 [MissionManager](INFO): DefineArg profile_station_backseat.CircleMaxError = 100.000000 m
2021-03-24T22:39:09.154Z,1616625549.154 [MissionManager](INFO): DefineArg profile_station_backseat.CircleTurnToPort = 0 bool
2021-03-24T22:39:09.156Z,1616625549.156 [MissionManager](INFO): DefineArg profile_station_backseat.KwpHeading = 0.010000 rad/m
2021-03-24T22:39:09.202Z,1616625549.202 [MissionManager](INFO): DefineArg profile_station_backseat.MinAltitude = 5.000000 m
2021-03-24T22:39:09.231Z,1616625549.231 [MissionManager](INFO): DefineArg profile_station_backseat.MaxDepth = 205.000000 m
2021-03-24T22:39:09.237Z,1616625549.237 [MissionManager](INFO): DefineArg profile_station_backseat.MinOffshore = 2.000000 km
2021-03-24T22:39:09.238Z,1616625549.238 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-03-24T22:39:09.522Z,1616625549.522 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectChlActive = 0 bool
2021-03-24T22:39:09.524Z,1616625549.524 [MissionManager](INFO): DefineArg profile_station_backseat:Science.TimeWindowPeakReport = nan min
2021-03-24T22:39:09.526Z,1616625549.526 [MissionManager](INFO): DefineArg profile_station_backseat:Science.HighestChlPeakReportActive = 0 bool
2021-03-24T22:39:09.528Z,1616625549.528 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PatchTracking = 0 bool
2021-03-24T22:39:09.530Z,1616625549.530 [MissionManager](INFO): DefineArg profile_station_backseat:Science.FilterWidthHorizontal = 3.000000 count
2021-03-24T22:39:09.532Z,1616625549.532 [MissionManager](INFO): DefineArg profile_station_backseat:Science.NumProfilesSlidingwindow = 100.000000 count
2021-03-24T22:39:09.534Z,1616625549.534 [MissionManager](INFO): DefineArg profile_station_backseat:Science.OffPeakFractionHorizontal = 80.000000 %
2021-03-24T22:39:09.536Z,1616625549.536 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectNO3Active = 0 bool
2021-03-24T22:39:09.537Z,1616625549.537 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectOilActive = 0 bool
2021-03-24T22:39:09.539Z,1616625549.539 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectFDOMActive = 0 bool
2021-03-24T22:39:09.610Z,1616625549.610 [MissionManager](INFO): DefineArg profile_station_backseat:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-03-24T22:39:09.636Z,1616625549.636 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledAanderaaO2 = 0.000000 bool
2021-03-24T22:39:09.639Z,1616625549.639 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledNeilBrown = 0.000000 bool
2021-03-24T22:39:09.673Z,1616625549.673 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledSeabird = 1.000000 bool
2021-03-24T22:39:09.676Z,1616625549.676 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-03-24T22:39:09.686Z,1616625549.686 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-03-24T22:39:09.713Z,1616625549.713 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-03-24T22:39:09.715Z,1616625549.715 [MissionManager](INFO): DefineArg profile_station_backseat:Science.LowPassWindowLength = 20.000000 count
2021-03-24T22:39:09.737Z,1616625549.737 [MissionManager](INFO): DefineArg profile_station_backseat:Science.MedianFilterLen = 5.000000 count
2021-03-24T22:39:09.739Z,1616625549.739 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakShallowBound = nan m
2021-03-24T22:39:09.757Z,1616625549.757 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDeepBound = nan m
2021-03-24T22:39:09.759Z,1616625549.759 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChl = 0.000000 ug/l
2021-03-24T22:39:09.778Z,1616625549.778 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlDepth = 0.000000 m
2021-03-24T22:39:09.780Z,1616625549.780 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlTemperature = 0.000000 degC
2021-03-24T22:39:09.799Z,1616625549.799 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLatitude = nan arcdeg
2021-03-24T22:39:09.809Z,1616625549.809 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLongitude = nan arcdeg
2021-03-24T22:39:09.811Z,1616625549.811 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3 = 0.000000 umol/l
2021-03-24T22:39:09.831Z,1616625549.831 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Depth = 0.000000 m
2021-03-24T22:39:09.838Z,1616625549.838 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Latitude = nan arcdeg
2021-03-24T22:39:09.840Z,1616625549.840 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Longitude = nan arcdeg
2021-03-24T22:39:09.854Z,1616625549.854 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChl = 0.000000 m
2021-03-24T22:39:09.873Z,1616625549.873 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDepth = 0.000000 m
2021-03-24T22:39:09.881Z,1616625549.881 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLatitude = nan arcdeg
2021-03-24T22:39:09.884Z,1616625549.884 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLongitude = nan arcdeg
2021-03-24T22:39:09.890Z,1616625549.890 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDistance = nan m
2021-03-24T22:39:09.912Z,1616625549.912 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOil = 0.000000 kg/m3
2021-03-24T22:39:09.915Z,1616625549.915 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilDepth = 0.000000 m
2021-03-24T22:39:09.929Z,1616625549.929 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLatitude = nan arcdeg
2021-03-24T22:39:09.931Z,1616625549.931 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLongitude = nan arcdeg
2021-03-24T22:39:09.967Z,1616625549.967 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOM = 0.000000 ppb
2021-03-24T22:39:09.973Z,1616625549.973 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMDepth = 0.000000 m
2021-03-24T22:39:09.976Z,1616625549.976 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMTemperature = nan degC
2021-03-24T22:39:10.006Z,1616625550.006 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLatitude = nan arcdeg
2021-03-24T22:39:10.024Z,1616625550.024 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLongitude = nan arcdeg
2021-03-24T22:39:10.031Z,1616625550.031 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchFDOMDistance = nan m
2021-03-24T22:39:10.121Z,1616625550.121 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:39:10.170Z,1616625550.170 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-03-24T22:39:10.196Z,1616625550.196 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:39:10.233Z,1616625550.233 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:39:10.266Z,1616625550.266 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:39:10.364Z,1616625550.364 [MissionManager](INFO): RedefineArg profile_station_backseat:Science.PeakDetectChlActive = value:1 bool
2021-03-24T22:39:10.365Z,1616625550.365 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T22:39:10.469Z,1616625550.469 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0013.lzma.bak
2021-03-24T22:39:10.470Z,1616625550.470 [DataOverHttps](IMPORTANT): SBD MOMSN=15445599, MTMSN=20210324T223908
2021-03-24T22:39:10.543Z,1616625550.543 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.DiveInterval = 3.000000 h
2021-03-24T22:39:10.549Z,1616625550.549 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T22:39:10.552Z,1616625550.552 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T22:39:10.558Z,1616625550.558 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T22:39:10.572Z,1616625550.572 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T22:39:10.574Z,1616625550.574 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T22:39:10.576Z,1616625550.576 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T22:39:10.582Z,1616625550.582 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:39:10.614Z,1616625550.614 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T22:39:10.729Z,1616625550.729 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T22:39:10.731Z,1616625550.731 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T22:39:10.798Z,1616625550.798 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T22:39:10.799Z,1616625550.799 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:39:10.818Z,1616625550.818 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:39:10.852Z,1616625550.852 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T22:39:10.960Z,1616625550.960 [profile_station_backseat:K.BackseatDriver](DEBUG): Construct BackseatDriver.
2021-03-24T22:39:10.971Z,1616625550.971 [profile_station_backseat:Profile:A.Pitch](DEBUG): Construct.
2021-03-24T22:39:10.999Z,1616625550.999 [profile_station_backseat:Profile:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T22:39:11.018Z,1616625551.018 [profile_station_backseat:Profile:C.SetSpeed](DEBUG): Construct.
2021-03-24T22:39:11.024Z,1616625551.024 [profile_station_backseat:Profile:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:39:11.044Z,1616625551.044 [profile_station_backseat:Profile:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:39:11.054Z,1616625551.054 [profile_station_backseat:Profile:F.YoYo](DEBUG): Construct YoYo.
2021-03-24T22:39:11.069Z,1616625551.069 [profile_station_backseat:Profile:CircleWrapper:B.Circle](DEBUG): Construct.
2021-03-24T22:39:11.134Z,1616625551.134 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station_backseat">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><CustomUri Uri="_.Lat"/></Elapsed>
            <Lt><Elapsed><Arg Name="Lat"/></Elapsed></Lt>
            <Or><Elapsed><CustomUri Uri="_.Lon"/></Elapsed><Lt><Elapsed><Arg Name="Lon"/></Elapsed></Lt></Or>
        </When>

        <Assign><Sequence/><Arg Name="Lat"/><CustomUri Uri="_.Lat"/></Assign>

        <Assign><Sequence/><Arg Name="Lon"/><CustomUri Uri="_.Lon"/></Assign>

<!--        <Syslog>Upadating circle _.Lat/_.Lon <CustomUri Uri="_.Lat"/><Units:arcdeg/>/<CustomUri Uri="_.Lon"/><Units:arcdeg/></Syslog>-->

    </Aggregate>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="Profile">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Description>
                Another depth envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for depth-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="4096"/>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>


2021-03-24T22:39:11.134Z,1616625551.134 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:39:20.256Z,1616625560.256 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9jq 1 4
2021-03-24T22:39:21.908Z,1616625561.908 [CommandLine](IMPORTANT): got command set profile_station_backseat.MissionTimeout 11.000000 hour
2021-03-24T22:39:21.909Z,1616625561.909 [CommandLine](IMPORTANT): got command set profile_station_backseat.NeedCommsTime 180.000000 minute
2021-03-24T22:39:21.910Z,1616625561.910 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lat 36.806961 degree
2021-03-24T22:39:21.921Z,1616625561.921 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" k9jq 1 4.000000
2021-03-24T22:39:21.929Z,1616625561.929 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=k9jq
2021-03-24T22:39:21.929Z,1616625561.929 [CommandLine](IMPORTANT): Scheduled #15 (#1 of 4 with id='k9jq'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:39:22.275Z,1616625562.275 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223920
2021-03-24T22:39:31.563Z,1616625571.563 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0016.lzma
2021-03-24T22:39:31.570Z,1616625571.570 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" k9jq 2 4
2021-03-24T22:39:34.668Z,1616625574.668 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lon -121.823997 degree
2021-03-24T22:39:34.669Z,1616625574.669 [CommandLine](IMPORTANT): got command set profile_station_backseat.Radius 100.000000 meter
2021-03-24T22:39:34.669Z,1616625574.669 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinDepth 3.000000 meter
2021-03-24T22:39:34.670Z,1616625574.670 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMaxDepth 21.000000 meter
2021-03-24T22:39:34.681Z,1616625574.681 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" 
2021-03-24T22:39:34.681Z,1616625574.681 [CommandLine](FAULT): Incomplete syntax. Try: help schedule
2021-03-24T22:39:35.178Z,1616625575.178 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0016.lzma.bak
2021-03-24T22:39:35.178Z,1616625575.178 [DataOverHttps](IMPORTANT): SBD MOMSN=15445603, MTMSN=20210324T223931
2021-03-24T22:39:45.276Z,1616625585.276 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9jq 3 4
2021-03-24T22:39:48.849Z,1616625588.849 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinAltitude 9.000000 meter
2021-03-24T22:39:48.850Z,1616625588.850 [CommandLine](IMPORTANT): got command set profile_station_backseat.Speed 0.800000 meter_per_second
2021-03-24T22:39:48.850Z,1616625588.850 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleMaxError 50.000000 meter
2021-03-24T22:39:48.851Z,1616625588.851 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleTurnToPort 1.000000 bool
2021-03-24T22:39:48.985Z,1616625588.985 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" k9jq 3 4.000000
2021-03-24T22:39:48.986Z,1616625588.986 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=k9jq
2021-03-24T22:39:48.986Z,1616625588.986 [CommandLine](IMPORTANT): Scheduled #16 (#3 of 4 with id='k9jq'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:39:49.454Z,1616625589.454 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T223945
2021-03-24T22:39:57.294Z,1616625597.294 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2021-03-24T22:39:57.294Z,1616625597.294 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:39:57.357Z,1616625597.357 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:39:57.698Z,1616625597.698 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:39:57.698Z,1616625597.698 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2021-03-24T22:39:59.646Z,1616625599.646 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0019.lzma
2021-03-24T22:39:59.648Z,1616625599.648 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9jq 4 4
2021-03-24T22:39:59.998Z,1616625599.998 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinAltitude 7.000000 meter
2021-03-24T22:39:59.999Z,1616625599.999 [CommandLine](IMPORTANT): got command set profile_station_backseat.MaxDepth 35.000000 meter
2021-03-24T22:39:59.000Z,1616625600.000 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinOffshore 1.000000 kilometer
2021-03-24T22:40:00.000Z,1616625600.000 [CommandLine](IMPORTANT): got command run
2021-03-24T22:40:00.002Z,1616625600.002 [CommandLine](IMPORTANT): Running 
2021-03-24T22:40:00.029Z,1616625600.029 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" k9jq 4 4.000000
2021-03-24T22:40:00.041Z,1616625600.041 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=k9jq
2021-03-24T22:40:00.042Z,1616625600.042 [CommandLine](IMPORTANT): Scheduled #17 (#4 of 4 with id='k9jq'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:40:00.136Z,1616625600.136 [Default] Stopped
2021-03-24T22:40:00.137Z,1616625600.137 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T22:40:00.137Z,1616625600.137 [Default:B.GoToSurface] Stopped
2021-03-24T22:40:00.137Z,1616625600.137 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:40:00.137Z,1616625600.137 [Default:CheckIn] Stopped
2021-03-24T22:40:00.137Z,1616625600.137 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T22:40:00.137Z,1616625600.137 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T22:40:00.137Z,1616625600.137 [MissionManager](IMPORTANT): Started mission profile_station_backseat
2021-03-24T22:40:00.137Z,1616625600.137 [profile_station_backseat] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat](DEBUG): Aggregate::initialize profile_station_backseat
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science](DEBUG): Aggregate::initialize profile_station_backseat:Science
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:A] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:D] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:F] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:Read_Oil] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:40:00.138Z,1616625600.138 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:40:00.139Z,1616625600.139 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:40:00.139Z,1616625600.139 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:40:00.140Z,1616625600.140 [profile_station_backseat:Science:HighestChlPeakReport] Running Loop=1
2021-03-24T22:40:00.140Z,1616625600.140 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:40:00.140Z,1616625600.140 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-03-24T22:40:00.140Z,1616625600.140 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-03-24T22:40:00.141Z,1616625600.141 [profile_station_backseat:Science:PeakDetectNO3] Running Loop=1
2021-03-24T22:40:00.141Z,1616625600.141 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:40:00.141Z,1616625600.141 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:40:00.141Z,1616625600.141 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:40:00.142Z,1616625600.142 [profile_station_backseat:Science:PeakDetectOil] Running Loop=1
2021-03-24T22:40:00.142Z,1616625600.142 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:40:00.143Z,1616625600.143 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:40:00.143Z,1616625600.143 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:40:00.144Z,1616625600.144 [profile_station_backseat:Science:PeakDetectFDOM] Running Loop=1
2021-03-24T22:40:00.144Z,1616625600.144 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:40:00.144Z,1616625600.144 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:40:00.144Z,1616625600.144 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:40:00.145Z,1616625600.145 [profile_station_backseat:Science:OceanCurrent] Running Loop=1
2021-03-24T22:40:00.145Z,1616625600.145 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:40:00.146Z,1616625600.146 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T22:40:00.147Z,1616625600.147 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:40:00.147Z,1616625600.147 [profile_station_backseat:K.BackseatDriver](DEBUG): Initialize.
2021-03-24T22:40:00.162Z,1616625600.162 [profile_station_backseat:C] Running Loop=1
2021-03-24T22:40:00.163Z,1616625600.163 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:40:00.192Z,1616625600.192 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:40:00.192Z,1616625600.192 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:40:00.192Z,1616625600.192 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:00.192Z,1616625600.192 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:40:00.193Z,1616625600.193 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:40:00.193Z,1616625600.193 [profile_station_backseat:C] Stopped
2021-03-24T22:40:00.193Z,1616625600.193 [profile_station_backseat:E] Running Loop=1
2021-03-24T22:40:00.194Z,1616625600.194 [profile_station_backseat:NeedComms] Running Loop=1
2021-03-24T22:40:00.194Z,1616625600.194 [profile_station_backseat:NeedComms](DEBUG): Aggregate::initialize profile_station_backseat:NeedComms
2021-03-24T22:40:00.194Z,1616625600.194 [profile_station_backseat:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T22:40:00.194Z,1616625600.194 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:40:00.194Z,1616625600.194 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T22:40:00.195Z,1616625600.195 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T22:40:00.195Z,1616625600.195 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T22:40:00.195Z,1616625600.195 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:40:00.195Z,1616625600.195 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:40:00.196Z,1616625600.196 [profile_station_backseat:NeedComms:A] Running Loop=1
2021-03-24T22:40:00.197Z,1616625600.197 [profile_station_backseat:NeedComms:A](ERROR): data element is not active.
2021-03-24T22:40:00.197Z,1616625600.197 [profile_station_backseat:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T22:40:00.197Z,1616625600.197 [profile_station_backseat:NeedComms:A] Stopped
2021-03-24T22:40:00.197Z,1616625600.197 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:40:00.198Z,1616625600.198 [profile_station_backseat:Science:PeakDetectFDOM] Stopped
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectOil] Stopped
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectNO3] Stopped
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:40:00.199Z,1616625600.199 [profile_station_backseat:Science:HighestChlPeakReport] Stopped
2021-03-24T22:40:00.200Z,1616625600.200 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:40:00.200Z,1616625600.200 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-03-24T22:40:00.200Z,1616625600.200 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-03-24T22:40:00.200Z,1616625600.200 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:40:00.212Z,1616625600.212 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:40:00.212Z,1616625600.212 [profile_station_backseat:Science:Read_Oil] Stopped
2021-03-24T22:40:00.212Z,1616625600.212 [profile_station_backseat:Science:F] Stopped
2021-03-24T22:40:00.212Z,1616625600.212 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:40:00.213Z,1616625600.213 [profile_station_backseat:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-03-24T22:40:00.213Z,1616625600.213 [profile_station_backseat:Science:D] Stopped
2021-03-24T22:40:00.213Z,1616625600.213 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:40:00.214Z,1616625600.214 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-03-24T22:40:00.214Z,1616625600.214 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-03-24T22:40:00.214Z,1616625600.214 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:40:00.215Z,1616625600.215 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-03-24T22:40:00.215Z,1616625600.215 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-03-24T22:40:00.215Z,1616625600.215 [profile_station_backseat:Science:A] Stopped
2021-03-24T22:40:00.240Z,1616625600.240 [BackseatComponent](INFO): Powering up
2021-03-24T22:40:00.241Z,1616625600.241 [BackseatComponent](INFO): Subscribing to LCM channels.
2021-03-24T22:40:00.592Z,1616625600.592 [profile_station_backseat:E] Stopped
2021-03-24T22:40:00.592Z,1616625600.592 [profile_station_backseat:F] Running Loop=1
2021-03-24T22:40:00.593Z,1616625600.593 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:00.594Z,1616625600.594 [profile_station_backseat:NeedComms:C] Running Loop=1
2021-03-24T22:40:00.646Z,1616625600.646 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0019.lzma.bak
2021-03-24T22:40:00.646Z,1616625600.646 [DataOverHttps](INFO): SBD MOMSN=15445607
2021-03-24T22:40:00.686Z,1616625600.686 [WetLabsBB2FL](INFO): Powering up
2021-03-24T22:40:01.004Z,1616625601.004 [profile_station_backseat:F] Stopped
2021-03-24T22:40:01.005Z,1616625601.005 [profile_station_backseat:G] Running Loop=1
2021-03-24T22:40:01.005Z,1616625601.005 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:01.006Z,1616625601.006 [profile_station_backseat:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-03-24T22:40:01.381Z,1616625601.381 [profile_station_backseat:G] Stopped
2021-03-24T22:40:01.381Z,1616625601.381 [profile_station_backseat:StartingMission] Running Loop=1
2021-03-24T22:40:01.381Z,1616625601.381 [profile_station_backseat:StartingMission](DEBUG): Aggregate::initialize profile_station_backseat:StartingMission
2021-03-24T22:40:01.381Z,1616625601.381 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:01.786Z,1616625601.786 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:02.176Z,1616625602.176 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:02.576Z,1616625602.576 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:03.020Z,1616625603.020 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:03.388Z,1616625603.388 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:03.718Z,1616625603.718 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-03-24T22:40:03.824Z,1616625603.824 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:04.236Z,1616625604.236 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:04.632Z,1616625604.632 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:05.056Z,1616625605.056 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:05.440Z,1616625605.440 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:05.820Z,1616625605.820 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:06.236Z,1616625606.236 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:06.636Z,1616625606.636 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:07.080Z,1616625607.080 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:07.262Z,1616625607.262 [CommandLine](IMPORTANT): got command stop
2021-03-24T22:40:07.263Z,1616625607.263 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T22:40:07.464Z,1616625607.464 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:40:07.467Z,1616625607.467 [MissionManager](INFO): MissionManager is completed.
2021-03-24T22:40:07.467Z,1616625607.467 [MissionManager](INFO): Uninitializing Mission profile_station_backseat
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat](DEBUG): Aggregate::uninitialize profile_station_backseat
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science](DEBUG): Aggregate::uninitialize profile_station_backseat:Science
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:B] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:C] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:E] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:OceanCurrent] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:OceanCurrent:A.] Stopped
2021-03-24T22:40:07.468Z,1616625607.468 [profile_station_backseat:Science:PeakDetectChl] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:NeedComms] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:NeedComms](DEBUG): Aggregate::uninitialize profile_station_backseat:NeedComms
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:NeedComms:B.GoToSurface] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:NeedComms:C] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:StandardEnvelopes] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T22:40:07.469Z,1616625607.469 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:StartingMission] Stopped
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:StartingMission](DEBUG): Aggregate::uninitialize profile_station_backseat:StartingMission
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:K.BackseatDriver] Stopped
2021-03-24T22:40:07.470Z,1616625607.470 [profile_station_backseat:K.BackseatDriver](DEBUG): Uninitialize.
2021-03-24T22:40:07.830Z,1616625607.830 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T22:40:07.831Z,1616625607.831 [Default] Running Loop=1
2021-03-24T22:40:07.831Z,1616625607.831 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T22:40:07.831Z,1616625607.831 [Default:B.GoToSurface] Running Loop=1
2021-03-24T22:40:07.831Z,1616625607.831 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:40:07.831Z,1616625607.831 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T22:40:07.831Z,1616625607.831 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T22:40:07.832Z,1616625607.832 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T22:40:07.832Z,1616625607.832 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:40:07.833Z,1616625607.833 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:40:07.833Z,1616625607.833 [Default:A.Wait] Running Loop=1
2021-03-24T22:40:07.833Z,1616625607.833 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:40:07.840Z,1616625607.840 [WetLabsBB2FL](INFO): Powering down
2021-03-24T22:40:14.789Z,1616625614.789 [CommandLine](IMPORTANT): got command schedule list
2021-03-24T22:40:14.790Z,1616625614.790 [CommandLine](IMPORTANT): Scheduled #15 (#1 of 4 with id='k9jq'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:40:14.791Z,1616625614.791 [CommandLine](IMPORTANT): Scheduled #16 (#3 of 4 with id='k9jq'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:40:14.792Z,1616625614.792 [CommandLine](IMPORTANT): Scheduled #17 (#4 of 4 with id='k9jq'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:40:14.793Z,1616625614.793 [CommandLine](FAULT): Scheduling was paused by a command at 2021-03-24T22:40:07Z
2021-03-24T22:40:18.045Z,1616625618.045 [BackseatComponent](INFO): Sent LCM shutdown request.
2021-03-24T22:40:21.152Z,1616625621.152 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T22:40:21.152Z,1616625621.152 [Default:A.Wait] Stopped
2021-03-24T22:40:21.152Z,1616625621.152 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:40:21.546Z,1616625621.546 [Default:CheckIn] Running Loop=1
2021-03-24T22:40:21.546Z,1616625621.546 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:40:21.546Z,1616625621.546 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:40:28.379Z,1616625628.379 [CommandLine](IMPORTANT): got command schedule clear
2021-03-24T22:40:28.380Z,1616625628.380 [CommandLine](IMPORTANT): #Cleared scheduled commands:3
2021-03-24T22:40:33.149Z,1616625633.149 [BackseatComponent](INFO): Powering down
2021-03-24T22:40:33.353Z,1616625633.353 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2021-03-24T22:40:33.353Z,1616625633.353 [LcmUniversalReporter](INFO): Deactivating messaging.
2021-03-24T22:42:58.303Z,1616625778.303 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2021-03-24T22:42:58.303Z,1616625778.303 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:42:58.343Z,1616625778.343 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:42:58.720Z,1616625778.720 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:42:58.720Z,1616625778.720 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2021-03-24T22:43:23.736Z,1616625803.736 [CommandLine](IMPORTANT): got command show stack
2021-03-24T22:43:23.736Z,1616625803.736 [CommandLine](IMPORTANT): Behavior Stack:

2021-03-24T22:43:23.736Z,1616625803.736 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2021-03-24T22:43:23.737Z,1616625803.737 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2021-03-24T22:44:58.266Z,1616625898.266 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T22:44:58.266Z,1616625898.266 [NAL9602] Data Fault, FailCount= 3
2021-03-24T22:44:58.266Z,1616625898.266 [NAL9602](ERROR): Data Fault
2021-03-24T22:44:58.288Z,1616625898.288 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T22:44:58.669Z,1616625898.669 [NAL9602](INFO): Powering down
2021-03-24T22:44:59.503Z,1616625899.503 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T22:44:59.503Z,1616625899.503 [NAL9602] No Fault, FailCount= 3
2021-03-24T22:45:21.718Z,1616625921.718 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T22:40:21.5Z
2021-03-24T22:45:21.718Z,1616625921.718 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T22:45:21.719Z,1616625921.719 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T22:45:25.949Z,1616625925.949 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0022.lzma
2021-03-24T22:45:26.322Z,1616625926.322 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0022.lzma.bak
2021-03-24T22:45:26.322Z,1616625926.322 [DataOverHttps](INFO): SBD MOMSN=15445610
2021-03-24T22:45:29.021Z,1616625929.021 [NAL9602](INFO): Powering up NAL9602
2021-03-24T22:45:39.925Z,1616625939.925 [NAL9602](INFO): NAL9602 initialized
2021-03-24T22:45:41.744Z,1616625941.744 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0025.lzma
2021-03-24T22:45:42.750Z,1616625942.750 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0025.lzma.bak
2021-03-24T22:45:42.750Z,1616625942.750 [DataOverHttps](INFO): SBD MOMSN=15445612
2021-03-24T22:45:58.316Z,1616625958.316 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0028.lzma
2021-03-24T22:45:59.318Z,1616625959.318 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0028.lzma.bak
2021-03-24T22:45:59.318Z,1616625959.318 [DataOverHttps](INFO): SBD MOMSN=15445614
2021-03-24T22:45:59.348Z,1616625959.348 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2021-03-24T22:45:59.348Z,1616625959.348 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:45:59.358Z,1616625959.358 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:45:59.758Z,1616625959.758 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:45:59.758Z,1616625959.758 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2021-03-24T22:46:13.884Z,1616625973.884 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0031.lzma
2021-03-24T22:46:14.888Z,1616625974.888 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0031.lzma.bak
2021-03-24T22:46:14.888Z,1616625974.888 [DataOverHttps](INFO): SBD MOMSN=15445616
2021-03-24T22:46:29.558Z,1616625989.558 [DataOverHttps](INFO): Sending 1452 bytes from file Logs/20210324T221239/Express0008.lzma
2021-03-24T22:46:30.558Z,1616625990.558 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0008.lzma.bak
2021-03-24T22:46:30.558Z,1616625990.558 [DataOverHttps](INFO): SBD MOMSN=15445618
2021-03-24T22:46:46.152Z,1616626006.152 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20210324T221239/Express0011.lzma
2021-03-24T22:46:47.154Z,1616626007.154 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0011.lzma.bak
2021-03-24T22:46:47.154Z,1616626007.154 [DataOverHttps](INFO): SBD MOMSN=15445718
2021-03-24T22:47:02.832Z,1616626022.832 [DataOverHttps](INFO): Sending 232 bytes from file Logs/20210324T221239/Express0014.lzma
2021-03-24T22:47:03.834Z,1616626023.834 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0014.lzma.bak
2021-03-24T22:47:03.834Z,1616626023.834 [DataOverHttps](INFO): SBD MOMSN=15445720
2021-03-24T22:47:19.401Z,1616626039.401 [DataOverHttps](INFO): Sending 296 bytes from file Logs/20210324T221239/Express0017.lzma
2021-03-24T22:47:20.402Z,1616626040.402 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0017.lzma.bak
2021-03-24T22:47:20.402Z,1616626040.402 [DataOverHttps](INFO): SBD MOMSN=15445725
2021-03-24T22:47:35.917Z,1616626055.917 [DataOverHttps](INFO): Sending 294 bytes from file Logs/20210324T221239/Express0020.lzma
2021-03-24T22:47:36.920Z,1616626056.920 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0020.lzma.bak
2021-03-24T22:47:36.920Z,1616626056.920 [DataOverHttps](INFO): SBD MOMSN=15445731
2021-03-24T22:47:52.589Z,1616626072.589 [DataOverHttps](INFO): Sending 348 bytes from file Logs/20210324T221239/Express0023.lzma
2021-03-24T22:47:53.590Z,1616626073.590 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0023.lzma.bak
2021-03-24T22:47:53.590Z,1616626073.590 [DataOverHttps](INFO): SBD MOMSN=15445738
2021-03-24T22:48:09.193Z,1616626089.193 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20210324T221239/Express0026.lzma
2021-03-24T22:48:10.190Z,1616626090.190 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0026.lzma.bak
2021-03-24T22:48:10.191Z,1616626090.191 [DataOverHttps](INFO): SBD MOMSN=15445749
2021-03-24T22:48:25.677Z,1616626105.677 [DataOverHttps](INFO): Sending 346 bytes from file Logs/20210324T221239/Express0029.lzma
2021-03-24T22:48:26.678Z,1616626106.678 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0029.lzma.bak
2021-03-24T22:48:26.678Z,1616626106.678 [DataOverHttps](INFO): SBD MOMSN=15445758
2021-03-24T22:48:42.289Z,1616626122.289 [DataOverHttps](INFO): Sending 754 bytes from file Logs/20210324T221239/Express0032.lzma
2021-03-24T22:48:43.290Z,1616626123.290 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0032.lzma.bak
2021-03-24T22:48:43.290Z,1616626123.290 [DataOverHttps](INFO): SBD MOMSN=15445768
2021-03-24T22:48:58.960Z,1616626138.960 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20210324T221239/Express0035.lzma
2021-03-24T22:48:59.962Z,1616626139.962 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0035.lzma.bak
2021-03-24T22:48:59.962Z,1616626139.962 [DataOverHttps](INFO): SBD MOMSN=15445794
2021-03-24T22:49:00.334Z,1616626140.334 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2021-03-24T22:49:00.334Z,1616626140.334 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:49:00.345Z,1616626140.345 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:49:00.757Z,1616626140.757 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:49:00.757Z,1616626140.757 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2021-03-24T22:49:01.935Z,1616626141.935 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T22:49:01.935Z,1616626141.935 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T22:49:01.935Z,1616626141.935 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:52:01.362Z,1616626321.362 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2021-03-24T22:52:01.362Z,1616626321.362 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:52:01.380Z,1616626321.380 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:52:01.785Z,1616626321.785 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:52:01.785Z,1616626321.785 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2021-03-24T22:53:17.022Z,1616626397.022 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225316
2021-03-24T22:53:24.360Z,1616626404.360 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ka8l 1 4
2021-03-24T22:53:24.429Z,1616626404.429 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ka8l 1 4.000000
2021-03-24T22:53:24.430Z,1616626404.430 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=ka8l
2021-03-24T22:53:24.430Z,1616626404.430 [CommandLine](IMPORTANT): Scheduled #18 (#1 of 4 with id='ka8l'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:53:25.362Z,1616626405.362 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225324
2021-03-24T22:53:32.668Z,1616626412.668 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ka8l 2 4
2021-03-24T22:53:32.729Z,1616626412.729 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ka8l 2 4.000000
2021-03-24T22:53:32.729Z,1616626412.729 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=ka8l
2021-03-24T22:53:32.730Z,1616626412.730 [CommandLine](IMPORTANT): Scheduled #19 (#2 of 4 with id='ka8l'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:53:33.670Z,1616626413.670 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225332
2021-03-24T22:53:40.976Z,1616626420.976 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ka8l 3 4
2021-03-24T22:53:41.049Z,1616626421.049 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ka8l 3 4.000000
2021-03-24T22:53:41.049Z,1616626421.049 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=ka8l
2021-03-24T22:53:41.050Z,1616626421.050 [CommandLine](IMPORTANT): Scheduled #20 (#3 of 4 with id='ka8l'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:53:41.978Z,1616626421.978 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225340
2021-03-24T22:53:49.252Z,1616626429.252 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ka8l 4 4
2021-03-24T22:53:49.349Z,1616626429.349 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ka8l 4 4.000000
2021-03-24T22:53:49.349Z,1616626429.349 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=ka8l
2021-03-24T22:53:49.350Z,1616626429.350 [CommandLine](IMPORTANT): Scheduled #21 (#4 of 4 with id='ka8l'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:53:49.627Z,1616626429.627 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:53:49.628Z,1616626429.628 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:53:49.734Z,1616626429.734 [MissionManager](INFO): DefineArg profile_station_backseat.MissionTimeout = 4.000000 h
2021-03-24T22:53:49.736Z,1616626429.736 [MissionManager](INFO): DefineArg profile_station_backseat.NeedCommsTime = 60.000000 min
2021-03-24T22:53:49.738Z,1616626429.738 [MissionManager](INFO): DefineArg profile_station_backseat.Lat = 36.806966 arcdeg
2021-03-24T22:53:49.740Z,1616626429.740 [MissionManager](INFO): DefineArg profile_station_backseat.Lon = -121.824326 arcdeg
2021-03-24T22:53:49.742Z,1616626429.742 [MissionManager](INFO): DefineArg profile_station_backseat.Radius = 300.000000 m
2021-03-24T22:53:49.777Z,1616626429.777 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinDepth = 2.000000 m
2021-03-24T22:53:49.779Z,1616626429.779 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMaxDepth = 20.000000 m
2021-03-24T22:53:49.781Z,1616626429.781 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinAltitude = 7.000000 m
2021-03-24T22:53:49.784Z,1616626429.784 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoPitch = 20.000000 arcdeg
2021-03-24T22:53:49.821Z,1616626429.821 [MissionManager](INFO): DefineArg profile_station_backseat.Speed = 1.000000 m/s
2021-03-24T22:53:49.823Z,1616626429.823 [MissionManager](INFO): DefineArg profile_station_backseat.CircleMaxError = 100.000000 m
2021-03-24T22:53:49.826Z,1616626429.826 [MissionManager](INFO): DefineArg profile_station_backseat.CircleTurnToPort = 0 bool
2021-03-24T22:53:49.840Z,1616626429.840 [MissionManager](INFO): DefineArg profile_station_backseat.KwpHeading = 0.010000 rad/m
2021-03-24T22:53:49.843Z,1616626429.843 [MissionManager](INFO): DefineArg profile_station_backseat.MinAltitude = 5.000000 m
2021-03-24T22:53:49.857Z,1616626429.857 [MissionManager](INFO): DefineArg profile_station_backseat.MaxDepth = 205.000000 m
2021-03-24T22:53:49.859Z,1616626429.859 [MissionManager](INFO): DefineArg profile_station_backseat.MinOffshore = 2.000000 km
2021-03-24T22:53:49.860Z,1616626429.860 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-03-24T22:53:50.109Z,1616626430.109 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectChlActive = 0 bool
2021-03-24T22:53:50.111Z,1616626430.111 [MissionManager](INFO): DefineArg profile_station_backseat:Science.TimeWindowPeakReport = nan min
2021-03-24T22:53:50.113Z,1616626430.113 [MissionManager](INFO): DefineArg profile_station_backseat:Science.HighestChlPeakReportActive = 0 bool
2021-03-24T22:53:50.114Z,1616626430.114 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PatchTracking = 0 bool
2021-03-24T22:53:50.117Z,1616626430.117 [MissionManager](INFO): DefineArg profile_station_backseat:Science.FilterWidthHorizontal = 3.000000 count
2021-03-24T22:53:50.119Z,1616626430.119 [MissionManager](INFO): DefineArg profile_station_backseat:Science.NumProfilesSlidingwindow = 100.000000 count
2021-03-24T22:53:50.121Z,1616626430.121 [MissionManager](INFO): DefineArg profile_station_backseat:Science.OffPeakFractionHorizontal = 80.000000 %
2021-03-24T22:53:50.123Z,1616626430.123 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectNO3Active = 0 bool
2021-03-24T22:53:50.124Z,1616626430.124 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectOilActive = 0 bool
2021-03-24T22:53:50.126Z,1616626430.126 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectFDOMActive = 0 bool
2021-03-24T22:53:50.128Z,1616626430.128 [MissionManager](INFO): DefineArg profile_station_backseat:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-03-24T22:53:50.130Z,1616626430.130 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledAanderaaO2 = 0.000000 bool
2021-03-24T22:53:50.133Z,1616626430.133 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledNeilBrown = 0.000000 bool
2021-03-24T22:53:50.135Z,1616626430.135 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledSeabird = 1.000000 bool
2021-03-24T22:53:50.170Z,1616626430.170 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-03-24T22:53:50.181Z,1616626430.181 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-03-24T22:53:50.183Z,1616626430.183 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-03-24T22:53:50.194Z,1616626430.194 [MissionManager](INFO): DefineArg profile_station_backseat:Science.LowPassWindowLength = 20.000000 count
2021-03-24T22:53:50.197Z,1616626430.197 [MissionManager](INFO): DefineArg profile_station_backseat:Science.MedianFilterLen = 5.000000 count
2021-03-24T22:53:50.199Z,1616626430.199 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakShallowBound = nan m
2021-03-24T22:53:50.211Z,1616626430.211 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDeepBound = nan m
2021-03-24T22:53:50.213Z,1616626430.213 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChl = 0.000000 ug/l
2021-03-24T22:53:50.215Z,1616626430.215 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlDepth = 0.000000 m
2021-03-24T22:53:50.239Z,1616626430.239 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlTemperature = 0.000000 degC
2021-03-24T22:53:50.241Z,1616626430.241 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLatitude = nan arcdeg
2021-03-24T22:53:50.243Z,1616626430.243 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLongitude = nan arcdeg
2021-03-24T22:53:50.253Z,1616626430.253 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225349
2021-03-24T22:53:50.261Z,1616626430.261 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3 = 0.000000 umol/l
2021-03-24T22:53:50.263Z,1616626430.263 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Depth = 0.000000 m
2021-03-24T22:53:50.278Z,1616626430.278 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Latitude = nan arcdeg
2021-03-24T22:53:50.297Z,1616626430.297 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Longitude = nan arcdeg
2021-03-24T22:53:50.299Z,1616626430.299 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChl = 0.000000 m
2021-03-24T22:53:50.301Z,1616626430.301 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDepth = 0.000000 m
2021-03-24T22:53:50.304Z,1616626430.304 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLatitude = nan arcdeg
2021-03-24T22:53:50.326Z,1616626430.326 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLongitude = nan arcdeg
2021-03-24T22:53:50.337Z,1616626430.337 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDistance = nan m
2021-03-24T22:53:50.339Z,1616626430.339 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOil = 0.000000 kg/m3
2021-03-24T22:53:50.350Z,1616626430.350 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilDepth = 0.000000 m
2021-03-24T22:53:50.361Z,1616626430.361 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLatitude = nan arcdeg
2021-03-24T22:53:50.363Z,1616626430.363 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLongitude = nan arcdeg
2021-03-24T22:53:50.388Z,1616626430.388 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOM = 0.000000 ppb
2021-03-24T22:53:50.390Z,1616626430.390 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMDepth = 0.000000 m
2021-03-24T22:53:50.392Z,1616626430.392 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMTemperature = nan degC
2021-03-24T22:53:50.394Z,1616626430.394 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLatitude = nan arcdeg
2021-03-24T22:53:50.430Z,1616626430.430 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLongitude = nan arcdeg
2021-03-24T22:53:50.441Z,1616626430.441 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchFDOMDistance = nan m
2021-03-24T22:53:50.492Z,1616626430.492 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:53:50.541Z,1616626430.541 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-03-24T22:53:50.580Z,1616626430.580 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:53:50.598Z,1616626430.598 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:53:50.624Z,1616626430.624 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:53:50.673Z,1616626430.673 [MissionManager](INFO): RedefineArg profile_station_backseat:Science.PeakDetectChlActive = value:1 bool
2021-03-24T22:53:50.674Z,1616626430.674 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T22:53:50.789Z,1616626430.789 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.DiveInterval = 3.000000 h
2021-03-24T22:53:50.791Z,1616626430.791 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T22:53:50.793Z,1616626430.793 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T22:53:50.795Z,1616626430.795 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T22:53:50.820Z,1616626430.820 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T22:53:50.822Z,1616626430.822 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T22:53:50.824Z,1616626430.824 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T22:53:50.868Z,1616626430.868 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:53:50.941Z,1616626430.941 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T22:53:50.986Z,1616626430.986 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T22:53:51.030Z,1616626431.030 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T22:53:51.035Z,1616626431.035 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T22:53:51.036Z,1616626431.036 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:53:51.060Z,1616626431.060 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:53:51.075Z,1616626431.075 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T22:53:51.121Z,1616626431.121 [profile_station_backseat:K.BackseatDriver](DEBUG): Construct BackseatDriver.
2021-03-24T22:53:51.125Z,1616626431.125 [profile_station_backseat:Profile:A.Pitch](DEBUG): Construct.
2021-03-24T22:53:51.146Z,1616626431.146 [profile_station_backseat:Profile:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T22:53:51.167Z,1616626431.167 [profile_station_backseat:Profile:C.SetSpeed](DEBUG): Construct.
2021-03-24T22:53:51.170Z,1616626431.170 [profile_station_backseat:Profile:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:53:51.233Z,1616626431.233 [profile_station_backseat:Profile:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:53:51.243Z,1616626431.243 [profile_station_backseat:Profile:F.YoYo](DEBUG): Construct YoYo.
2021-03-24T22:53:51.266Z,1616626431.266 [profile_station_backseat:Profile:CircleWrapper:B.Circle](DEBUG): Construct.
2021-03-24T22:53:51.329Z,1616626431.329 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station_backseat">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><CustomUri Uri="_.Lat"/></Elapsed>
            <Lt><Elapsed><Arg Name="Lat"/></Elapsed></Lt>
            <Or><Elapsed><CustomUri Uri="_.Lon"/></Elapsed><Lt><Elapsed><Arg Name="Lon"/></Elapsed></Lt></Or>
        </When>

        <Assign><Sequence/><Arg Name="Lat"/><CustomUri Uri="_.Lat"/></Assign>

        <Assign><Sequence/><Arg Name="Lon"/><CustomUri Uri="_.Lon"/></Assign>

<!--        <Syslog>Upadating circle _.Lat/_.Lon <CustomUri Uri="_.Lat"/><Units:arcdeg/>/<CustomUri Uri="_.Lon"/><Units:arcdeg/></Syslog>-->

    </Aggregate>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="Profile">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Description>
                Another depth envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for depth-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="4096"/>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>


2021-03-24T22:53:51.329Z,1616626431.329 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:54:00.880Z,1616626440.880 [DataOverHttps](INFO): Received command:stop
2021-03-24T22:54:01.814Z,1616626441.814 [CommandLine](IMPORTANT): got command set profile_station_backseat.MissionTimeout 11.000000 hour
2021-03-24T22:54:01.814Z,1616626441.814 [CommandLine](IMPORTANT): got command set profile_station_backseat.NeedCommsTime 180.000000 minute
2021-03-24T22:54:01.815Z,1616626441.815 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lat 36.806961 degree
2021-03-24T22:54:01.822Z,1616626441.822 [CommandLine](IMPORTANT): got command stop
2021-03-24T22:54:01.825Z,1616626441.825 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T22:54:02.548Z,1616626442.548 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-24T22:54:02.549Z,1616626442.549 [Default:CheckIn:C.Wait] Stopped
2021-03-24T22:54:02.549Z,1616626442.549 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:54:02.549Z,1616626442.549 [Default:CheckIn:D] Running Loop=1
2021-03-24T22:54:03.021Z,1616626443.021 [Default:CheckIn:D] Stopped
2021-03-24T22:54:03.021Z,1616626443.021 [Default:CheckIn:E] Running Loop=1
2021-03-24T22:54:03.350Z,1616626443.350 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 13.919842 min 
2021-03-24T22:54:03.350Z,1616626443.350 [Default:CheckIn:E] Stopped
2021-03-24T22:54:03.350Z,1616626443.350 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-24T22:54:03.351Z,1616626443.351 [Default:CheckIn] Stopped
2021-03-24T22:54:03.351Z,1616626443.351 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T22:54:03.351Z,1616626443.351 [Default:CheckIn](INFO): Running loop #2
2021-03-24T22:54:03.351Z,1616626443.351 [Default:CheckIn] Running Loop=2
2021-03-24T22:54:03.351Z,1616626443.351 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:54:03.351Z,1616626443.351 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:54:11.206Z,1616626451.206 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lon -121.823997 degree
2021-03-24T22:54:11.207Z,1616626451.207 [CommandLine](IMPORTANT): got command set profile_station_backseat.Radius 100.000000 meter
2021-03-24T22:54:11.207Z,1616626451.207 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinDepth 3.000000 meter
2021-03-24T22:54:11.208Z,1616626451.208 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMaxDepth 21.000000 meter
2021-03-24T22:54:21.360Z,1616626461.360 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinAltitude 9.000000 meter
2021-03-24T22:54:21.361Z,1616626461.361 [CommandLine](IMPORTANT): got command set profile_station_backseat.Speed 0.800000 meter_per_second
2021-03-24T22:54:21.362Z,1616626461.362 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleMaxError 50.000000 meter
2021-03-24T22:54:21.363Z,1616626461.363 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleTurnToPort 1.000000 bool
2021-03-24T22:54:28.594Z,1616626468.594 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinAltitude 7.000000 meter
2021-03-24T22:54:28.595Z,1616626468.595 [CommandLine](IMPORTANT): got command set profile_station_backseat.MaxDepth 35.000000 meter
2021-03-24T22:54:28.596Z,1616626468.596 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinOffshore 1.000000 kilometer
2021-03-24T22:54:28.597Z,1616626468.597 [CommandLine](IMPORTANT): got command run
2021-03-24T22:54:28.599Z,1616626468.599 [CommandLine](IMPORTANT): Running 
2021-03-24T22:54:28.799Z,1616626468.799 [Default] Stopped
2021-03-24T22:54:28.799Z,1616626468.799 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T22:54:28.799Z,1616626468.799 [Default:B.GoToSurface] Stopped
2021-03-24T22:54:28.799Z,1616626468.799 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:54:28.800Z,1616626468.800 [Default:CheckIn] Stopped
2021-03-24T22:54:28.800Z,1616626468.800 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T22:54:28.800Z,1616626468.800 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T22:54:28.800Z,1616626468.800 [MissionManager](IMPORTANT): Started mission profile_station_backseat
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat](DEBUG): Aggregate::initialize profile_station_backseat
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science](DEBUG): Aggregate::initialize profile_station_backseat:Science
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:A] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:D] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:F] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:Read_Oil] Running Loop=1
2021-03-24T22:54:28.801Z,1616626468.801 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:54:28.802Z,1616626468.802 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:54:28.802Z,1616626468.802 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:54:28.802Z,1616626468.802 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:54:28.803Z,1616626468.803 [profile_station_backseat:Science:HighestChlPeakReport] Running Loop=1
2021-03-24T22:54:28.803Z,1616626468.803 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:54:28.803Z,1616626468.803 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-03-24T22:54:28.803Z,1616626468.803 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-03-24T22:54:28.804Z,1616626468.804 [profile_station_backseat:Science:PeakDetectNO3] Running Loop=1
2021-03-24T22:54:28.804Z,1616626468.804 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:54:28.804Z,1616626468.804 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:54:28.804Z,1616626468.804 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:54:28.805Z,1616626468.805 [profile_station_backseat:Science:PeakDetectOil] Running Loop=1
2021-03-24T22:54:28.805Z,1616626468.805 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:54:28.806Z,1616626468.806 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:54:28.806Z,1616626468.806 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:54:28.807Z,1616626468.807 [profile_station_backseat:Science:PeakDetectFDOM] Running Loop=1
2021-03-24T22:54:28.807Z,1616626468.807 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:54:28.807Z,1616626468.807 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:54:28.807Z,1616626468.807 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:54:28.808Z,1616626468.808 [profile_station_backseat:Science:OceanCurrent] Running Loop=1
2021-03-24T22:54:28.808Z,1616626468.808 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:54:28.809Z,1616626468.809 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T22:54:28.810Z,1616626468.810 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:54:28.810Z,1616626468.810 [profile_station_backseat:K.BackseatDriver](DEBUG): Initialize.
2021-03-24T22:54:28.820Z,1616626468.820 [BackseatComponent](INFO): Powering up
2021-03-24T22:54:28.821Z,1616626468.821 [BackseatComponent](INFO): Subscribing to LCM channels.
2021-03-24T22:54:28.829Z,1616626468.829 [profile_station_backseat:C] Running Loop=1
2021-03-24T22:54:28.830Z,1616626468.830 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:54:28.856Z,1616626468.856 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:54:28.857Z,1616626468.857 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:54:28.857Z,1616626468.857 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:54:28.857Z,1616626468.857 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:54:28.858Z,1616626468.858 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:54:28.859Z,1616626468.859 [profile_station_backseat:C] Stopped
2021-03-24T22:54:28.859Z,1616626468.859 [profile_station_backseat:E] Running Loop=1
2021-03-24T22:54:28.859Z,1616626468.859 [profile_station_backseat:NeedComms] Running Loop=1
2021-03-24T22:54:28.859Z,1616626468.859 [profile_station_backseat:NeedComms](DEBUG): Aggregate::initialize profile_station_backseat:NeedComms
2021-03-24T22:54:28.859Z,1616626468.859 [profile_station_backseat:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T22:54:28.859Z,1616626468.859 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:54:28.860Z,1616626468.860 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T22:54:28.861Z,1616626468.861 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T22:54:28.862Z,1616626468.862 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T22:54:28.862Z,1616626468.862 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:54:28.863Z,1616626468.863 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:54:28.863Z,1616626468.863 [profile_station_backseat:NeedComms:A] Running Loop=1
2021-03-24T22:54:28.893Z,1616626468.893 [profile_station_backseat:NeedComms:A](ERROR): data element is not active.
2021-03-24T22:54:28.893Z,1616626468.893 [profile_station_backseat:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T22:54:28.893Z,1616626468.893 [profile_station_backseat:NeedComms:A] Stopped
2021-03-24T22:54:28.894Z,1616626468.894 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:54:28.896Z,1616626468.896 [profile_station_backseat:Science:PeakDetectFDOM] Stopped
2021-03-24T22:54:28.902Z,1616626468.902 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:54:28.902Z,1616626468.902 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-03-24T22:54:28.902Z,1616626468.902 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:54:28.902Z,1616626468.902 [profile_station_backseat:Science:PeakDetectOil] Stopped
2021-03-24T22:54:28.902Z,1616626468.902 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:54:28.902Z,1616626468.902 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-03-24T22:54:28.903Z,1616626468.903 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:54:28.903Z,1616626468.903 [profile_station_backseat:Science:PeakDetectNO3] Stopped
2021-03-24T22:54:28.903Z,1616626468.903 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:54:28.903Z,1616626468.903 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-03-24T22:54:28.903Z,1616626468.903 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:54:28.903Z,1616626468.903 [profile_station_backseat:Science:HighestChlPeakReport] Stopped
2021-03-24T22:54:28.904Z,1616626468.904 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:54:28.904Z,1616626468.904 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-03-24T22:54:28.908Z,1616626468.908 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-03-24T22:54:28.909Z,1616626468.909 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:54:28.909Z,1616626468.909 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:54:28.909Z,1616626468.909 [profile_station_backseat:Science:Read_Oil] Stopped
2021-03-24T22:54:28.909Z,1616626468.909 [profile_station_backseat:Science:F] Stopped
2021-03-24T22:54:28.909Z,1616626468.909 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:54:28.910Z,1616626468.910 [profile_station_backseat:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-03-24T22:54:28.911Z,1616626468.911 [profile_station_backseat:Science:D] Stopped
2021-03-24T22:54:28.911Z,1616626468.911 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:54:28.912Z,1616626468.912 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-03-24T22:54:28.917Z,1616626468.917 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-03-24T22:54:28.917Z,1616626468.917 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:54:28.918Z,1616626468.918 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-03-24T22:54:28.919Z,1616626468.919 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-03-24T22:54:28.919Z,1616626468.919 [profile_station_backseat:Science:A] Stopped
2021-03-24T22:54:28.919Z,1616626468.919 [MissionManager](INFO): MissionManager is completed.
2021-03-24T22:54:28.919Z,1616626468.919 [MissionManager](INFO): Uninitializing Mission profile_station_backseat
2021-03-24T22:54:28.920Z,1616626468.920 [profile_station_backseat] Stopped
2021-03-24T22:54:28.920Z,1616626468.920 [profile_station_backseat](DEBUG): Aggregate::uninitialize profile_station_backseat
2021-03-24T22:54:28.922Z,1616626468.922 [profile_station_backseat:Science] Stopped
2021-03-24T22:54:28.922Z,1616626468.922 [profile_station_backseat:Science](DEBUG): Aggregate::uninitialize profile_station_backseat:Science
2021-03-24T22:54:28.922Z,1616626468.922 [profile_station_backseat:Science:B] Stopped
2021-03-24T22:54:28.922Z,1616626468.922 [profile_station_backseat:Science:C] Stopped
2021-03-24T22:54:28.922Z,1616626468.922 [profile_station_backseat:Science:E] Stopped
2021-03-24T22:54:28.922Z,1616626468.922 [profile_station_backseat:Science:OceanCurrent] Stopped
2021-03-24T22:54:28.923Z,1616626468.923 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:54:28.923Z,1616626468.923 [profile_station_backseat:Science:OceanCurrent:A.] Stopped
2021-03-24T22:54:28.923Z,1616626468.923 [profile_station_backseat:Science:PeakDetectChl] Stopped
2021-03-24T22:54:28.923Z,1616626468.923 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:54:28.923Z,1616626468.923 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-03-24T22:54:28.923Z,1616626468.923 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:54:28.924Z,1616626468.924 [profile_station_backseat:NeedComms] Stopped
2021-03-24T22:54:28.924Z,1616626468.924 [profile_station_backseat:NeedComms](DEBUG): Aggregate::uninitialize profile_station_backseat:NeedComms
2021-03-24T22:54:28.924Z,1616626468.924 [profile_station_backseat:NeedComms:B.GoToSurface] Stopped
2021-03-24T22:54:28.932Z,1616626468.932 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:54:28.932Z,1616626468.932 [profile_station_backseat:StandardEnvelopes] Stopped
2021-03-24T22:54:28.932Z,1616626468.932 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:54:28.932Z,1616626468.932 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:E] Stopped
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:K.BackseatDriver] Stopped
2021-03-24T22:54:28.933Z,1616626468.933 [profile_station_backseat:K.BackseatDriver](DEBUG): Uninitialize.
2021-03-24T22:54:29.278Z,1616626469.278 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T22:54:29.278Z,1616626469.278 [Default] Running Loop=1
2021-03-24T22:54:29.279Z,1616626469.279 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T22:54:29.279Z,1616626469.279 [Default:B.GoToSurface] Running Loop=1
2021-03-24T22:54:29.279Z,1616626469.279 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:54:29.279Z,1616626469.279 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T22:54:29.279Z,1616626469.279 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T22:54:29.280Z,1616626469.280 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T22:54:29.292Z,1616626469.292 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:54:29.293Z,1616626469.293 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:54:29.293Z,1616626469.293 [Default:A.Wait] Running Loop=1
2021-03-24T22:54:29.293Z,1616626469.293 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:54:42.518Z,1616626482.518 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T22:54:42.518Z,1616626482.518 [Default:A.Wait] Stopped
2021-03-24T22:54:42.518Z,1616626482.518 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:54:42.955Z,1616626482.955 [Default:CheckIn] Running Loop=1
2021-03-24T22:54:42.956Z,1616626482.956 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:54:42.956Z,1616626482.956 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:54:46.633Z,1616626486.633 [BackseatComponent](INFO): Sent LCM shutdown request.
2021-03-24T22:55:01.733Z,1616626501.733 [BackseatComponent](INFO): Powering down
2021-03-24T22:55:01.936Z,1616626501.936 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2021-03-24T22:55:01.936Z,1616626501.936 [LcmUniversalReporter](INFO): Deactivating messaging.
2021-03-24T22:55:02.322Z,1616626502.322 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2021-03-24T22:55:02.322Z,1616626502.322 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:55:02.332Z,1616626502.332 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:55:02.754Z,1616626502.754 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:55:02.754Z,1616626502.754 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2021-03-24T22:55:42.299Z,1616626542.299 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T22:55:42.300Z,1616626542.300 [NAL9602] Data Fault, FailCount= 4
2021-03-24T22:55:42.300Z,1616626542.300 [NAL9602](ERROR): Data Fault
2021-03-24T22:55:42.339Z,1616626542.339 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T22:55:42.697Z,1616626542.697 [NAL9602](INFO): Powering down
2021-03-24T22:55:43.542Z,1616626543.542 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T22:55:43.542Z,1616626543.542 [NAL9602] No Fault, FailCount= 4
2021-03-24T22:56:13.001Z,1616626573.001 [NAL9602](INFO): Powering up NAL9602
2021-03-24T22:56:21.046Z,1616626581.046 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225620
2021-03-24T22:56:23.914Z,1616626583.914 [NAL9602](INFO): NAL9602 initialized
2021-03-24T22:56:28.360Z,1616626588.360 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kadm 1 4
2021-03-24T22:56:28.453Z,1616626588.453 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kadm 1 4.000000
2021-03-24T22:56:28.454Z,1616626588.454 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=kadm
2021-03-24T22:56:28.455Z,1616626588.455 [CommandLine](IMPORTANT): Scheduled #22 (#1 of 4 with id='kadm'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T22:56:29.362Z,1616626589.362 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225628
2021-03-24T22:56:35.696Z,1616626595.696 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kadm 2 4
2021-03-24T22:56:35.753Z,1616626595.753 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kadm 2 4.000000
2021-03-24T22:56:35.753Z,1616626595.753 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=kadm
2021-03-24T22:56:35.754Z,1616626595.754 [CommandLine](IMPORTANT): Scheduled #23 (#2 of 4 with id='kadm'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T22:56:36.698Z,1616626596.698 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225635
2021-03-24T22:56:44.012Z,1616626604.012 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kadm 3 4
2021-03-24T22:56:44.109Z,1616626604.109 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kadm 3 4.000000
2021-03-24T22:56:44.109Z,1616626604.109 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=kadm
2021-03-24T22:56:44.110Z,1616626604.110 [CommandLine](IMPORTANT): Scheduled #24 (#3 of 4 with id='kadm'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:56:45.014Z,1616626605.014 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225644
2021-03-24T22:56:52.336Z,1616626612.336 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kadm 4 4
2021-03-24T22:56:52.397Z,1616626612.397 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kadm 4 4.000000
2021-03-24T22:56:52.398Z,1616626612.398 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=kadm
2021-03-24T22:56:52.398Z,1616626612.398 [CommandLine](IMPORTANT): Scheduled #25 (#4 of 4 with id='kadm'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:56:52.691Z,1616626612.691 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:56:52.692Z,1616626612.692 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:56:52.783Z,1616626612.783 [MissionManager](INFO): DefineArg profile_station_backseat.MissionTimeout = 4.000000 h
2021-03-24T22:56:52.786Z,1616626612.786 [MissionManager](INFO): DefineArg profile_station_backseat.NeedCommsTime = 60.000000 min
2021-03-24T22:56:52.788Z,1616626612.788 [MissionManager](INFO): DefineArg profile_station_backseat.Lat = 36.806966 arcdeg
2021-03-24T22:56:52.790Z,1616626612.790 [MissionManager](INFO): DefineArg profile_station_backseat.Lon = -121.824326 arcdeg
2021-03-24T22:56:52.792Z,1616626612.792 [MissionManager](INFO): DefineArg profile_station_backseat.Radius = 300.000000 m
2021-03-24T22:56:52.794Z,1616626612.794 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinDepth = 2.000000 m
2021-03-24T22:56:52.797Z,1616626612.797 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMaxDepth = 20.000000 m
2021-03-24T22:56:52.799Z,1616626612.799 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinAltitude = 7.000000 m
2021-03-24T22:56:52.802Z,1616626612.802 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoPitch = 20.000000 arcdeg
2021-03-24T22:56:52.804Z,1616626612.804 [MissionManager](INFO): DefineArg profile_station_backseat.Speed = 1.000000 m/s
2021-03-24T22:56:52.806Z,1616626612.806 [MissionManager](INFO): DefineArg profile_station_backseat.CircleMaxError = 100.000000 m
2021-03-24T22:56:52.808Z,1616626612.808 [MissionManager](INFO): DefineArg profile_station_backseat.CircleTurnToPort = 0 bool
2021-03-24T22:56:52.810Z,1616626612.810 [MissionManager](INFO): DefineArg profile_station_backseat.KwpHeading = 0.010000 rad/m
2021-03-24T22:56:52.813Z,1616626612.813 [MissionManager](INFO): DefineArg profile_station_backseat.MinAltitude = 5.000000 m
2021-03-24T22:56:52.815Z,1616626612.815 [MissionManager](INFO): DefineArg profile_station_backseat.MaxDepth = 205.000000 m
2021-03-24T22:56:52.817Z,1616626612.817 [MissionManager](INFO): DefineArg profile_station_backseat.MinOffshore = 2.000000 km
2021-03-24T22:56:52.817Z,1616626612.817 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-03-24T22:56:53.243Z,1616626613.243 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectChlActive = 0 bool
2021-03-24T22:56:53.245Z,1616626613.245 [MissionManager](INFO): DefineArg profile_station_backseat:Science.TimeWindowPeakReport = nan min
2021-03-24T22:56:53.247Z,1616626613.247 [MissionManager](INFO): DefineArg profile_station_backseat:Science.HighestChlPeakReportActive = 0 bool
2021-03-24T22:56:53.249Z,1616626613.249 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PatchTracking = 0 bool
2021-03-24T22:56:53.251Z,1616626613.251 [MissionManager](INFO): DefineArg profile_station_backseat:Science.FilterWidthHorizontal = 3.000000 count
2021-03-24T22:56:53.253Z,1616626613.253 [MissionManager](INFO): DefineArg profile_station_backseat:Science.NumProfilesSlidingwindow = 100.000000 count
2021-03-24T22:56:53.255Z,1616626613.255 [MissionManager](INFO): DefineArg profile_station_backseat:Science.OffPeakFractionHorizontal = 80.000000 %
2021-03-24T22:56:53.257Z,1616626613.257 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectNO3Active = 0 bool
2021-03-24T22:56:53.259Z,1616626613.259 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectOilActive = 0 bool
2021-03-24T22:56:53.261Z,1616626613.261 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectFDOMActive = 0 bool
2021-03-24T22:56:53.262Z,1616626613.262 [MissionManager](INFO): DefineArg profile_station_backseat:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-03-24T22:56:53.265Z,1616626613.265 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledAanderaaO2 = 0.000000 bool
2021-03-24T22:56:53.267Z,1616626613.267 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledNeilBrown = 0.000000 bool
2021-03-24T22:56:53.270Z,1616626613.270 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledSeabird = 1.000000 bool
2021-03-24T22:56:53.272Z,1616626613.272 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-03-24T22:56:53.274Z,1616626613.274 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-03-24T22:56:53.277Z,1616626613.277 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-03-24T22:56:53.279Z,1616626613.279 [MissionManager](INFO): DefineArg profile_station_backseat:Science.LowPassWindowLength = 20.000000 count
2021-03-24T22:56:53.314Z,1616626613.314 [MissionManager](INFO): DefineArg profile_station_backseat:Science.MedianFilterLen = 5.000000 count
2021-03-24T22:56:53.316Z,1616626613.316 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakShallowBound = nan m
2021-03-24T22:56:53.330Z,1616626613.330 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDeepBound = nan m
2021-03-24T22:56:53.338Z,1616626613.338 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225652
2021-03-24T22:56:53.352Z,1616626613.352 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChl = 0.000000 ug/l
2021-03-24T22:56:53.355Z,1616626613.355 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlDepth = 0.000000 m
2021-03-24T22:56:53.374Z,1616626613.374 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlTemperature = 0.000000 degC
2021-03-24T22:56:53.376Z,1616626613.376 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLatitude = nan arcdeg
2021-03-24T22:56:53.378Z,1616626613.378 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLongitude = nan arcdeg
2021-03-24T22:56:53.380Z,1616626613.380 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3 = 0.000000 umol/l
2021-03-24T22:56:53.382Z,1616626613.382 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Depth = 0.000000 m
2021-03-24T22:56:53.445Z,1616626613.445 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Latitude = nan arcdeg
2021-03-24T22:56:53.447Z,1616626613.447 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Longitude = nan arcdeg
2021-03-24T22:56:53.450Z,1616626613.450 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChl = 0.000000 m
2021-03-24T22:56:53.462Z,1616626613.462 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDepth = 0.000000 m
2021-03-24T22:56:53.465Z,1616626613.465 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLatitude = nan arcdeg
2021-03-24T22:56:53.467Z,1616626613.467 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLongitude = nan arcdeg
2021-03-24T22:56:53.469Z,1616626613.469 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDistance = nan m
2021-03-24T22:56:53.472Z,1616626613.472 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOil = 0.000000 kg/m3
2021-03-24T22:56:53.482Z,1616626613.482 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilDepth = 0.000000 m
2021-03-24T22:56:53.497Z,1616626613.497 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLatitude = nan arcdeg
2021-03-24T22:56:53.499Z,1616626613.499 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLongitude = nan arcdeg
2021-03-24T22:56:53.513Z,1616626613.513 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOM = 0.000000 ppb
2021-03-24T22:56:53.515Z,1616626613.515 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMDepth = 0.000000 m
2021-03-24T22:56:53.551Z,1616626613.551 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMTemperature = nan degC
2021-03-24T22:56:53.564Z,1616626613.564 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLatitude = nan arcdeg
2021-03-24T22:56:53.566Z,1616626613.566 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLongitude = nan arcdeg
2021-03-24T22:56:53.578Z,1616626613.578 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchFDOMDistance = nan m
2021-03-24T22:56:53.632Z,1616626613.632 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:56:53.659Z,1616626613.659 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-03-24T22:56:53.687Z,1616626613.687 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:56:53.713Z,1616626613.713 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:56:53.746Z,1616626613.746 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T22:56:53.756Z,1616626613.756 [MissionManager](INFO): RedefineArg profile_station_backseat:Science.PeakDetectChlActive = value:1 bool
2021-03-24T22:56:53.770Z,1616626613.770 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T22:56:53.896Z,1616626613.896 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.DiveInterval = 3.000000 h
2021-03-24T22:56:53.914Z,1616626613.914 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T22:56:53.917Z,1616626613.917 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T22:56:53.919Z,1616626613.919 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T22:56:53.938Z,1616626613.938 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T22:56:53.941Z,1616626613.941 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T22:56:53.943Z,1616626613.943 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T22:56:53.973Z,1616626613.973 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T22:56:54.023Z,1616626614.023 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T22:56:54.087Z,1616626614.087 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T22:56:54.094Z,1616626614.094 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T22:56:54.096Z,1616626614.096 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T22:56:54.109Z,1616626614.109 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:56:54.114Z,1616626614.114 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:56:54.142Z,1616626614.142 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T22:56:54.174Z,1616626614.174 [profile_station_backseat:K.BackseatDriver](DEBUG): Construct BackseatDriver.
2021-03-24T22:56:54.178Z,1616626614.178 [profile_station_backseat:Profile:A.Pitch](DEBUG): Construct.
2021-03-24T22:56:54.241Z,1616626614.241 [profile_station_backseat:Profile:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T22:56:54.244Z,1616626614.244 [profile_station_backseat:Profile:C.SetSpeed](DEBUG): Construct.
2021-03-24T22:56:54.263Z,1616626614.263 [profile_station_backseat:Profile:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T22:56:54.295Z,1616626614.295 [profile_station_backseat:Profile:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T22:56:54.326Z,1616626614.326 [profile_station_backseat:Profile:F.YoYo](DEBUG): Construct YoYo.
2021-03-24T22:56:54.361Z,1616626614.361 [profile_station_backseat:Profile:CircleWrapper:B.Circle](DEBUG): Construct.
2021-03-24T22:56:54.418Z,1616626614.418 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station_backseat">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><CustomUri Uri="_.Lat"/></Elapsed>
            <Lt><Elapsed><Arg Name="Lat"/></Elapsed></Lt>
            <Or><Elapsed><CustomUri Uri="_.Lon"/></Elapsed><Lt><Elapsed><Arg Name="Lon"/></Elapsed></Lt></Or>
        </When>

        <Assign><Sequence/><Arg Name="Lat"/><CustomUri Uri="_.Lat"/></Assign>

        <Assign><Sequence/><Arg Name="Lon"/><CustomUri Uri="_.Lon"/></Assign>

<!--        <Syslog>Upadating circle _.Lat/_.Lon <CustomUri Uri="_.Lat"/><Units:arcdeg/>/<CustomUri Uri="_.Lon"/><Units:arcdeg/></Syslog>-->

    </Aggregate>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="Profile">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Description>
                Another depth envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for depth-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="4096"/>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>


2021-03-24T22:56:54.418Z,1616626614.418 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T22:57:02.967Z,1616626622.967 [DataOverHttps](INFO): Received command:stop
2021-03-24T22:57:04.916Z,1616626624.916 [CommandLine](IMPORTANT): got command set profile_station_backseat.MissionTimeout 11.000000 hour
2021-03-24T22:57:04.918Z,1616626624.918 [CommandLine](IMPORTANT): got command set profile_station_backseat.NeedCommsTime 180.000000 minute
2021-03-24T22:57:04.919Z,1616626624.919 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lat 36.806961 degree
2021-03-24T22:57:04.933Z,1616626624.933 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225702
2021-03-24T22:57:04.936Z,1616626624.936 [CommandLine](IMPORTANT): got command stop
2021-03-24T22:57:04.941Z,1616626624.941 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T22:57:14.541Z,1616626634.541 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kae2 1 4
2021-03-24T22:57:17.600Z,1616626637.600 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lon -121.823997 degree
2021-03-24T22:57:17.601Z,1616626637.601 [CommandLine](IMPORTANT): got command set profile_station_backseat.Radius 100.000000 meter
2021-03-24T22:57:17.602Z,1616626637.602 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinDepth 3.000000 meter
2021-03-24T22:57:17.603Z,1616626637.603 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMaxDepth 21.000000 meter
2021-03-24T22:57:17.612Z,1616626637.612 [CommandLine](IMPORTANT): got command schedule asap 
2021-03-24T22:57:17.613Z,1616626637.613 [CommandLine](FAULT): Incomplete syntax. Try: help schedule
2021-03-24T22:57:17.658Z,1616626637.658 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225714
2021-03-24T22:57:28.276Z,1616626648.276 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kae2 2 4
2021-03-24T22:57:31.296Z,1616626651.296 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinAltitude 9.000000 meter
2021-03-24T22:57:31.297Z,1616626651.297 [CommandLine](IMPORTANT): got command set profile_station_backseat.Speed 0.800000 meter_per_second
2021-03-24T22:57:31.298Z,1616626651.298 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleMaxError 50.000000 meter
2021-03-24T22:57:31.299Z,1616626651.299 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleTurnToPort 1.000000 bool
2021-03-24T22:57:31.308Z,1616626651.308 [CommandLine](IMPORTANT): got command schedule asap 
2021-03-24T22:57:31.309Z,1616626651.309 [CommandLine](FAULT): Incomplete syntax. Try: help schedule
2021-03-24T22:57:31.320Z,1616626651.320 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225728
2021-03-24T22:57:31.413Z,1616626651.413 [CommandLine](IMPORTANT): got command maintain 
2021-03-24T22:57:41.952Z,1616626661.952 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kae2 3 4
2021-03-24T22:57:41.965Z,1616626661.965 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinAltitude 7.000000 meter
2021-03-24T22:57:41.966Z,1616626661.966 [CommandLine](IMPORTANT): got command set profile_station_backseat.MaxDepth 35.000000 meter
2021-03-24T22:57:41.967Z,1616626661.967 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinOffshore 1.000000 kilometer
2021-03-24T22:57:41.967Z,1616626661.967 [CommandLine](IMPORTANT): got command run
2021-03-24T22:57:41.998Z,1616626661.998 [CommandLine](IMPORTANT): Running 
2021-03-24T22:57:42.101Z,1616626662.101 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kae2 3 4.000000
2021-03-24T22:57:42.101Z,1616626662.101 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=kae2
2021-03-24T22:57:42.102Z,1616626662.102 [CommandLine](IMPORTANT): Scheduled #26 (#3 of 4 with id='kae2'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T22:57:42.313Z,1616626662.313 [Default] Stopped
2021-03-24T22:57:42.314Z,1616626662.314 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T22:57:42.314Z,1616626662.314 [Default:B.GoToSurface] Stopped
2021-03-24T22:57:42.314Z,1616626662.314 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:57:42.314Z,1616626662.314 [Default:CheckIn] Stopped
2021-03-24T22:57:42.314Z,1616626662.314 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T22:57:42.314Z,1616626662.314 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T22:57:42.314Z,1616626662.314 [MissionManager](IMPORTANT): Started mission profile_station_backseat
2021-03-24T22:57:42.314Z,1616626662.314 [profile_station_backseat] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat](DEBUG): Aggregate::initialize profile_station_backseat
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science](DEBUG): Aggregate::initialize profile_station_backseat:Science
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:A] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:D] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:F] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:Read_Oil] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:57:42.315Z,1616626662.315 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:57:42.316Z,1616626662.316 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:57:42.316Z,1616626662.316 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:57:42.317Z,1616626662.317 [profile_station_backseat:Science:HighestChlPeakReport] Running Loop=1
2021-03-24T22:57:42.317Z,1616626662.317 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:57:42.317Z,1616626662.317 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-03-24T22:57:42.317Z,1616626662.317 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-03-24T22:57:42.318Z,1616626662.318 [profile_station_backseat:Science:PeakDetectNO3] Running Loop=1
2021-03-24T22:57:42.318Z,1616626662.318 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:57:42.318Z,1616626662.318 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:57:42.318Z,1616626662.318 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:57:42.319Z,1616626662.319 [profile_station_backseat:Science:PeakDetectOil] Running Loop=1
2021-03-24T22:57:42.319Z,1616626662.319 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:57:42.319Z,1616626662.319 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:57:42.319Z,1616626662.319 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:57:42.321Z,1616626662.321 [profile_station_backseat:Science:PeakDetectFDOM] Running Loop=1
2021-03-24T22:57:42.321Z,1616626662.321 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:57:42.321Z,1616626662.321 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T22:57:42.321Z,1616626662.321 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T22:57:42.322Z,1616626662.322 [profile_station_backseat:Science:OceanCurrent] Running Loop=1
2021-03-24T22:57:42.322Z,1616626662.322 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:57:42.322Z,1616626662.322 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:57:42.322Z,1616626662.322 [profile_station_backseat:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-03-24T22:57:42.322Z,1616626662.322 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:57:42.323Z,1616626662.323 [profile_station_backseat:K.BackseatDriver](DEBUG): Initialize.
2021-03-24T22:57:42.338Z,1616626662.338 [profile_station_backseat:C] Running Loop=1
2021-03-24T22:57:42.339Z,1616626662.339 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T22:57:42.364Z,1616626662.364 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T22:57:42.364Z,1616626662.364 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T22:57:42.364Z,1616626662.364 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T22:57:42.365Z,1616626662.365 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T22:57:42.365Z,1616626662.365 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:C] Stopped
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:E] Running Loop=1
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:NeedComms] Running Loop=1
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:NeedComms](DEBUG): Aggregate::initialize profile_station_backseat:NeedComms
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:57:42.366Z,1616626662.366 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T22:57:42.367Z,1616626662.367 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T22:57:42.367Z,1616626662.367 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T22:57:42.368Z,1616626662.368 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:57:42.368Z,1616626662.368 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:57:42.368Z,1616626662.368 [profile_station_backseat:NeedComms:A] Running Loop=1
2021-03-24T22:57:42.369Z,1616626662.369 [profile_station_backseat:NeedComms:A](ERROR): data element is not active.
2021-03-24T22:57:42.369Z,1616626662.369 [profile_station_backseat:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T22:57:42.369Z,1616626662.369 [profile_station_backseat:NeedComms:A] Stopped
2021-03-24T22:57:42.370Z,1616626662.370 [profile_station_backseat:Science] Running Loop=1
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectFDOM] Stopped
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectOil] Stopped
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectNO3] Stopped
2021-03-24T22:57:42.371Z,1616626662.371 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T22:57:42.372Z,1616626662.372 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-03-24T22:57:42.372Z,1616626662.372 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:57:42.372Z,1616626662.372 [profile_station_backseat:Science:HighestChlPeakReport] Stopped
2021-03-24T22:57:42.372Z,1616626662.372 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T22:57:42.372Z,1616626662.372 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-03-24T22:57:42.391Z,1616626662.391 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-03-24T22:57:42.391Z,1616626662.391 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T22:57:42.392Z,1616626662.392 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T22:57:42.392Z,1616626662.392 [profile_station_backseat:Science:Read_Oil] Stopped
2021-03-24T22:57:42.392Z,1616626662.392 [profile_station_backseat:Science:F] Stopped
2021-03-24T22:57:42.392Z,1616626662.392 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T22:57:42.392Z,1616626662.392 [profile_station_backseat:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-03-24T22:57:42.392Z,1616626662.392 [profile_station_backseat:Science:D] Stopped
2021-03-24T22:57:42.393Z,1616626662.393 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T22:57:42.393Z,1616626662.393 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-03-24T22:57:42.393Z,1616626662.393 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-03-24T22:57:42.394Z,1616626662.394 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T22:57:42.394Z,1616626662.394 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-03-24T22:57:42.394Z,1616626662.394 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-03-24T22:57:42.394Z,1616626662.394 [profile_station_backseat:Science:A] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [MissionManager](INFO): MissionManager is completed.
2021-03-24T22:57:42.395Z,1616626662.395 [MissionManager](INFO): Uninitializing Mission profile_station_backseat
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat](DEBUG): Aggregate::uninitialize profile_station_backseat
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science](DEBUG): Aggregate::uninitialize profile_station_backseat:Science
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science:B] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science:C] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science:E] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science:OceanCurrent] Stopped
2021-03-24T22:57:42.395Z,1616626662.395 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:OceanCurrent
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:Science:OceanCurrent:A.] Stopped
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:Science:PeakDetectChl] Stopped
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:NeedComms] Stopped
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:NeedComms](DEBUG): Aggregate::uninitialize profile_station_backseat:NeedComms
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:NeedComms:B.GoToSurface] Stopped
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:StandardEnvelopes] Stopped
2021-03-24T22:57:42.396Z,1616626662.396 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station_backseat:StandardEnvelopes
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:E] Stopped
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:K.BackseatDriver] Stopped
2021-03-24T22:57:42.397Z,1616626662.397 [profile_station_backseat:K.BackseatDriver](DEBUG): Uninitialize.
2021-03-24T22:57:42.718Z,1616626662.718 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T22:57:42.718Z,1616626662.718 [Default] Running Loop=1
2021-03-24T22:57:42.718Z,1616626662.718 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T22:57:42.718Z,1616626662.718 [Default:B.GoToSurface] Running Loop=1
2021-03-24T22:57:42.718Z,1616626662.718 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T22:57:42.719Z,1616626662.719 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T22:57:42.719Z,1616626662.719 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T22:57:42.719Z,1616626662.719 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T22:57:42.719Z,1616626662.719 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T22:57:42.720Z,1616626662.720 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T22:57:42.732Z,1616626662.732 [Default:A.Wait] Running Loop=1
2021-03-24T22:57:42.733Z,1616626662.733 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T22:57:42.954Z,1616626662.954 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225741
2021-03-24T22:57:50.320Z,1616626670.320 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kae2 4 4
2021-03-24T22:57:50.413Z,1616626670.413 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kae2 4 4.000000
2021-03-24T22:57:50.414Z,1616626670.414 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=kae2
2021-03-24T22:57:50.414Z,1616626670.414 [CommandLine](IMPORTANT): Scheduled #27 (#4 of 4 with id='kae2'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T22:57:51.321Z,1616626671.321 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T225750
2021-03-24T22:57:56.060Z,1616626676.060 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T22:57:56.060Z,1616626676.060 [Default:A.Wait] Stopped
2021-03-24T22:57:56.060Z,1616626676.060 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T22:57:56.442Z,1616626676.442 [Default:CheckIn] Running Loop=1
2021-03-24T22:57:56.443Z,1616626676.443 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T22:57:56.443Z,1616626676.443 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T22:57:58.692Z,1616626678.692 [DataOverHttps](INFO): Received command:stop
2021-03-24T22:57:58.718Z,1616626678.718 [CommandLine](IMPORTANT): got command stop
2021-03-24T22:58:03.329Z,1616626683.329 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2021-03-24T22:58:03.329Z,1616626683.329 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T22:58:03.339Z,1616626683.339 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T22:58:03.733Z,1616626683.733 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T22:58:03.733Z,1616626683.733 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2021-03-24T23:01:04.305Z,1616626864.305 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2021-03-24T23:01:04.305Z,1616626864.305 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:01:04.356Z,1616626864.356 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:01:04.752Z,1616626864.752 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:01:04.752Z,1616626864.752 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2021-03-24T23:02:56.606Z,1616626976.606 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T22:57:56.4Z
2021-03-24T23:02:56.606Z,1616626976.606 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:02:56.606Z,1616626976.606 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T23:03:04.172Z,1616626984.172 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0037.lzma
2021-03-24T23:03:05.174Z,1616626985.174 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0037.lzma.bak
2021-03-24T23:03:05.174Z,1616626985.174 [DataOverHttps](INFO): SBD MOMSN=15445817
2021-03-24T23:03:20.762Z,1616627000.762 [DataOverHttps](INFO): Sending 1287 bytes from file Logs/20210324T221239/Express0038.lzma
2021-03-24T23:03:21.762Z,1616627001.762 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0038.lzma.bak
2021-03-24T23:03:21.762Z,1616627001.762 [DataOverHttps](INFO): SBD MOMSN=15445819
2021-03-24T23:03:42.388Z,1616627022.388 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20210324T221239/Express0041.lzma
2021-03-24T23:03:43.390Z,1616627023.390 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0041.lzma.bak
2021-03-24T23:03:43.390Z,1616627023.390 [DataOverHttps](INFO): SBD MOMSN=15445916
2021-03-24T23:03:46.349Z,1616627026.349 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T23:03:46.350Z,1616627026.350 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T23:03:46.350Z,1616627026.350 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:04:05.318Z,1616627045.318 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2021-03-24T23:04:05.318Z,1616627045.318 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:04:05.332Z,1616627045.332 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:04:05.760Z,1616627045.760 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:04:05.768Z,1616627045.768 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2021-03-24T23:05:33.889Z,1616627133.889 [CommandLine](INFO): End of History
2021-03-24T23:05:33.911Z,1616627133.911 [CommandLine](INFO): End of History
2021-03-24T23:05:33.931Z,1616627133.931 [CommandLine](INFO): End of History
2021-03-24T23:05:33.948Z,1616627133.948 [CommandLine](INFO): End of History
2021-03-24T23:05:33.976Z,1616627133.976 [CommandLine](INFO): End of History
2021-03-24T23:05:34.082Z,1616627134.082 [CommandLine](INFO): End of History
2021-03-24T23:05:34.090Z,1616627134.090 [CommandLine](INFO): End of History
2021-03-24T23:05:34.110Z,1616627134.110 [CommandLine](INFO): End of History
2021-03-24T23:05:34.127Z,1616627134.127 [CommandLine](INFO): End of History
2021-03-24T23:05:34.350Z,1616627134.350 [CommandLine](INFO): End of History
2021-03-24T23:05:34.366Z,1616627134.366 [CommandLine](INFO): End of History
2021-03-24T23:05:34.610Z,1616627134.610 [CommandLine](INFO): End of History
2021-03-24T23:05:34.625Z,1616627134.625 [CommandLine](INFO): End of History
2021-03-24T23:05:34.836Z,1616627134.836 [CommandLine](INFO): End of History
2021-03-24T23:05:34.851Z,1616627134.851 [CommandLine](INFO): End of History
2021-03-24T23:05:35.140Z,1616627135.140 [CommandLine](INFO): End of History
2021-03-24T23:05:35.168Z,1616627135.168 [CommandLine](INFO): End of History
2021-03-24T23:05:35.187Z,1616627135.187 [CommandLine](INFO): End of History
2021-03-24T23:05:35.212Z,1616627135.212 [CommandLine](INFO): End of History
2021-03-24T23:05:35.432Z,1616627135.432 [CommandLine](INFO): End of History
2021-03-24T23:05:35.639Z,1616627135.639 [CommandLine](INFO): End of History
2021-03-24T23:05:35.655Z,1616627135.655 [CommandLine](INFO): End of History
2021-03-24T23:05:35.688Z,1616627135.688 [CommandLine](INFO): End of History
2021-03-24T23:05:35.907Z,1616627135.907 [CommandLine](INFO): End of History
2021-03-24T23:05:35.927Z,1616627135.927 [CommandLine](INFO): End of History
2021-03-24T23:05:35.943Z,1616627135.943 [CommandLine](INFO): End of History
2021-03-24T23:05:36.137Z,1616627136.137 [CommandLine](INFO): End of History
2021-03-24T23:05:36.382Z,1616627136.382 [CommandLine](INFO): End of History
2021-03-24T23:05:36.398Z,1616627136.398 [CommandLine](INFO): End of History
2021-03-24T23:05:36.418Z,1616627136.418 [CommandLine](INFO): End of History
2021-03-24T23:05:36.439Z,1616627136.439 [CommandLine](INFO): End of History
2021-03-24T23:05:36.680Z,1616627136.680 [CommandLine](INFO): End of History
2021-03-24T23:05:36.692Z,1616627136.692 [CommandLine](INFO): End of History
2021-03-24T23:05:36.721Z,1616627136.721 [CommandLine](INFO): End of History
2021-03-24T23:05:36.990Z,1616627136.990 [CommandLine](INFO): End of History
2021-03-24T23:05:37.225Z,1616627137.225 [CommandLine](INFO): End of History
2021-03-24T23:05:37.241Z,1616627137.241 [CommandLine](INFO): End of History
2021-03-24T23:05:37.257Z,1616627137.257 [CommandLine](INFO): End of History
2021-03-24T23:05:37.281Z,1616627137.281 [CommandLine](INFO): End of History
2021-03-24T23:05:37.305Z,1616627137.305 [CommandLine](INFO): End of History
2021-03-24T23:05:37.517Z,1616627137.517 [CommandLine](INFO): End of History
2021-03-24T23:05:37.534Z,1616627137.534 [CommandLine](INFO): End of History
2021-03-24T23:05:37.732Z,1616627137.732 [CommandLine](INFO): End of History
2021-03-24T23:05:37.748Z,1616627137.748 [CommandLine](INFO): End of History
2021-03-24T23:05:37.794Z,1616627137.794 [CommandLine](INFO): End of History
2021-03-24T23:05:37.827Z,1616627137.827 [CommandLine](INFO): End of History
2021-03-24T23:05:38.012Z,1616627138.012 [CommandLine](INFO): End of History
2021-03-24T23:05:38.028Z,1616627138.028 [CommandLine](INFO): End of History
2021-03-24T23:05:38.044Z,1616627138.044 [CommandLine](INFO): End of History
2021-03-24T23:06:25.058Z,1616627185.058 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T23:06:25.058Z,1616627185.058 [NAL9602] Data Fault, FailCount= 5
2021-03-24T23:06:25.058Z,1616627185.058 [NAL9602](ERROR): Data Fault
2021-03-24T23:06:25.253Z,1616627185.253 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T23:06:25.254Z,1616627185.254 [CBIT](CRITICAL): Data Fault in component: NAL9602
2021-03-24T23:06:25.469Z,1616627185.469 [NAL9602](INFO): Powering down
2021-03-24T23:06:25.585Z,1616627185.585 [CommandLine](FAULT): Scheduling is paused for 2 commands
2021-03-24T23:06:25.586Z,1616627185.586 [CBIT](INFO): Critical error at 20210324T230625
2021-03-24T23:07:06.293Z,1616627226.293 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2021-03-24T23:07:06.293Z,1616627226.293 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:07:06.312Z,1616627226.312 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:07:06.733Z,1616627226.733 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:07:06.733Z,1616627226.733 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2021-03-24T23:07:07.162Z,1616627227.162 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T230706
2021-03-24T23:07:17.668Z,1616627237.668 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kavi 1 4
2021-03-24T23:07:17.718Z,1616627237.718 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kavi 1 
2021-03-24T23:07:17.718Z,1616627237.718 [CommandLine](FAULT): Incomplete syntax. Try: help schedule
2021-03-24T23:07:18.671Z,1616627238.671 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T230717
2021-03-24T23:07:25.868Z,1616627245.868 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kavi 2 4
2021-03-24T23:07:25.961Z,1616627245.961 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kavi 2 4.000000
2021-03-24T23:07:25.961Z,1616627245.961 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=kavi
2021-03-24T23:07:25.962Z,1616627245.962 [CommandLine](IMPORTANT): Scheduled #28 (#2 of 4 with id='kavi'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T23:07:26.872Z,1616627246.872 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T230725
2021-03-24T23:07:34.172Z,1616627254.172 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kavi 3 4
2021-03-24T23:07:34.265Z,1616627254.265 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kavi 3 4.000000
2021-03-24T23:07:34.265Z,1616627254.265 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=kavi
2021-03-24T23:07:34.266Z,1616627254.266 [CommandLine](IMPORTANT): Scheduled #29 (#3 of 4 with id='kavi'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T23:07:35.174Z,1616627255.174 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T230734
2021-03-24T23:07:42.484Z,1616627262.484 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kavi 4 4
2021-03-24T23:07:42.514Z,1616627262.514 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kavi 4 4.000000
2021-03-24T23:07:42.515Z,1616627262.515 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=kavi
2021-03-24T23:07:42.515Z,1616627262.515 [CommandLine](IMPORTANT): Scheduled #30 (#4 of 4 with id='kavi'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T23:08:25.089Z,1616627305.089 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T23:08:25.089Z,1616627305.089 [NAL9602] No Fault, FailCount= 5
2021-03-24T23:08:25.454Z,1616627305.454 [NAL9602](INFO): Powering up NAL9602
2021-03-24T23:08:36.363Z,1616627316.363 [NAL9602](INFO): NAL9602 initialized
2021-03-24T23:08:46.906Z,1616627326.906 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-24T23:08:46.906Z,1616627326.906 [Default:CheckIn:C.Wait] Stopped
2021-03-24T23:08:46.906Z,1616627326.906 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:08:46.906Z,1616627326.906 [Default:CheckIn:D] Running Loop=1
2021-03-24T23:08:47.317Z,1616627327.317 [Default:CheckIn:D] Stopped
2021-03-24T23:08:47.317Z,1616627327.317 [Default:CheckIn:E] Running Loop=1
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.076652 min 
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn:E] Stopped
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn] Stopped
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn](INFO): Running loop #2
2021-03-24T23:08:47.700Z,1616627327.700 [Default:CheckIn] Running Loop=2
2021-03-24T23:08:47.701Z,1616627327.701 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:08:47.701Z,1616627327.701 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:10:07.323Z,1616627407.323 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2021-03-24T23:10:07.323Z,1616627407.323 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:10:07.333Z,1616627407.333 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:10:07.691Z,1616627407.691 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:10:07.691Z,1616627407.691 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2021-03-24T23:13:08.289Z,1616627588.289 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2021-03-24T23:13:08.290Z,1616627588.290 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:13:08.300Z,1616627588.300 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:13:08.675Z,1616627588.675 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:13:08.675Z,1616627588.675 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20
2021-03-24T23:13:47.868Z,1616627627.868 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T23:08:47.7Z
2021-03-24T23:13:47.868Z,1616627627.868 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:13:47.868Z,1616627627.868 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T23:13:55.020Z,1616627635.020 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20210324T221239/Courier0043.lzma
2021-03-24T23:13:56.022Z,1616627636.022 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0043.lzma.bak
2021-03-24T23:13:56.022Z,1616627636.022 [DataOverHttps](INFO): SBD MOMSN=15445923
2021-03-24T23:14:11.558Z,1616627651.558 [DataOverHttps](INFO): Sending 667 bytes from file Logs/20210324T221239/Express0044.lzma
2021-03-24T23:14:12.558Z,1616627652.558 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0044.lzma.bak
2021-03-24T23:14:12.558Z,1616627652.558 [DataOverHttps](INFO): SBD MOMSN=15445926
2021-03-24T23:14:28.100Z,1616627668.100 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20210324T221239/Express0047.lzma
2021-03-24T23:14:29.102Z,1616627669.102 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0047.lzma.bak
2021-03-24T23:14:29.102Z,1616627669.102 [DataOverHttps](INFO): SBD MOMSN=15445946
2021-03-24T23:14:31.129Z,1616627671.129 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T23:14:31.129Z,1616627671.129 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T23:14:31.129Z,1616627671.129 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:16:09.294Z,1616627769.294 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 21
2021-03-24T23:16:09.294Z,1616627769.294 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:16:09.309Z,1616627769.309 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:16:09.671Z,1616627769.671 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:16:09.671Z,1616627769.671 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 21
2021-03-24T23:18:38.726Z,1616627918.726 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T23:18:38.726Z,1616627918.726 [NAL9602] Data Fault, FailCount= 1
2021-03-24T23:18:38.726Z,1616627918.726 [NAL9602](ERROR): Data Fault
2021-03-24T23:18:38.774Z,1616627918.774 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T23:18:39.125Z,1616627919.125 [NAL9602](INFO): Powering down
2021-03-24T23:18:39.966Z,1616627919.966 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T23:18:39.966Z,1616627919.966 [NAL9602] No Fault, FailCount= 1
2021-03-24T23:19:09.430Z,1616627949.430 [NAL9602](INFO): Powering up NAL9602
2021-03-24T23:19:10.246Z,1616627950.246 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 22
2021-03-24T23:19:10.246Z,1616627950.246 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:19:10.259Z,1616627950.259 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:19:10.663Z,1616627950.663 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:19:10.663Z,1616627950.663 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 22
2021-03-24T23:19:20.345Z,1616627960.345 [NAL9602](INFO): NAL9602 initialized
2021-03-24T23:19:31.679Z,1616627971.679 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-24T23:19:31.679Z,1616627971.679 [Default:CheckIn:C.Wait] Stopped
2021-03-24T23:19:31.679Z,1616627971.679 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:19:31.679Z,1616627971.679 [Default:CheckIn:D] Running Loop=1
2021-03-24T23:19:32.087Z,1616627972.087 [Default:CheckIn:D] Stopped
2021-03-24T23:19:32.087Z,1616627972.087 [Default:CheckIn:E] Running Loop=1
2021-03-24T23:19:32.487Z,1616627972.487 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.822809 min 
2021-03-24T23:19:32.487Z,1616627972.487 [Default:CheckIn:E] Stopped
2021-03-24T23:19:32.487Z,1616627972.487 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-24T23:19:32.487Z,1616627972.487 [Default:CheckIn] Stopped
2021-03-24T23:19:32.487Z,1616627972.487 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:19:32.487Z,1616627972.487 [Default:CheckIn](INFO): Running loop #3
2021-03-24T23:19:32.488Z,1616627972.488 [Default:CheckIn] Running Loop=3
2021-03-24T23:19:32.488Z,1616627972.488 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:19:32.488Z,1616627972.488 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:22:11.274Z,1616628131.274 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 23
2021-03-24T23:22:11.274Z,1616628131.274 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:22:11.285Z,1616628131.285 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:22:11.687Z,1616628131.687 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:22:11.687Z,1616628131.687 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 23
2021-03-24T23:24:32.667Z,1616628272.667 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T23:19:32.5Z
2021-03-24T23:24:32.667Z,1616628272.667 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:24:32.667Z,1616628272.667 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T23:24:39.584Z,1616628279.584 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0049.lzma
2021-03-24T23:24:40.586Z,1616628280.586 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0049.lzma.bak
2021-03-24T23:24:40.586Z,1616628280.586 [DataOverHttps](INFO): SBD MOMSN=15445948
2021-03-24T23:24:56.292Z,1616628296.292 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20210324T221239/Express0050.lzma
2021-03-24T23:24:57.294Z,1616628297.294 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0050.lzma.bak
2021-03-24T23:24:57.294Z,1616628297.294 [DataOverHttps](INFO): SBD MOMSN=15445950
2021-03-24T23:24:59.423Z,1616628299.423 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T23:24:59.423Z,1616628299.423 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T23:24:59.423Z,1616628299.423 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:25:12.306Z,1616628312.306 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 24
2021-03-24T23:25:12.306Z,1616628312.306 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:25:12.316Z,1616628312.316 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:25:12.726Z,1616628312.726 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:25:12.726Z,1616628312.726 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 24
2021-03-24T23:27:43.411Z,1616628463.411 [BPC1](INFO): Calculating totals. Valid battery stick count: 50. Valid reserve battery stick count: 6.
2021-03-24T23:27:43.414Z,1616628463.414 [BPC1](INFO): Received data from all battery sticks.
2021-03-24T23:28:13.326Z,1616628493.326 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 25
2021-03-24T23:28:13.326Z,1616628493.326 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:28:13.353Z,1616628493.353 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:28:13.726Z,1616628493.726 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:28:13.726Z,1616628493.726 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 25
2021-03-24T23:29:21.403Z,1616628561.403 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T232920
2021-03-24T23:29:22.370Z,1616628562.370 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T23:29:22.370Z,1616628562.370 [NAL9602] Data Fault, FailCount= 2
2021-03-24T23:29:22.370Z,1616628562.370 [NAL9602](ERROR): Data Fault
2021-03-24T23:29:22.429Z,1616628562.429 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T23:29:22.779Z,1616628562.779 [NAL9602](INFO): Powering down
2021-03-24T23:29:23.607Z,1616628563.607 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T23:29:23.607Z,1616628563.607 [NAL9602] No Fault, FailCount= 2
2021-03-24T23:29:28.672Z,1616628568.672 [DataOverHttps](INFO): Received command:run Default.xml
2021-03-24T23:29:28.710Z,1616628568.710 [CommandLine](IMPORTANT): got command run ./Missions/Default.xml
2021-03-24T23:29:28.711Z,1616628568.711 [MissionManager](INFO): Loading Mission: ./Missions/Default.xml
2021-03-24T23:29:28.732Z,1616628568.732 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-03-24T23:29:28.733Z,1616628568.733 [Default:A.Wait](DEBUG): Construct Wait.
2021-03-24T23:29:28.735Z,1616628568.735 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T23:29:28.772Z,1616628568.772 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-03-24T23:29:28.774Z,1616628568.774 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-03-24T23:29:28.779Z,1616628568.779 [Default:E.Execute](DEBUG): Construct Execute.
2021-03-24T23:29:28.782Z,1616628568.782 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2021-03-24T23:29:28.784Z,1616628568.784 [CommandLine](IMPORTANT): Running ./Missions/Default.xml
2021-03-24T23:29:28.853Z,1616628568.853 [Default] Stopped
2021-03-24T23:29:28.853Z,1616628568.853 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T23:29:28.853Z,1616628568.853 [Default:B.GoToSurface] Stopped
2021-03-24T23:29:28.853Z,1616628568.853 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:29:28.853Z,1616628568.853 [Default:CheckIn] Stopped
2021-03-24T23:29:28.853Z,1616628568.853 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:29:28.853Z,1616628568.853 [Default:CheckIn:C.Wait] Stopped
2021-03-24T23:29:28.853Z,1616628568.853 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:29:28.853Z,1616628568.853 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T23:29:28.854Z,1616628568.854 [Default] Running Loop=1
2021-03-24T23:29:28.854Z,1616628568.854 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T23:29:28.854Z,1616628568.854 [Default:B.GoToSurface] Running Loop=1
2021-03-24T23:29:28.854Z,1616628568.854 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:29:28.854Z,1616628568.854 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T23:29:28.854Z,1616628568.854 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T23:29:28.855Z,1616628568.855 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T23:29:28.855Z,1616628568.855 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:29:28.855Z,1616628568.855 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:29:28.856Z,1616628568.856 [Default:A.Wait] Running Loop=1
2021-03-24T23:29:28.856Z,1616628568.856 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:29:42.173Z,1616628582.173 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T23:29:42.173Z,1616628582.173 [Default:A.Wait] Stopped
2021-03-24T23:29:42.173Z,1616628582.173 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:29:42.590Z,1616628582.590 [Default:CheckIn] Running Loop=1
2021-03-24T23:29:42.590Z,1616628582.590 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:29:42.591Z,1616628582.591 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:29:43.007Z,1616628583.007 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-03-24T23:29:53.073Z,1616628593.073 [NAL9602](INFO): Powering up NAL9602
2021-03-24T23:30:03.987Z,1616628603.987 [NAL9602](INFO): NAL9602 initialized
2021-03-24T23:31:02.999Z,1616628662.999 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-03-24T23:31:14.326Z,1616628674.326 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 26
2021-03-24T23:31:14.326Z,1616628674.326 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:31:14.372Z,1616628674.372 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:31:14.738Z,1616628674.738 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:31:14.738Z,1616628674.738 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 26
2021-03-24T23:31:50.920Z,1616628710.920 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233149
2021-03-24T23:31:58.184Z,1616628718.184 [DataOverHttps](INFO): Received command:sched asap "load Transport/keepstation_3km.xml;set keepstation_3km:keepstation.MissionTimeout 2 hour;set keepstation_3km:keepstation.NeedCommsTime 30 minute;set keepstation_3km:keepstation.Depth 20 meter" kc11 1 2
2021-03-24T23:31:58.198Z,1616628718.198 [CommandLine](IMPORTANT): got command schedule asap "load Transport/keepstation_3km.xml;set keepstation_3km:keepstation.MissionTimeout 2 hour;set keepstation_3km:keepstation.NeedCommsTime 30 minute;set keepstation_3km:keepstation.Depth 20 meter" kc11 1 2.000000
2021-03-24T23:31:58.198Z,1616628718.198 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=kc11
2021-03-24T23:31:58.199Z,1616628718.199 [CommandLine](IMPORTANT): Scheduled #31 (#1 of 2 with id='kc11'): "load Transport/keepstation_3km.xml;set keepstation_3km:keepstation.MissionTimeout 2 hour;set keepstation_3km:keepstation.NeedCommsTime 30 minute;set keepstation_3km:keepstation.Depth 20 meter" ASAP
2021-03-24T23:31:59.186Z,1616628719.186 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233158
2021-03-24T23:32:06.496Z,1616628726.496 [DataOverHttps](INFO): Received command:sched asap "set keepstation_3km:keepstation.Speed 1.0 meter_per_second;run" kc11 2 2
2021-03-24T23:32:06.513Z,1616628726.513 [CommandLine](IMPORTANT): got command schedule asap "set keepstation_3km:keepstation.Speed 1.0 meter_per_second;run" kc11 2 2.000000
2021-03-24T23:32:06.513Z,1616628726.513 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=kc11
2021-03-24T23:32:06.514Z,1616628726.514 [CommandLine](IMPORTANT): Scheduled #32 (#2 of 2 with id='kc11'): "set keepstation_3km:keepstation.Speed 1.0 meter_per_second;run" ASAP
2021-03-24T23:32:06.645Z,1616628726.645 [CommandLine](IMPORTANT): got command load ./Missions/Transport/keepstation_3km.xml
2021-03-24T23:32:06.645Z,1616628726.645 [MissionManager](INFO): Uninitializing Mission Default
2021-03-24T23:32:06.645Z,1616628726.645 [Default] Stopped
2021-03-24T23:32:06.646Z,1616628726.646 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T23:32:06.646Z,1616628726.646 [Default:B.GoToSurface] Stopped
2021-03-24T23:32:06.646Z,1616628726.646 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:32:06.646Z,1616628726.646 [Default:CheckIn] Stopped
2021-03-24T23:32:06.646Z,1616628726.646 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:32:06.646Z,1616628726.646 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:32:06.649Z,1616628726.649 [MissionManager](INFO): Loading Mission: ./Missions/Transport/keepstation_3km.xml
2021-03-24T23:32:06.658Z,1616628726.658 [MissionManager](INFO): Inserting Stack: Missions/Transport/keepstation.xml
2021-03-24T23:32:06.750Z,1616628726.750 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.MissionTimeout = 4.000000 h
2021-03-24T23:32:06.769Z,1616628726.769 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.NeedCommsTime = 45.000000 min
2021-03-24T23:32:06.777Z,1616628726.777 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Latitude = nan arcdeg
2021-03-24T23:32:06.779Z,1616628726.779 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Longitude = nan arcdeg
2021-03-24T23:32:06.795Z,1616628726.795 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Depth = 30.000000 m
2021-03-24T23:32:06.830Z,1616628726.830 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.ApproachDepth = 15.000000 m
2021-03-24T23:32:06.837Z,1616628726.837 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.DepthDeadband = 4.000000 m
2021-03-24T23:32:06.840Z,1616628726.840 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Speed = 0.750000 m/s
2021-03-24T23:32:06.855Z,1616628726.855 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Radius = 200.000000 m
2021-03-24T23:32:06.887Z,1616628726.887 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.MaxDepth = 45.000000 m
2021-03-24T23:32:06.917Z,1616628726.917 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.MinOffshore = 2.000000 km
2021-03-24T23:32:06.918Z,1616628726.918 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T23:32:07.011Z,1616628727.011 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.DiveInterval = 3.000000 h
2021-03-24T23:32:07.018Z,1616628727.018 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T23:32:07.022Z,1616628727.022 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T23:32:07.033Z,1616628727.033 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T23:32:07.036Z,1616628727.036 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T23:32:07.051Z,1616628727.051 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T23:32:07.070Z,1616628727.070 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T23:32:07.085Z,1616628727.085 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T23:32:07.140Z,1616628727.140 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T23:32:07.179Z,1616628727.179 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T23:32:07.195Z,1616628727.195 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T23:32:07.223Z,1616628727.223 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T23:32:07.224Z,1616628727.224 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T23:32:07.260Z,1616628727.260 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T23:32:07.293Z,1616628727.293 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T23:32:07.312Z,1616628727.312 [keepstation_3km:keepstation:F.Pitch](DEBUG): Construct.
2021-03-24T23:32:07.362Z,1616628727.362 [keepstation_3km:keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T23:32:07.384Z,1616628727.384 [keepstation_3km:keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2021-03-24T23:32:07.389Z,1616628727.389 [keepstation_3km:keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2021-03-24T23:32:07.404Z,1616628727.404 [keepstation_3km:keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2021-03-24T23:32:07.413Z,1616628727.413 [keepstation_3km:keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2021-03-24T23:32:07.445Z,1616628727.445 [keepstation_3km:keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2021-03-24T23:32:07.450Z,1616628727.450 [keepstation_3km:keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2021-03-24T23:32:07.465Z,1616628727.465 [MissionManager](INFO): RedefineArg keepstation_3km:keepstation.Latitude = value:36.806966 arcdeg
2021-03-24T23:32:07.467Z,1616628727.467 [MissionManager](INFO): RedefineArg keepstation_3km:keepstation.Longitude = value:-121.824326 arcdeg
2021-03-24T23:32:07.476Z,1616628727.476 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="utf-8"?>
<Mission xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
         Id="keepstation_3km">

    <Description>
        Vehicle keeps station at waypoint 3km WNW of Moss Landing.
    </Description>

    <Insert Filename="Transport/keepstation.xml">
        <RedefineArg Name="Latitude"><Units:degree/><Value>36.806966</Value></RedefineArg>
        <RedefineArg Name="Longitude"><Units:degree/><Value>-121.824326</Value></RedefineArg>
    </Insert>

</Mission>


2021-03-24T23:32:07.488Z,1616628727.488 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/keepstation_3km.xml
2021-03-24T23:32:07.633Z,1616628727.633 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T23:32:07.634Z,1616628727.634 [Default] Running Loop=1
2021-03-24T23:32:07.634Z,1616628727.634 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T23:32:07.634Z,1616628727.634 [Default:B.GoToSurface] Running Loop=1
2021-03-24T23:32:07.634Z,1616628727.634 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:32:07.634Z,1616628727.634 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T23:32:07.634Z,1616628727.634 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T23:32:07.635Z,1616628727.635 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T23:32:07.635Z,1616628727.635 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:32:07.635Z,1616628727.635 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:32:07.636Z,1616628727.636 [Default:A.Wait] Running Loop=1
2021-03-24T23:32:07.636Z,1616628727.636 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:32:16.005Z,1616628736.005 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.MissionTimeout 2.000000 hour
2021-03-24T23:32:16.006Z,1616628736.006 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.NeedCommsTime 30.000000 minute
2021-03-24T23:32:16.007Z,1616628736.007 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.Depth 20.000000 meter
2021-03-24T23:32:18.579Z,1616628738.579 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.Speed 1.000000 meter_per_second
2021-03-24T23:32:18.580Z,1616628738.580 [CommandLine](IMPORTANT): got command run
2021-03-24T23:32:18.607Z,1616628738.607 [CommandLine](IMPORTANT): Running 
2021-03-24T23:32:18.977Z,1616628738.977 [Default] Stopped
2021-03-24T23:32:18.977Z,1616628738.977 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T23:32:18.977Z,1616628738.977 [Default:A.Wait] Stopped
2021-03-24T23:32:18.977Z,1616628738.977 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:32:18.977Z,1616628738.977 [Default:B.GoToSurface] Stopped
2021-03-24T23:32:18.977Z,1616628738.977 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:32:18.977Z,1616628738.977 [MissionManager](IMPORTANT): Started mission keepstation_3km
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km] Running Loop=1
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km](DEBUG): Aggregate::initialize keepstation_3km
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km:keepstation] Running Loop=1
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km:keepstation](DEBUG): Aggregate::initialize keepstation_3km:keepstation
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km:keepstation:StandardEnvelopes] Running Loop=1
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km:keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation_3km:keepstation:StandardEnvelopes
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T23:32:18.978Z,1616628738.978 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:F.Pitch] Running Loop=1
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:F.Pitch](DEBUG): Initialize.
2021-03-24T23:32:18.979Z,1616628738.979 [keepstation_3km:keepstation:B] Running Loop=1
2021-03-24T23:32:18.980Z,1616628738.980 [keepstation_3km:keepstation:F.Pitch] Running Loop=1
2021-03-24T23:32:18.981Z,1616628738.981 [keepstation_3km:keepstation:StandardEnvelopes] Running Loop=1
2021-03-24T23:32:18.981Z,1616628738.981 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T23:32:18.981Z,1616628738.981 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:18.981Z,1616628738.981 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:B] Stopped
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:D] Running Loop=1
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:NeedComms] Running Loop=1
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation_3km:keepstation:NeedComms
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T23:32:18.982Z,1616628738.982 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:32:18.983Z,1616628738.983 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T23:32:18.983Z,1616628738.983 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T23:32:18.984Z,1616628738.984 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T23:32:18.984Z,1616628738.984 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:32:18.984Z,1616628738.984 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:32:18.985Z,1616628738.985 [keepstation_3km:keepstation:NeedComms:A] Running Loop=1
2021-03-24T23:32:18.986Z,1616628738.986 [keepstation_3km:keepstation:NeedComms:A](ERROR): data element is not active.
2021-03-24T23:32:18.986Z,1616628738.986 [keepstation_3km:keepstation:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T23:32:18.986Z,1616628738.986 [keepstation_3km:keepstation:NeedComms:A] Stopped
2021-03-24T23:32:19.346Z,1616628739.346 [keepstation_3km:keepstation:D] Stopped
2021-03-24T23:32:19.346Z,1616628739.346 [keepstation_3km:keepstation:E] Running Loop=1
2021-03-24T23:32:19.346Z,1616628739.346 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:19.348Z,1616628739.348 [keepstation_3km:keepstation:NeedComms:C] Running Loop=1
2021-03-24T23:32:19.752Z,1616628739.752 [keepstation_3km:keepstation:E] Stopped
2021-03-24T23:32:19.752Z,1616628739.752 [keepstation_3km:keepstation:StartingMission] Running Loop=1
2021-03-24T23:32:19.752Z,1616628739.752 [keepstation_3km:keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation_3km:keepstation:StartingMission
2021-03-24T23:32:19.752Z,1616628739.752 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:19.754Z,1616628739.754 [keepstation_3km:keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-03-24T23:32:20.166Z,1616628740.166 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:20.555Z,1616628740.555 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:20.973Z,1616628740.973 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:21.383Z,1616628741.383 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:21.783Z,1616628741.783 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:22.176Z,1616628742.176 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:22.579Z,1616628742.579 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:23.003Z,1616628743.003 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:23.383Z,1616628743.383 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:23.785Z,1616628743.785 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:24.103Z,1616628744.103 [CommandLine](IMPORTANT): got command stop
2021-03-24T23:32:24.103Z,1616628744.103 [CommandLine](IMPORTANT): Scheduling is paused for 5 commands
2021-03-24T23:32:24.104Z,1616628744.104 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T23:32:24.205Z,1616628744.205 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:32:24.206Z,1616628744.206 [MissionManager](INFO): MissionManager is completed.
2021-03-24T23:32:24.206Z,1616628744.206 [MissionManager](INFO): Uninitializing Mission keepstation_3km
2021-03-24T23:32:24.206Z,1616628744.206 [keepstation_3km] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km](DEBUG): Aggregate::uninitialize keepstation_3km
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:NeedComms] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation:NeedComms
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:NeedComms:B.GoToSurface] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:NeedComms:C] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:StandardEnvelopes] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation:StandardEnvelopes
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T23:32:24.207Z,1616628744.207 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T23:32:24.208Z,1616628744.208 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T23:32:24.208Z,1616628744.208 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T23:32:24.208Z,1616628744.208 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T23:32:24.208Z,1616628744.208 [keepstation_3km:keepstation:F.Pitch] Stopped
2021-03-24T23:32:24.208Z,1616628744.208 [keepstation_3km:keepstation:StartingMission] Stopped
2021-03-24T23:32:24.208Z,1616628744.208 [keepstation_3km:keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation:StartingMission
2021-03-24T23:32:24.611Z,1616628744.611 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T23:32:24.612Z,1616628744.612 [Default] Running Loop=1
2021-03-24T23:32:24.612Z,1616628744.612 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T23:32:24.612Z,1616628744.612 [Default:B.GoToSurface] Running Loop=1
2021-03-24T23:32:24.612Z,1616628744.612 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:32:24.612Z,1616628744.612 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T23:32:24.613Z,1616628744.613 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T23:32:24.613Z,1616628744.613 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T23:32:24.613Z,1616628744.613 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:32:24.614Z,1616628744.614 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:32:24.614Z,1616628744.614 [Default:A.Wait] Running Loop=1
2021-03-24T23:32:24.614Z,1616628744.614 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:32:37.963Z,1616628757.963 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T23:32:37.963Z,1616628757.963 [Default:A.Wait] Stopped
2021-03-24T23:32:37.963Z,1616628757.963 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:32:38.338Z,1616628758.338 [Default:CheckIn] Running Loop=1
2021-03-24T23:32:38.338Z,1616628758.338 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:32:38.339Z,1616628758.339 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:33:53.638Z,1616628833.638 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233352
2021-03-24T23:34:01.016Z,1616628841.016 [DataOverHttps](INFO): Received command:load Transport/keepstation_3km.xml;set keepstation_3km:keepstation.MissionTimeout 2 hour;set keepstation_3km:keepstation.NeedCommsTime 30 minute;set keepstation_3km:keepstation.Depth 20 meter;run
2021-03-24T23:34:01.037Z,1616628841.037 [CommandLine](IMPORTANT): got command load ./Missions/Transport/keepstation_3km.xml
2021-03-24T23:34:01.038Z,1616628841.038 [MissionManager](INFO): Loading Mission: ./Missions/Transport/keepstation_3km.xml
2021-03-24T23:34:01.045Z,1616628841.045 [MissionManager](INFO): Inserting Stack: Missions/Transport/keepstation.xml
2021-03-24T23:34:01.184Z,1616628841.184 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.MissionTimeout = 4.000000 h
2021-03-24T23:34:01.186Z,1616628841.186 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.NeedCommsTime = 45.000000 min
2021-03-24T23:34:01.188Z,1616628841.188 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Latitude = nan arcdeg
2021-03-24T23:34:01.190Z,1616628841.190 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Longitude = nan arcdeg
2021-03-24T23:34:01.201Z,1616628841.201 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Depth = 30.000000 m
2021-03-24T23:34:01.203Z,1616628841.203 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.ApproachDepth = 15.000000 m
2021-03-24T23:34:01.209Z,1616628841.209 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.DepthDeadband = 4.000000 m
2021-03-24T23:34:01.211Z,1616628841.211 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Speed = 0.750000 m/s
2021-03-24T23:34:01.265Z,1616628841.265 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.Radius = 200.000000 m
2021-03-24T23:34:01.267Z,1616628841.267 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.MaxDepth = 45.000000 m
2021-03-24T23:34:01.289Z,1616628841.289 [MissionManager](INFO): DefineArg keepstation_3km:keepstation.MinOffshore = 2.000000 km
2021-03-24T23:34:01.290Z,1616628841.290 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T23:34:01.390Z,1616628841.390 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.DiveInterval = 3.000000 h
2021-03-24T23:34:01.406Z,1616628841.406 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T23:34:01.409Z,1616628841.409 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T23:34:01.410Z,1616628841.410 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T23:34:01.413Z,1616628841.413 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T23:34:01.415Z,1616628841.415 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T23:34:01.430Z,1616628841.430 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T23:34:01.436Z,1616628841.436 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T23:34:01.489Z,1616628841.489 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T23:34:01.588Z,1616628841.588 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T23:34:01.598Z,1616628841.598 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T23:34:01.600Z,1616628841.600 [MissionManager](INFO): DefineArg keepstation_3km:keepstation:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T23:34:01.601Z,1616628841.601 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T23:34:01.611Z,1616628841.611 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T23:34:01.634Z,1616628841.634 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T23:34:01.665Z,1616628841.665 [keepstation_3km:keepstation:F.Pitch](DEBUG): Construct.
2021-03-24T23:34:01.671Z,1616628841.671 [keepstation_3km:keepstation:TransitToStation:A.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T23:34:01.682Z,1616628841.682 [keepstation_3km:keepstation:TransitToStation:B.Pitch](DEBUG): Construct.
2021-03-24T23:34:01.690Z,1616628841.690 [keepstation_3km:keepstation:TransitToStation:C.SetSpeed](DEBUG): Construct.
2021-03-24T23:34:01.692Z,1616628841.692 [keepstation_3km:keepstation:TransitToStation:Wpt1.Waypoint](DEBUG): Construct Waypoint.
2021-03-24T23:34:01.700Z,1616628841.700 [keepstation_3km:keepstation:KeepStation:B.Pitch](DEBUG): Construct.
2021-03-24T23:34:01.704Z,1616628841.704 [keepstation_3km:keepstation:KeepStation:C.KeepStation](DEBUG): Construct KeepStation.
2021-03-24T23:34:01.712Z,1616628841.712 [keepstation_3km:keepstation:KeepStation:D.Wait](DEBUG): Construct Wait.
2021-03-24T23:34:01.716Z,1616628841.716 [MissionManager](INFO): RedefineArg keepstation_3km:keepstation.Latitude = value:36.806966 arcdeg
2021-03-24T23:34:01.718Z,1616628841.718 [MissionManager](INFO): RedefineArg keepstation_3km:keepstation.Longitude = value:-121.824326 arcdeg
2021-03-24T23:34:01.727Z,1616628841.727 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="utf-8"?>
<Mission xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
         Id="keepstation_3km">

    <Description>
        Vehicle keeps station at waypoint 3km WNW of Moss Landing.
    </Description>

    <Insert Filename="Transport/keepstation.xml">
        <RedefineArg Name="Latitude"><Units:degree/><Value>36.806966</Value></RedefineArg>
        <RedefineArg Name="Longitude"><Units:degree/><Value>-121.824326</Value></RedefineArg>
    </Insert>

</Mission>


2021-03-24T23:34:01.727Z,1616628841.727 [CommandLine](IMPORTANT): Loaded ./Missions/Transport/keepstation_3km.xml
2021-03-24T23:34:09.960Z,1616628849.960 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.MissionTimeout 2.000000 hour
2021-03-24T23:34:09.961Z,1616628849.961 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.NeedCommsTime 30.000000 minute
2021-03-24T23:34:09.961Z,1616628849.961 [CommandLine](IMPORTANT): got command set keepstation_3km:keepstation.Depth 20.000000 meter
2021-03-24T23:34:09.962Z,1616628849.962 [CommandLine](IMPORTANT): got command run
2021-03-24T23:34:09.964Z,1616628849.964 [CommandLine](IMPORTANT): Running 
2021-03-24T23:34:10.066Z,1616628850.066 [Default] Stopped
2021-03-24T23:34:10.066Z,1616628850.066 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T23:34:10.066Z,1616628850.066 [Default:B.GoToSurface] Stopped
2021-03-24T23:34:10.066Z,1616628850.066 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:34:10.066Z,1616628850.066 [Default:CheckIn] Stopped
2021-03-24T23:34:10.066Z,1616628850.066 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:34:10.066Z,1616628850.066 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:34:10.067Z,1616628850.067 [MissionManager](IMPORTANT): Started mission keepstation_3km
2021-03-24T23:34:10.067Z,1616628850.067 [keepstation_3km] Running Loop=1
2021-03-24T23:34:10.067Z,1616628850.067 [keepstation_3km](DEBUG): Aggregate::initialize keepstation_3km
2021-03-24T23:34:10.067Z,1616628850.067 [keepstation_3km:keepstation] Running Loop=1
2021-03-24T23:34:10.067Z,1616628850.067 [keepstation_3km:keepstation](DEBUG): Aggregate::initialize keepstation_3km:keepstation
2021-03-24T23:34:10.067Z,1616628850.067 [keepstation_3km:keepstation:StandardEnvelopes] Running Loop=1
2021-03-24T23:34:10.067Z,1616628850.067 [keepstation_3km:keepstation:StandardEnvelopes](DEBUG): Aggregate::initialize keepstation_3km:keepstation:StandardEnvelopes
2021-03-24T23:34:10.068Z,1616628850.068 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T23:34:10.068Z,1616628850.068 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T23:34:10.068Z,1616628850.068 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T23:34:10.068Z,1616628850.068 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T23:34:10.072Z,1616628850.072 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T23:34:10.072Z,1616628850.072 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T23:34:10.072Z,1616628850.072 [keepstation_3km:keepstation:F.Pitch] Running Loop=1
2021-03-24T23:34:10.073Z,1616628850.073 [keepstation_3km:keepstation:F.Pitch](DEBUG): Initialize.
2021-03-24T23:34:10.073Z,1616628850.073 [keepstation_3km:keepstation:B] Running Loop=1
2021-03-24T23:34:10.074Z,1616628850.074 [keepstation_3km:keepstation:F.Pitch] Running Loop=1
2021-03-24T23:34:10.074Z,1616628850.074 [keepstation_3km:keepstation:StandardEnvelopes] Running Loop=1
2021-03-24T23:34:10.074Z,1616628850.074 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T23:34:10.074Z,1616628850.074 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:10.074Z,1616628850.074 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:B] Stopped
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:D] Running Loop=1
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:NeedComms] Running Loop=1
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:NeedComms](DEBUG): Aggregate::initialize keepstation_3km:keepstation:NeedComms
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T23:34:10.075Z,1616628850.075 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:34:10.076Z,1616628850.076 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T23:34:10.081Z,1616628850.081 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T23:34:10.081Z,1616628850.081 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T23:34:10.082Z,1616628850.082 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:34:10.082Z,1616628850.082 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:34:10.082Z,1616628850.082 [keepstation_3km:keepstation:NeedComms:A] Running Loop=1
2021-03-24T23:34:10.083Z,1616628850.083 [keepstation_3km:keepstation:NeedComms:A](ERROR): data element is not active.
2021-03-24T23:34:10.083Z,1616628850.083 [keepstation_3km:keepstation:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T23:34:10.083Z,1616628850.083 [keepstation_3km:keepstation:NeedComms:A] Stopped
2021-03-24T23:34:10.467Z,1616628850.467 [keepstation_3km:keepstation:D] Stopped
2021-03-24T23:34:10.467Z,1616628850.467 [keepstation_3km:keepstation:E] Running Loop=1
2021-03-24T23:34:10.467Z,1616628850.467 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:10.469Z,1616628850.469 [keepstation_3km:keepstation:NeedComms:C] Running Loop=1
2021-03-24T23:34:10.853Z,1616628850.853 [keepstation_3km:keepstation:E] Stopped
2021-03-24T23:34:10.854Z,1616628850.854 [keepstation_3km:keepstation:StartingMission] Running Loop=1
2021-03-24T23:34:10.854Z,1616628850.854 [keepstation_3km:keepstation:StartingMission](DEBUG): Aggregate::initialize keepstation_3km:keepstation:StartingMission
2021-03-24T23:34:10.854Z,1616628850.854 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:10.855Z,1616628850.855 [keepstation_3km:keepstation:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-03-24T23:34:11.266Z,1616628851.266 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:11.658Z,1616628851.658 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:12.079Z,1616628852.079 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:12.490Z,1616628852.490 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:12.914Z,1616628852.914 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:13.297Z,1616628853.297 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:13.670Z,1616628853.670 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:14.080Z,1616628854.080 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:14.483Z,1616628854.483 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:14.901Z,1616628854.901 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:15.321Z,1616628855.321 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 27
2021-03-24T23:34:15.321Z,1616628855.321 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:34:15.323Z,1616628855.323 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:15.333Z,1616628855.333 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:34:15.718Z,1616628855.718 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:15.727Z,1616628855.727 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:34:15.727Z,1616628855.727 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 27
2021-03-24T23:34:16.111Z,1616628856.111 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:16.506Z,1616628856.506 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:16.950Z,1616628856.950 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:17.311Z,1616628857.311 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:17.713Z,1616628857.713 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:18.131Z,1616628858.131 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:18.543Z,1616628858.543 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:18.966Z,1616628858.966 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:19.332Z,1616628859.332 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:19.738Z,1616628859.738 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:20.149Z,1616628860.149 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:20.543Z,1616628860.543 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:20.963Z,1616628860.963 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:21.371Z,1616628861.371 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:21.775Z,1616628861.775 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:22.183Z,1616628862.183 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:22.567Z,1616628862.567 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:22.985Z,1616628862.985 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:23.387Z,1616628863.387 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:23.566Z,1616628863.566 [CommandLine](IMPORTANT): got command stop
2021-03-24T23:34:23.567Z,1616628863.567 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T23:34:23.775Z,1616628863.775 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:34:23.777Z,1616628863.777 [MissionManager](INFO): MissionManager is completed.
2021-03-24T23:34:23.777Z,1616628863.777 [MissionManager](INFO): Uninitializing Mission keepstation_3km
2021-03-24T23:34:23.777Z,1616628863.777 [keepstation_3km] Stopped
2021-03-24T23:34:23.777Z,1616628863.777 [keepstation_3km](DEBUG): Aggregate::uninitialize keepstation_3km
2021-03-24T23:34:23.777Z,1616628863.777 [keepstation_3km:keepstation] Stopped
2021-03-24T23:34:23.777Z,1616628863.777 [keepstation_3km:keepstation](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation
2021-03-24T23:34:23.777Z,1616628863.777 [keepstation_3km:keepstation:NeedComms] Stopped
2021-03-24T23:34:23.777Z,1616628863.777 [keepstation_3km:keepstation:NeedComms](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation:NeedComms
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:NeedComms:B.GoToSurface] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:NeedComms:C] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation:StandardEnvelopes
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:F.Pitch] Stopped
2021-03-24T23:34:23.778Z,1616628863.778 [keepstation_3km:keepstation:StartingMission] Stopped
2021-03-24T23:34:23.779Z,1616628863.779 [keepstation_3km:keepstation:StartingMission](DEBUG): Aggregate::uninitialize keepstation_3km:keepstation:StartingMission
2021-03-24T23:34:24.203Z,1616628864.203 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T23:34:24.203Z,1616628864.203 [Default] Running Loop=1
2021-03-24T23:34:24.203Z,1616628864.203 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T23:34:24.203Z,1616628864.203 [Default:B.GoToSurface] Running Loop=1
2021-03-24T23:34:24.204Z,1616628864.204 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:34:24.204Z,1616628864.204 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T23:34:24.204Z,1616628864.204 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T23:34:24.205Z,1616628864.205 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T23:34:24.205Z,1616628864.205 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:34:24.205Z,1616628864.205 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:34:24.205Z,1616628864.205 [Default:A.Wait] Running Loop=1
2021-03-24T23:34:24.206Z,1616628864.206 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:34:37.515Z,1616628877.515 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T23:34:37.515Z,1616628877.515 [Default:A.Wait] Stopped
2021-03-24T23:34:37.515Z,1616628877.515 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:34:37.909Z,1616628877.909 [Default:CheckIn] Running Loop=1
2021-03-24T23:34:37.909Z,1616628877.909 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:34:37.910Z,1616628877.910 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:35:48.270Z,1616628948.270 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233547
2021-03-24T23:35:55.528Z,1616628955.528 [DataOverHttps](INFO): Received command:sched asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kc7g 1 4
2021-03-24T23:35:55.569Z,1616628955.569 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" kc7g 1 4.000000
2021-03-24T23:35:55.569Z,1616628955.569 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=kc7g
2021-03-24T23:35:55.570Z,1616628955.570 [CommandLine](IMPORTANT): Scheduled #33 (#1 of 4 with id='kc7g'): "load Engineering/profile_station_backseat.xml;set profile_station_backseat.MissionTimeout 11 hour;set profile_station_backseat.NeedCommsTime 180 minute;set profile_station_backseat.Lat 36.80696 degree" ASAP
2021-03-24T23:35:56.530Z,1616628956.530 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233555
2021-03-24T23:36:03.720Z,1616628963.720 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kc7g 2 4
2021-03-24T23:36:03.797Z,1616628963.797 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" kc7g 2 4.000000
2021-03-24T23:36:03.797Z,1616628963.797 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=kc7g
2021-03-24T23:36:03.798Z,1616628963.798 [CommandLine](IMPORTANT): Scheduled #34 (#2 of 4 with id='kc7g'): "set profile_station_backseat.Lon -121.824 degree;set profile_station_backseat.Radius 100 meter;set profile_station_backseat.YoYoMinDepth 3 meter;set profile_station_backseat.YoYoMaxDepth 21 meter" ASAP
2021-03-24T23:36:04.722Z,1616628964.722 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233603
2021-03-24T23:36:12.024Z,1616628972.024 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kc7g 3 4
2021-03-24T23:36:12.097Z,1616628972.097 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" kc7g 3 4.000000
2021-03-24T23:36:12.098Z,1616628972.098 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=kc7g
2021-03-24T23:36:12.098Z,1616628972.098 [CommandLine](IMPORTANT): Scheduled #35 (#3 of 4 with id='kc7g'): "set profile_station_backseat.YoYoMinAltitude 9 meter;set profile_station_backseat.Speed 0.8 meter_per_second;set profile_station_backseat.CircleMaxError 50 meter;set profile_station_backseat.CircleTurnToPort 1 bool" ASAP
2021-03-24T23:36:13.026Z,1616628973.026 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233612
2021-03-24T23:36:20.404Z,1616628980.404 [DataOverHttps](INFO): Received command:sched asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kc7g 4 4
2021-03-24T23:36:20.442Z,1616628980.442 [CommandLine](IMPORTANT): got command schedule asap "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" kc7g 4 4.000000
2021-03-24T23:36:20.442Z,1616628980.442 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=kc7g
2021-03-24T23:36:20.443Z,1616628980.443 [CommandLine](IMPORTANT): Scheduled #36 (#4 of 4 with id='kc7g'): "set profile_station_backseat.MinAltitude 7 meter;set profile_station_backseat.MaxDepth 35 meter;set profile_station_backseat.MinOffshore 1 kilometer;run" ASAP
2021-03-24T23:36:20.623Z,1616628980.623 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T23:36:20.624Z,1616628980.624 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T23:36:20.731Z,1616628980.731 [MissionManager](INFO): DefineArg profile_station_backseat.MissionTimeout = 4.000000 h
2021-03-24T23:36:20.734Z,1616628980.734 [MissionManager](INFO): DefineArg profile_station_backseat.NeedCommsTime = 60.000000 min
2021-03-24T23:36:20.736Z,1616628980.736 [MissionManager](INFO): DefineArg profile_station_backseat.Lat = 36.806966 arcdeg
2021-03-24T23:36:20.738Z,1616628980.738 [MissionManager](INFO): DefineArg profile_station_backseat.Lon = -121.824326 arcdeg
2021-03-24T23:36:20.741Z,1616628980.741 [MissionManager](INFO): DefineArg profile_station_backseat.Radius = 300.000000 m
2021-03-24T23:36:20.743Z,1616628980.743 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinDepth = 2.000000 m
2021-03-24T23:36:20.745Z,1616628980.745 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMaxDepth = 20.000000 m
2021-03-24T23:36:20.747Z,1616628980.747 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoMinAltitude = 7.000000 m
2021-03-24T23:36:20.749Z,1616628980.749 [MissionManager](INFO): DefineArg profile_station_backseat.YoYoPitch = 20.000000 arcdeg
2021-03-24T23:36:20.751Z,1616628980.751 [MissionManager](INFO): DefineArg profile_station_backseat.Speed = 1.000000 m/s
2021-03-24T23:36:20.753Z,1616628980.753 [MissionManager](INFO): DefineArg profile_station_backseat.CircleMaxError = 100.000000 m
2021-03-24T23:36:20.755Z,1616628980.755 [MissionManager](INFO): DefineArg profile_station_backseat.CircleTurnToPort = 0 bool
2021-03-24T23:36:20.757Z,1616628980.757 [MissionManager](INFO): DefineArg profile_station_backseat.KwpHeading = 0.010000 rad/m
2021-03-24T23:36:20.759Z,1616628980.759 [MissionManager](INFO): DefineArg profile_station_backseat.MinAltitude = 5.000000 m
2021-03-24T23:36:20.761Z,1616628980.761 [MissionManager](INFO): DefineArg profile_station_backseat.MaxDepth = 205.000000 m
2021-03-24T23:36:20.764Z,1616628980.764 [MissionManager](INFO): DefineArg profile_station_backseat.MinOffshore = 2.000000 km
2021-03-24T23:36:20.764Z,1616628980.764 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-03-24T23:36:21.164Z,1616628981.164 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectChlActive = 0 bool
2021-03-24T23:36:21.166Z,1616628981.166 [MissionManager](INFO): DefineArg profile_station_backseat:Science.TimeWindowPeakReport = nan min
2021-03-24T23:36:21.168Z,1616628981.168 [MissionManager](INFO): DefineArg profile_station_backseat:Science.HighestChlPeakReportActive = 0 bool
2021-03-24T23:36:21.170Z,1616628981.170 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PatchTracking = 0 bool
2021-03-24T23:36:21.172Z,1616628981.172 [MissionManager](INFO): DefineArg profile_station_backseat:Science.FilterWidthHorizontal = 3.000000 count
2021-03-24T23:36:21.174Z,1616628981.174 [MissionManager](INFO): DefineArg profile_station_backseat:Science.NumProfilesSlidingwindow = 100.000000 count
2021-03-24T23:36:21.177Z,1616628981.177 [MissionManager](INFO): DefineArg profile_station_backseat:Science.OffPeakFractionHorizontal = 80.000000 %
2021-03-24T23:36:21.178Z,1616628981.178 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectNO3Active = 0 bool
2021-03-24T23:36:21.180Z,1616628981.180 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectOilActive = 0 bool
2021-03-24T23:36:21.182Z,1616628981.182 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDetectFDOMActive = 0 bool
2021-03-24T23:36:21.184Z,1616628981.184 [MissionManager](INFO): DefineArg profile_station_backseat:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-03-24T23:36:21.219Z,1616628981.219 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledAanderaaO2 = 0.000000 bool
2021-03-24T23:36:21.221Z,1616628981.221 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledNeilBrown = 0.000000 bool
2021-03-24T23:36:21.224Z,1616628981.224 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledSeabird = 1.000000 bool
2021-03-24T23:36:21.250Z,1616628981.250 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-03-24T23:36:21.265Z,1616628981.265 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-03-24T23:36:21.267Z,1616628981.267 [MissionManager](INFO): DefineArg profile_station_backseat:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-03-24T23:36:21.293Z,1616628981.293 [MissionManager](INFO): DefineArg profile_station_backseat:Science.LowPassWindowLength = 20.000000 count
2021-03-24T23:36:21.295Z,1616628981.295 [MissionManager](INFO): DefineArg profile_station_backseat:Science.MedianFilterLen = 5.000000 count
2021-03-24T23:36:21.297Z,1616628981.297 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakShallowBound = nan m
2021-03-24T23:36:21.299Z,1616628981.299 [MissionManager](INFO): DefineArg profile_station_backseat:Science.PeakDeepBound = nan m
2021-03-24T23:36:21.314Z,1616628981.314 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChl = 0.000000 ug/l
2021-03-24T23:36:21.316Z,1616628981.316 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlDepth = 0.000000 m
2021-03-24T23:36:21.366Z,1616628981.366 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlTemperature = 0.000000 degC
2021-03-24T23:36:21.378Z,1616628981.378 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLatitude = nan arcdeg
2021-03-24T23:36:21.381Z,1616628981.381 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakChlLongitude = nan arcdeg
2021-03-24T23:36:21.383Z,1616628981.383 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3 = 0.000000 umol/l
2021-03-24T23:36:21.397Z,1616628981.397 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Depth = 0.000000 m
2021-03-24T23:36:21.400Z,1616628981.400 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Latitude = nan arcdeg
2021-03-24T23:36:21.406Z,1616628981.406 [DataOverHttps](IMPORTANT): SBD MTMSN=20210324T233620
2021-03-24T23:36:21.429Z,1616628981.429 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakNO3Longitude = nan arcdeg
2021-03-24T23:36:21.432Z,1616628981.432 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChl = 0.000000 m
2021-03-24T23:36:21.450Z,1616628981.450 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDepth = 0.000000 m
2021-03-24T23:36:21.461Z,1616628981.461 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLatitude = nan arcdeg
2021-03-24T23:36:21.463Z,1616628981.463 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlLongitude = nan arcdeg
2021-03-24T23:36:21.474Z,1616628981.474 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchChlDistance = nan m
2021-03-24T23:36:21.485Z,1616628981.485 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOil = 0.000000 kg/m3
2021-03-24T23:36:21.487Z,1616628981.487 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilDepth = 0.000000 m
2021-03-24T23:36:21.502Z,1616628981.502 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLatitude = nan arcdeg
2021-03-24T23:36:21.516Z,1616628981.516 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakOilLongitude = nan arcdeg
2021-03-24T23:36:21.518Z,1616628981.518 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOM = 0.000000 ppb
2021-03-24T23:36:21.548Z,1616628981.548 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMDepth = 0.000000 m
2021-03-24T23:36:21.551Z,1616628981.551 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMTemperature = nan degC
2021-03-24T23:36:21.553Z,1616628981.553 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLatitude = nan arcdeg
2021-03-24T23:36:21.555Z,1616628981.555 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PeakFDOMLongitude = nan arcdeg
2021-03-24T23:36:21.559Z,1616628981.559 [MissionManager](INFO): DefineOutput profile_station_backseat:Science.PatchFDOMDistance = nan m
2021-03-24T23:36:21.604Z,1616628981.604 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T23:36:21.647Z,1616628981.647 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-03-24T23:36:21.689Z,1616628981.689 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T23:36:21.699Z,1616628981.699 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T23:36:21.768Z,1616628981.768 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-03-24T23:36:21.811Z,1616628981.811 [MissionManager](INFO): RedefineArg profile_station_backseat:Science.PeakDetectChlActive = value:1 bool
2021-03-24T23:36:21.811Z,1616628981.811 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-03-24T23:36:21.948Z,1616628981.948 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.DiveInterval = 3.000000 h
2021-03-24T23:36:21.950Z,1616628981.950 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.WaitForPitchUp = 10.000000 min
2021-03-24T23:36:21.988Z,1616628981.988 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-03-24T23:36:21.990Z,1616628981.990 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceDepthRate = nan m/s
2021-03-24T23:36:21.993Z,1616628981.993 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-03-24T23:36:21.995Z,1616628981.995 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.GPSTimeout = 7.000000 min
2021-03-24T23:36:21.997Z,1616628981.997 [MissionManager](INFO): DefineArg profile_station_backseat:NeedComms.CommsTimeout = 30.000000 min
2021-03-24T23:36:22.014Z,1616628982.014 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-03-24T23:36:22.037Z,1616628982.037 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-03-24T23:36:22.087Z,1616628982.087 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinAltitude = 5.000000 m
2021-03-24T23:36:22.106Z,1616628982.106 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MaxDepth = 200.000000 m
2021-03-24T23:36:22.108Z,1616628982.108 [MissionManager](INFO): DefineArg profile_station_backseat:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-03-24T23:36:22.109Z,1616628982.109 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T23:36:22.177Z,1616628982.177 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T23:36:22.183Z,1616628982.183 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-03-24T23:36:22.251Z,1616628982.251 [profile_station_backseat:K.BackseatDriver](DEBUG): Construct BackseatDriver.
2021-03-24T23:36:22.265Z,1616628982.265 [profile_station_backseat:Profile:A.Pitch](DEBUG): Construct.
2021-03-24T23:36:22.274Z,1616628982.274 [profile_station_backseat:Profile:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-03-24T23:36:22.280Z,1616628982.280 [profile_station_backseat:Profile:C.SetSpeed](DEBUG): Construct.
2021-03-24T23:36:22.283Z,1616628982.283 [profile_station_backseat:Profile:D.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-03-24T23:36:22.299Z,1616628982.299 [profile_station_backseat:Profile:E.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-03-24T23:36:22.311Z,1616628982.311 [profile_station_backseat:Profile:F.YoYo](DEBUG): Construct YoYo.
2021-03-24T23:36:22.319Z,1616628982.319 [profile_station_backseat:Profile:CircleWrapper:B.Circle](DEBUG): Construct.
2021-03-24T23:36:22.352Z,1616628982.352 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station_backseat">

    <Description>
        This mission yoyos in a circle around a specified location.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!-- You probably need to change these. -->

    <DefineArg Name="Lat"><Description>
        The latitude of the center of the circle.
    </Description><Units:degree/><Value>36.806966</Value></DefineArg>

    <DefineArg Name="Lon"><Description>
        The longitude of the center of the circle.
    </Description><Units:degree/><Value>-121.824326</Value></DefineArg>

    <DefineArg Name="Radius"><Description>
        Radius to circle at
    </Description><Units:meter/><Value>300</Value></DefineArg>

<!-- You probably do not need to change these. -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Description>
        Pitch (plus and minus) for yo-yo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

<!-- Most missions should use the NeedComms aggregate. -->

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><CustomUri Uri="_.Lat"/></Elapsed>
            <Lt><Elapsed><Arg Name="Lat"/></Elapsed></Lt>
            <Or><Elapsed><CustomUri Uri="_.Lon"/></Elapsed><Lt><Elapsed><Arg Name="Lon"/></Elapsed></Lt></Or>
        </When>

        <Assign><Sequence/><Arg Name="Lat"/><CustomUri Uri="_.Lat"/></Assign>

        <Assign><Sequence/><Arg Name="Lon"/><CustomUri Uri="_.Lon"/></Assign>

<!--        <Syslog>Upadating circle _.Lat/_.Lon <CustomUri Uri="_.Lat"/><Units:arcdeg/>/<CustomUri Uri="_.Lon"/><Units:arcdeg/></Syslog>-->

    </Aggregate>

<!-- Check for additional instructions first. -->

    <Call Id="StartingMission" RefId="NeedComms"/>

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

    <Syslog>Powering up backseat...</Syslog>

    <Guidance:BackseatDriver>
        <Parallel/>
    </Guidance:BackseatDriver>

    <Syslog>Backseat powered.</Syslog>

    <Aggregate Id="Profile">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope>
            <Description>
                Another depth envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for depth-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.xml in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="4096"/>

            <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="Lat"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="Lon"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="Radius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

</Mission>


2021-03-24T23:36:22.353Z,1616628982.353 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/profile_station_backseat.xml
2021-03-24T23:36:31.996Z,1616628991.996 [DataOverHttps](INFO): Received command:stop
2021-03-24T23:36:33.255Z,1616628993.255 [CommandLine](IMPORTANT): got command set profile_station_backseat.MissionTimeout 11.000000 hour
2021-03-24T23:36:33.255Z,1616628993.255 [CommandLine](IMPORTANT): got command set profile_station_backseat.NeedCommsTime 180.000000 minute
2021-03-24T23:36:33.256Z,1616628993.256 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lat 36.806961 degree
2021-03-24T23:36:33.268Z,1616628993.268 [CommandLine](IMPORTANT): got command stop
2021-03-24T23:36:33.270Z,1616628993.270 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2021-03-24T23:36:42.845Z,1616629002.845 [CommandLine](IMPORTANT): got command set profile_station_backseat.Lon -121.823997 degree
2021-03-24T23:36:42.847Z,1616629002.847 [CommandLine](IMPORTANT): got command set profile_station_backseat.Radius 100.000000 meter
2021-03-24T23:36:42.847Z,1616629002.847 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinDepth 3.000000 meter
2021-03-24T23:36:42.849Z,1616629002.849 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMaxDepth 21.000000 meter
2021-03-24T23:36:53.557Z,1616629013.557 [CommandLine](IMPORTANT): got command set profile_station_backseat.YoYoMinAltitude 9.000000 meter
2021-03-24T23:36:53.558Z,1616629013.558 [CommandLine](IMPORTANT): got command set profile_station_backseat.Speed 0.800000 meter_per_second
2021-03-24T23:36:53.559Z,1616629013.559 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleMaxError 50.000000 meter
2021-03-24T23:36:53.560Z,1616629013.560 [CommandLine](IMPORTANT): got command set profile_station_backseat.CircleTurnToPort 1.000000 bool
2021-03-24T23:37:01.988Z,1616629021.988 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinAltitude 7.000000 meter
2021-03-24T23:37:02.001Z,1616629022.001 [CommandLine](IMPORTANT): got command set profile_station_backseat.MaxDepth 35.000000 meter
2021-03-24T23:37:02.001Z,1616629022.001 [CommandLine](IMPORTANT): got command set profile_station_backseat.MinOffshore 1.000000 kilometer
2021-03-24T23:37:02.002Z,1616629022.002 [CommandLine](IMPORTANT): got command run
2021-03-24T23:37:02.004Z,1616629022.004 [CommandLine](IMPORTANT): Running 
2021-03-24T23:37:02.158Z,1616629022.158 [Default] Stopped
2021-03-24T23:37:02.158Z,1616629022.158 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-24T23:37:02.158Z,1616629022.158 [Default:B.GoToSurface] Stopped
2021-03-24T23:37:02.158Z,1616629022.158 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:37:02.158Z,1616629022.158 [Default:CheckIn] Stopped
2021-03-24T23:37:02.158Z,1616629022.158 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:37:02.158Z,1616629022.158 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:37:02.158Z,1616629022.158 [MissionManager](IMPORTANT): Started mission profile_station_backseat
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat](DEBUG): Aggregate::initialize profile_station_backseat
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science](DEBUG): Aggregate::initialize profile_station_backseat:Science
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:A] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:D] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:F] Running Loop=1
2021-03-24T23:37:02.159Z,1616629022.159 [profile_station_backseat:Science:Read_Oil] Running Loop=1
2021-03-24T23:37:02.160Z,1616629022.160 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T23:37:02.160Z,1616629022.160 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T23:37:02.160Z,1616629022.160 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T23:37:02.184Z,1616629022.184 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T23:37:02.185Z,1616629022.185 [profile_station_backseat:Science:HighestChlPeakReport] Running Loop=1
2021-03-24T23:37:02.185Z,1616629022.185 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T23:37:02.186Z,1616629022.186 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-03-24T23:37:02.186Z,1616629022.186 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-03-24T23:37:02.186Z,1616629022.186 [profile_station_backseat:Science:PeakDetectNO3] Running Loop=1
2021-03-24T23:37:02.186Z,1616629022.186 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T23:37:02.186Z,1616629022.186 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T23:37:02.186Z,1616629022.186 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T23:37:02.187Z,1616629022.187 [profile_station_backseat:Science:PeakDetectOil] Running Loop=1
2021-03-24T23:37:02.188Z,1616629022.188 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T23:37:02.188Z,1616629022.188 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T23:37:02.188Z,1616629022.188 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T23:37:02.197Z,1616629022.197 [profile_station_backseat:Science:PeakDetectFDOM] Running Loop=1
2021-03-24T23:37:02.197Z,1616629022.197 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T23:37:02.197Z,1616629022.197 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-03-24T23:37:02.198Z,1616629022.198 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:Science:OceanCurrent] Running Loop=1
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station_backseat:Science:OceanCurrent
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station_backseat:StandardEnvelopes
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T23:37:02.199Z,1616629022.199 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-03-24T23:37:02.200Z,1616629022.200 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T23:37:02.200Z,1616629022.200 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-03-24T23:37:02.200Z,1616629022.200 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T23:37:02.200Z,1616629022.200 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-03-24T23:37:02.212Z,1616629022.212 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T23:37:02.213Z,1616629022.213 [profile_station_backseat:K.BackseatDriver](DEBUG): Initialize.
2021-03-24T23:37:02.278Z,1616629022.278 [profile_station_backseat:C] Running Loop=1
2021-03-24T23:37:02.279Z,1616629022.279 [profile_station_backseat:K.BackseatDriver] Running Loop=1
2021-03-24T23:37:02.305Z,1616629022.305 [BackseatComponent](INFO): Powering up
2021-03-24T23:37:02.305Z,1616629022.305 [BackseatComponent](INFO): Subscribing to LCM channels.
2021-03-24T23:37:02.308Z,1616629022.308 [profile_station_backseat:StandardEnvelopes] Running Loop=1
2021-03-24T23:37:02.308Z,1616629022.308 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-03-24T23:37:02.308Z,1616629022.308 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-03-24T23:37:02.308Z,1616629022.308 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-03-24T23:37:02.309Z,1616629022.309 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-03-24T23:37:02.309Z,1616629022.309 [profile_station_backseat:C] Stopped
2021-03-24T23:37:02.309Z,1616629022.309 [profile_station_backseat:E] Running Loop=1
2021-03-24T23:37:02.309Z,1616629022.309 [profile_station_backseat:NeedComms] Running Loop=1
2021-03-24T23:37:02.309Z,1616629022.309 [profile_station_backseat:NeedComms](DEBUG): Aggregate::initialize profile_station_backseat:NeedComms
2021-03-24T23:37:02.310Z,1616629022.310 [profile_station_backseat:NeedComms:B.GoToSurface] Running Loop=1
2021-03-24T23:37:02.310Z,1616629022.310 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:37:02.310Z,1616629022.310 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-03-24T23:37:02.310Z,1616629022.310 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-03-24T23:37:02.311Z,1616629022.311 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-03-24T23:37:02.311Z,1616629022.311 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:37:02.311Z,1616629022.311 [profile_station_backseat:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:37:02.312Z,1616629022.312 [profile_station_backseat:NeedComms:A] Running Loop=1
2021-03-24T23:37:02.325Z,1616629022.325 [profile_station_backseat:NeedComms:A](ERROR): data element is not active.
2021-03-24T23:37:02.325Z,1616629022.325 [profile_station_backseat:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-03-24T23:37:02.325Z,1616629022.325 [profile_station_backseat:NeedComms:A] Stopped
2021-03-24T23:37:02.325Z,1616629022.325 [profile_station_backseat:Science] Running Loop=1
2021-03-24T23:37:02.326Z,1616629022.326 [profile_station_backseat:Science:PeakDetectFDOM] Stopped
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectFDOM
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectOil] Stopped
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectOil
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectNO3] Stopped
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectNO3
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T23:37:02.327Z,1616629022.327 [profile_station_backseat:Science:HighestChlPeakReport] Stopped
2021-03-24T23:37:02.328Z,1616629022.328 [profile_station_backseat:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:HighestChlPeakReport
2021-03-24T23:37:02.328Z,1616629022.328 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-03-24T23:37:02.328Z,1616629022.328 [profile_station_backseat:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-03-24T23:37:02.328Z,1616629022.328 [profile_station_backseat:Science:PeakDetectChl] Running Loop=1
2021-03-24T23:37:02.336Z,1616629022.336 [profile_station_backseat:Science:OceanCurrent:A.] Running Loop=1
2021-03-24T23:37:02.336Z,1616629022.336 [profile_station_backseat:Science:Read_Oil] Stopped
2021-03-24T23:37:02.336Z,1616629022.336 [profile_station_backseat:Science:F] Stopped
2021-03-24T23:37:02.336Z,1616629022.336 [profile_station_backseat:Science:E] Running Loop=1
2021-03-24T23:37:02.337Z,1616629022.337 [profile_station_backseat:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-03-24T23:37:02.337Z,1616629022.337 [profile_station_backseat:Science:D] Stopped
2021-03-24T23:37:02.337Z,1616629022.337 [profile_station_backseat:Science:C] Running Loop=1
2021-03-24T23:37:02.338Z,1616629022.338 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-03-24T23:37:02.338Z,1616629022.338 [profile_station_backseat:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-03-24T23:37:02.338Z,1616629022.338 [profile_station_backseat:Science:B] Running Loop=1
2021-03-24T23:37:02.339Z,1616629022.339 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-03-24T23:37:02.339Z,1616629022.339 [profile_station_backseat:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-03-24T23:37:02.339Z,1616629022.339 [profile_station_backseat:Science:A] Stopped
2021-03-24T23:37:02.339Z,1616629022.339 [MissionManager](INFO): MissionManager is completed.
2021-03-24T23:37:02.339Z,1616629022.339 [MissionManager](INFO): Uninitializing Mission profile_station_backseat
2021-03-24T23:37:02.339Z,1616629022.339 [profile_station_backseat] Stopped
2021-03-24T23:37:02.340Z,1616629022.340 [profile_station_backseat](DEBUG): Aggregate::uninitialize profile_station_backseat
2021-03-24T23:37:02.340Z,1616629022.340 [profile_station_backseat:Science] Stopped
2021-03-24T23:37:02.340Z,1616629022.340 [profile_station_backseat:Science](DEBUG): Aggregate::uninitialize profile_station_backseat:Science
2021-03-24T23:37:02.340Z,1616629022.340 [profile_station_backseat:Science:B] Stopped
2021-03-24T23:37:02.345Z,1616629022.345 [profile_station_backseat:Science:C] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:E] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:OceanCurrent] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:OceanCurrent
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:OceanCurrent:A.] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:PeakDetectChl] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station_backseat:Science:PeakDetectChl
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:NeedComms] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:NeedComms](DEBUG): Aggregate::uninitialize profile_station_backseat:NeedComms
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:NeedComms:B.GoToSurface] Stopped
2021-03-24T23:37:02.346Z,1616629022.346 [profile_station_backseat:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes] Stopped
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station_backseat:StandardEnvelopes
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:E] Stopped
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:K.BackseatDriver] Stopped
2021-03-24T23:37:02.347Z,1616629022.347 [profile_station_backseat:K.BackseatDriver](DEBUG): Uninitialize.
2021-03-24T23:37:02.621Z,1616629022.621 [MissionManager](IMPORTANT): Started mission Default
2021-03-24T23:37:02.622Z,1616629022.622 [Default] Running Loop=1
2021-03-24T23:37:02.622Z,1616629022.622 [Default](DEBUG): Aggregate::initialize Default
2021-03-24T23:37:02.622Z,1616629022.622 [Default:B.GoToSurface] Running Loop=1
2021-03-24T23:37:02.622Z,1616629022.622 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-03-24T23:37:02.622Z,1616629022.622 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-03-24T23:37:02.622Z,1616629022.622 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-03-24T23:37:02.623Z,1616629022.623 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-03-24T23:37:02.623Z,1616629022.623 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-03-24T23:37:02.623Z,1616629022.623 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-03-24T23:37:02.624Z,1616629022.624 [Default:A.Wait] Running Loop=1
2021-03-24T23:37:02.624Z,1616629022.624 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:37:15.910Z,1616629035.910 [Default:A.Wait](INFO): Done Waiting.
2021-03-24T23:37:15.910Z,1616629035.910 [Default:A.Wait] Stopped
2021-03-24T23:37:15.910Z,1616629035.910 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:37:16.292Z,1616629036.292 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 28
2021-03-24T23:37:16.293Z,1616629036.293 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:37:16.294Z,1616629036.294 [Default:CheckIn] Running Loop=1
2021-03-24T23:37:16.294Z,1616629036.294 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:37:16.295Z,1616629036.295 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:37:16.303Z,1616629036.303 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:37:16.711Z,1616629036.711 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:37:16.711Z,1616629036.711 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 28
2021-03-24T23:37:20.161Z,1616629040.161 [BackseatComponent](INFO): Sent LCM shutdown request.
2021-03-24T23:37:35.276Z,1616629055.276 [BackseatComponent](INFO): Powering down
2021-03-24T23:37:35.480Z,1616629055.480 [BackseatComponent](INFO): Unsubscribing from LCM channels.
2021-03-24T23:37:35.480Z,1616629055.480 [LcmUniversalReporter](INFO): Deactivating messaging.
2021-03-24T23:40:07.174Z,1616629207.174 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T23:40:07.174Z,1616629207.174 [NAL9602] Data Fault, FailCount= 3
2021-03-24T23:40:07.174Z,1616629207.174 [NAL9602](ERROR): Data Fault
2021-03-24T23:40:07.237Z,1616629207.237 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T23:40:07.573Z,1616629207.573 [NAL9602](INFO): Powering down
2021-03-24T23:40:08.411Z,1616629208.411 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T23:40:08.411Z,1616629208.411 [NAL9602] No Fault, FailCount= 3
2021-03-24T23:40:17.315Z,1616629217.315 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 29
2021-03-24T23:40:17.315Z,1616629217.315 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:40:17.333Z,1616629217.333 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:40:17.695Z,1616629217.695 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:40:17.695Z,1616629217.695 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 29
2021-03-24T23:40:37.878Z,1616629237.878 [NAL9602](INFO): Powering up NAL9602
2021-03-24T23:40:48.793Z,1616629248.793 [NAL9602](INFO): NAL9602 initialized
2021-03-24T23:42:16.473Z,1616629336.473 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T23:37:16.3Z
2021-03-24T23:42:16.474Z,1616629336.474 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:42:16.474Z,1616629336.474 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T23:42:24.084Z,1616629344.084 [DataOverHttps](INFO): Sending 50 bytes from file Logs/20210324T221239/Courier0052.lzma
2021-03-24T23:42:25.086Z,1616629345.086 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0052.lzma.bak
2021-03-24T23:42:25.086Z,1616629345.086 [DataOverHttps](INFO): SBD MOMSN=15445971
2021-03-24T23:42:40.814Z,1616629360.814 [DataOverHttps](INFO): Sending 1239 bytes from file Logs/20210324T221239/Express0053.lzma
2021-03-24T23:42:41.814Z,1616629361.814 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0053.lzma.bak
2021-03-24T23:42:41.815Z,1616629361.815 [DataOverHttps](INFO): SBD MOMSN=15445973
2021-03-24T23:42:57.408Z,1616629377.408 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20210324T221239/Express0056.lzma
2021-03-24T23:42:58.410Z,1616629378.410 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0056.lzma.bak
2021-03-24T23:42:58.410Z,1616629378.410 [DataOverHttps](INFO): SBD MOMSN=15446051
2021-03-24T23:43:00.529Z,1616629380.529 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T23:43:00.529Z,1616629380.529 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T23:43:00.529Z,1616629380.529 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:43:18.294Z,1616629398.294 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 30
2021-03-24T23:43:18.294Z,1616629398.294 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:43:18.304Z,1616629398.304 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:43:18.705Z,1616629398.705 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:43:18.705Z,1616629398.705 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 30
2021-03-24T23:46:19.319Z,1616629579.319 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 31
2021-03-24T23:46:19.319Z,1616629579.319 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:46:19.330Z,1616629579.330 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:46:19.692Z,1616629579.692 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:46:19.692Z,1616629579.692 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 31
2021-03-24T23:48:01.104Z,1616629681.104 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-24T23:48:01.105Z,1616629681.105 [Default:CheckIn:C.Wait] Stopped
2021-03-24T23:48:01.105Z,1616629681.105 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:48:01.105Z,1616629681.105 [Default:CheckIn:D] Running Loop=1
2021-03-24T23:48:01.473Z,1616629681.473 [Default:CheckIn:D] Stopped
2021-03-24T23:48:01.473Z,1616629681.473 [Default:CheckIn:E] Running Loop=1
2021-03-24T23:48:01.899Z,1616629681.899 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.980861 min 
2021-03-24T23:48:01.899Z,1616629681.899 [Default:CheckIn:E] Stopped
2021-03-24T23:48:01.899Z,1616629681.899 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-24T23:48:01.899Z,1616629681.899 [Default:CheckIn] Stopped
2021-03-24T23:48:01.900Z,1616629681.900 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:48:01.900Z,1616629681.900 [Default:CheckIn](INFO): Running loop #2
2021-03-24T23:48:01.900Z,1616629681.900 [Default:CheckIn] Running Loop=2
2021-03-24T23:48:01.900Z,1616629681.900 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:48:01.900Z,1616629681.900 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-24T23:49:20.271Z,1616629760.271 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 32
2021-03-24T23:49:20.271Z,1616629760.271 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:49:20.281Z,1616629760.281 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:49:20.693Z,1616629760.693 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:49:20.693Z,1616629760.693 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 32
2021-03-24T23:50:51.151Z,1616629851.151 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-24T23:50:51.152Z,1616629851.152 [NAL9602] Data Fault, FailCount= 4
2021-03-24T23:50:51.152Z,1616629851.152 [NAL9602](ERROR): Data Fault
2021-03-24T23:50:51.289Z,1616629851.289 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-24T23:50:51.549Z,1616629851.549 [NAL9602](INFO): Powering down
2021-03-24T23:50:52.390Z,1616629852.390 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-24T23:50:52.391Z,1616629852.391 [NAL9602] No Fault, FailCount= 4
2021-03-24T23:51:21.853Z,1616629881.853 [NAL9602](INFO): Powering up NAL9602
2021-03-24T23:51:32.758Z,1616629892.758 [NAL9602](INFO): NAL9602 initialized
2021-03-24T23:52:21.285Z,1616629941.285 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 33
2021-03-24T23:52:21.285Z,1616629941.285 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:52:21.295Z,1616629941.295 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:52:21.699Z,1616629941.699 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:52:21.699Z,1616629941.699 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 33
2021-03-24T23:53:02.054Z,1616629982.054 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T23:48:01.9Z
2021-03-24T23:53:02.054Z,1616629982.054 [Default:CheckIn:Read_GPS] Stopped
2021-03-24T23:53:02.054Z,1616629982.054 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-24T23:53:08.923Z,1616629988.923 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0058.lzma
2021-03-24T23:53:09.922Z,1616629989.922 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0058.lzma.bak
2021-03-24T23:53:09.922Z,1616629989.922 [DataOverHttps](INFO): SBD MOMSN=15446053
2021-03-24T23:53:25.552Z,1616630005.552 [DataOverHttps](INFO): Sending 150 bytes from file Logs/20210324T221239/Express0059.lzma
2021-03-24T23:53:26.554Z,1616630006.554 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0059.lzma.bak
2021-03-24T23:53:26.554Z,1616630006.554 [DataOverHttps](INFO): SBD MOMSN=15446055
2021-03-24T23:53:28.330Z,1616630008.330 [Default:CheckIn:Read_Iridium] Stopped
2021-03-24T23:53:28.331Z,1616630008.331 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-24T23:53:28.331Z,1616630008.331 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-24T23:55:22.240Z,1616630122.240 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 34
2021-03-24T23:55:22.240Z,1616630122.240 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:55:22.251Z,1616630122.251 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:55:22.655Z,1616630122.655 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:55:22.655Z,1616630122.655 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 34
2021-03-24T23:58:23.263Z,1616630303.263 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 35
2021-03-24T23:58:23.263Z,1616630303.263 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-24T23:58:23.286Z,1616630303.286 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-24T23:58:23.655Z,1616630303.655 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-24T23:58:23.655Z,1616630303.655 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 35
2021-03-24T23:58:28.933Z,1616630308.933 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-24T23:58:28.933Z,1616630308.933 [Default:CheckIn:C.Wait] Stopped
2021-03-24T23:58:28.933Z,1616630308.933 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-24T23:58:28.933Z,1616630308.933 [Default:CheckIn:D] Running Loop=1
2021-03-24T23:58:29.329Z,1616630309.329 [Default:CheckIn:D] Stopped
2021-03-24T23:58:29.329Z,1616630309.329 [Default:CheckIn:E] Running Loop=1
2021-03-24T23:58:29.699Z,1616630309.699 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.445117 min 
2021-03-24T23:58:29.699Z,1616630309.699 [Default:CheckIn:E] Stopped
2021-03-24T23:58:29.699Z,1616630309.699 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-24T23:58:29.699Z,1616630309.699 [Default:CheckIn] Stopped
2021-03-24T23:58:29.699Z,1616630309.699 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-24T23:58:29.700Z,1616630309.700 [Default:CheckIn](INFO): Running loop #3
2021-03-24T23:58:29.700Z,1616630309.700 [Default:CheckIn] Running Loop=3
2021-03-24T23:58:29.700Z,1616630309.700 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-24T23:58:29.700Z,1616630309.700 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-25T00:01:24.253Z,1616630484.253 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 36
2021-03-25T00:01:24.253Z,1616630484.253 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-25T00:01:24.263Z,1616630484.263 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-25T00:01:24.651Z,1616630484.651 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-25T00:01:24.651Z,1616630484.651 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 36
2021-03-25T00:01:35.133Z,1616630495.133 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-25T00:01:35.133Z,1616630495.133 [NAL9602] Data Fault, FailCount= 5
2021-03-25T00:01:35.133Z,1616630495.133 [NAL9602](ERROR): Data Fault
2021-03-25T00:01:35.170Z,1616630495.170 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-25T00:01:35.170Z,1616630495.170 [CBIT](CRITICAL): Data Fault in component: NAL9602
2021-03-25T00:01:35.533Z,1616630495.533 [NAL9602](INFO): Powering down
2021-03-25T00:01:35.575Z,1616630495.575 [CommandLine](FAULT): Scheduling is paused for 5 commands
2021-03-25T00:01:35.575Z,1616630495.575 [CBIT](INFO): Critical error at 20210325T000135
2021-03-25T00:03:29.869Z,1616630609.869 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-24T23:58:29.7Z
2021-03-25T00:03:29.870Z,1616630609.870 [Default:CheckIn:Read_GPS] Stopped
2021-03-25T00:03:29.870Z,1616630609.870 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-25T00:03:35.214Z,1616630615.214 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-25T00:03:35.215Z,1616630615.215 [NAL9602] No Fault, FailCount= 5
2021-03-25T00:03:35.513Z,1616630615.513 [NAL9602](INFO): Powering up NAL9602
2021-03-25T00:03:37.216Z,1616630617.216 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20210324T221239/Courier0061.lzma
2021-03-25T00:03:38.218Z,1616630618.218 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0061.lzma.bak
2021-03-25T00:03:38.218Z,1616630618.218 [DataOverHttps](INFO): SBD MOMSN=15446060
2021-03-25T00:03:46.425Z,1616630626.425 [NAL9602](INFO): NAL9602 initialized
2021-03-25T00:03:52.816Z,1616630632.816 [DataOverHttps](INFO): Sending 183 bytes from file Logs/20210324T221239/Express0062.lzma
2021-03-25T00:03:53.818Z,1616630633.818 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0062.lzma.bak
2021-03-25T00:03:53.818Z,1616630633.818 [DataOverHttps](INFO): SBD MOMSN=15446063
2021-03-25T00:03:55.737Z,1616630635.737 [Default:CheckIn:Read_Iridium] Stopped
2021-03-25T00:03:55.737Z,1616630635.737 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-25T00:03:55.737Z,1616630635.737 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-25T00:04:25.251Z,1616630665.251 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 37
2021-03-25T00:04:25.251Z,1616630665.251 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-25T00:04:25.261Z,1616630665.261 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-25T00:04:25.654Z,1616630665.654 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-25T00:04:25.655Z,1616630665.655 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 37
2021-03-25T00:07:26.223Z,1616630846.223 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 38
2021-03-25T00:07:26.223Z,1616630846.223 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-25T00:07:26.249Z,1616630846.249 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-25T00:07:26.643Z,1616630846.643 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-25T00:07:26.643Z,1616630846.643 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 38
2021-03-25T00:08:56.319Z,1616630936.319 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-03-25T00:08:56.319Z,1616630936.319 [Default:CheckIn:C.Wait] Stopped
2021-03-25T00:08:56.319Z,1616630936.319 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-25T00:08:56.319Z,1616630936.319 [Default:CheckIn:D] Running Loop=1
2021-03-25T00:08:56.719Z,1616630936.719 [Default:CheckIn:D] Stopped
2021-03-25T00:08:56.719Z,1616630936.719 [Default:CheckIn:E] Running Loop=1
2021-03-25T00:08:57.145Z,1616630937.145 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 31.901628 min 
2021-03-25T00:08:57.145Z,1616630937.145 [Default:CheckIn:E] Stopped
2021-03-25T00:08:57.145Z,1616630937.145 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-03-25T00:08:57.145Z,1616630937.145 [Default:CheckIn] Stopped
2021-03-25T00:08:57.145Z,1616630937.145 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-25T00:08:57.146Z,1616630937.146 [Default:CheckIn](INFO): Running loop #4
2021-03-25T00:08:57.146Z,1616630937.146 [Default:CheckIn] Running Loop=4
2021-03-25T00:08:57.146Z,1616630937.146 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-03-25T00:08:57.146Z,1616630937.146 [Default:CheckIn:Read_GPS] Running Loop=1
2021-03-25T00:09:58.954Z,1616630998.954 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-03-25T00:10:27.230Z,1616631027.230 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 39
2021-03-25T00:10:27.230Z,1616631027.230 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-25T00:10:27.240Z,1616631027.240 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-25T00:10:27.658Z,1616631027.658 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-25T00:10:27.658Z,1616631027.658 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 39
2021-03-25T00:13:28.265Z,1616631208.265 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 40
2021-03-25T00:13:28.265Z,1616631208.265 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-03-25T00:13:28.275Z,1616631208.275 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-03-25T00:13:28.663Z,1616631208.663 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-03-25T00:13:28.663Z,1616631208.663 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 40
2021-03-25T00:13:48.842Z,1616631228.842 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-03-25T00:13:48.842Z,1616631228.842 [NAL9602] Data Fault, FailCount= 1
2021-03-25T00:13:48.842Z,1616631228.842 [NAL9602](ERROR): Data Fault
2021-03-25T00:13:48.867Z,1616631228.867 [CBIT](ERROR): Data Fault in component: NAL9602
2021-03-25T00:13:49.245Z,1616631229.245 [NAL9602](INFO): Powering down
2021-03-25T00:13:50.069Z,1616631230.069 [CBIT](INFO): Clearing failed state for component NAL9602
2021-03-25T00:13:50.069Z,1616631230.069 [NAL9602] No Fault, FailCount= 1
2021-03-25T00:13:57.343Z,1616631237.343 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-03-25T00:08:57.1Z
2021-03-25T00:13:57.344Z,1616631237.344 [Default:CheckIn:Read_GPS] Stopped
2021-03-25T00:13:57.344Z,1616631237.344 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-03-25T00:14:03.543Z,1616631243.543 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210324T221239/Courier0064.lzma
2021-03-25T00:14:04.546Z,1616631244.546 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Courier0064.lzma.bak
2021-03-25T00:14:04.546Z,1616631244.546 [DataOverHttps](INFO): SBD MOMSN=15446068
2021-03-25T00:14:19.545Z,1616631259.545 [NAL9602](INFO): Powering up NAL9602
2021-03-25T00:14:20.052Z,1616631260.052 [DataOverHttps](INFO): Sending 148 bytes from file Logs/20210324T221239/Express0065.lzma
2021-03-25T00:14:21.054Z,1616631261.054 [DataOverHttps](INFO): Moved sent file to Logs/20210324T221239/Express0065.lzma.bak
2021-03-25T00:14:21.054Z,1616631261.054 [DataOverHttps](INFO): SBD MOMSN=15446070
2021-03-25T00:14:22.799Z,1616631262.799 [Default:CheckIn:Read_Iridium] Stopped
2021-03-25T00:14:22.799Z,1616631262.799 [Default:CheckIn:C.Wait] Running Loop=1
2021-03-25T00:14:22.800Z,1616631262.800 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-03-25T00:14:30.458Z,1616631270.458 [NAL9602](INFO): NAL9602 initialized
2021-03-25T00:14:43.163Z,1616631283.163 [CommandLine](IMPORTANT): got command quit
2021-03-25T00:14:44.168Z,1616631284.168 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:44.169Z,1616631284.169 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.296Z,1616631284.296 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-03-25T00:14:44.296Z,1616631284.296 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.297Z,1616631284.297 [CommandLine](INFO): Join timeout helper Thread ID is 9014
2021-03-25T00:14:44.297Z,1616631284.297 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-03-25T00:14:44.297Z,1616631284.297 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.298Z,1616631284.298 [NavChartDb](INFO): Join timeout helper Thread ID is 9015
2021-03-25T00:14:44.364Z,1616631284.364 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:44.365Z,1616631284.365 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.376Z,1616631284.376 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2021-03-25T00:14:44.376Z,1616631284.376 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.377Z,1616631284.377 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 9016
2021-03-25T00:14:44.472Z,1616631284.472 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:44.473Z,1616631284.473 [WetLabsBB2FL](INFO): Powering down
2021-03-25T00:14:44.473Z,1616631284.473 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.476Z,1616631284.476 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2021-03-25T00:14:44.476Z,1616631284.476 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:44.477Z,1616631284.477 [CTD_Seabird](INFO): Join timeout helper Thread ID is 9017
2021-03-25T00:14:45.232Z,1616631285.232 [CTD_Seabird](INFO): Powering down
2021-03-25T00:14:45.244Z,1616631285.244 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:45.244Z,1616631285.244 [CTD_Seabird](INFO): Powering down
2021-03-25T00:14:45.256Z,1616631285.256 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:45.260Z,1616631285.260 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-03-25T00:14:45.260Z,1616631285.260 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:45.261Z,1616631285.261 [Radio_Surface](INFO): Join timeout helper Thread ID is 9018
2021-03-25T00:14:45.560Z,1616631285.560 [Radio_Surface](INFO): Powering down
2021-03-25T00:14:45.561Z,1616631285.561 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:45.561Z,1616631285.561 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:45.569Z,1616631285.569 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-03-25T00:14:45.569Z,1616631285.569 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:45.570Z,1616631285.570 [Onboard](INFO): Join timeout helper Thread ID is 9019
2021-03-25T00:14:46.436Z,1616631286.436 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-03-25T00:14:50.036Z,1616631290.036 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:50.037Z,1616631290.037 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.049Z,1616631290.049 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-03-25T00:14:50.049Z,1616631290.049 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.049Z,1616631290.049 [DataOverHttps](INFO): Join timeout helper Thread ID is 9020
2021-03-25T00:14:50.452Z,1616631290.452 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:50.453Z,1616631290.453 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.469Z,1616631290.469 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2021-03-25T00:14:50.469Z,1616631290.469 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.469Z,1616631290.469 [BackseatComponent](INFO): Join timeout helper Thread ID is 9021
2021-03-25T00:14:50.533Z,1616631290.533 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:50.533Z,1616631290.533 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.549Z,1616631290.549 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-03-25T00:14:50.549Z,1616631290.549 [logger ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.549Z,1616631290.549 [logger](INFO): Join timeout helper Thread ID is 9022
2021-03-25T00:14:50.584Z,1616631290.584 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:50.585Z,1616631290.585 [logger ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.589Z,1616631290.589 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-03-25T00:14:50.589Z,1616631290.589 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.589Z,1616631290.589 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-03-25T00:14:50.589Z,1616631290.589 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.590Z,1616631290.590 [controlThread](INFO): Join timeout helper Thread ID is 9023
2021-03-25T00:14:50.645Z,1616631290.645 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-03-25T00:14:50.646Z,1616631290.646 [controlThread](DEBUG): Uninitializing ControlThread
2021-03-25T00:14:50.646Z,1616631290.646 [AHRS_M2](INFO): Powering down
2021-03-25T00:14:50.717Z,1616631290.717 [NAL9602](INFO): Powering down
2021-03-25T00:14:50.788Z,1616631290.788 [RDI_Pathfinder](INFO): Powering down
2021-03-25T00:14:50.790Z,1616631290.790 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-03-25T00:14:50.791Z,1616631290.791 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-03-25T00:14:50.791Z,1616631290.791 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-03-25T00:14:50.792Z,1616631290.792 [MissionManager](INFO): Uninitializing Mission Default
2021-03-25T00:14:50.792Z,1616631290.792 [Default] Stopped
2021-03-25T00:14:50.792Z,1616631290.792 [Default](DEBUG): Aggregate::uninitialize Default
2021-03-25T00:14:50.792Z,1616631290.792 [Default:B.GoToSurface] Stopped
2021-03-25T00:14:50.792Z,1616631290.792 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-03-25T00:14:50.792Z,1616631290.792 [Default:CheckIn] Stopped
2021-03-25T00:14:50.792Z,1616631290.792 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-03-25T00:14:50.792Z,1616631290.792 [Default:CheckIn:C.Wait] Stopped
2021-03-25T00:14:50.792Z,1616631290.792 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-03-25T00:14:50.795Z,1616631290.795 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-03-25T00:14:50.795Z,1616631290.795 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-03-25T00:14:50.796Z,1616631290.796 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-03-25T00:14:50.797Z,1616631290.797 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-03-25T00:14:50.797Z,1616631290.797 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-03-25T00:14:50.797Z,1616631290.797 [BuoyancyServo](INFO): Powering down
2021-03-25T00:14:50.812Z,1616631290.812 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-03-25T00:14:50.812Z,1616631290.812 [ElevatorServo](INFO): Powering down
2021-03-25T00:14:50.813Z,1616631290.813 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-03-25T00:14:50.813Z,1616631290.813 [MassServo](INFO): Powering down
2021-03-25T00:14:50.814Z,1616631290.814 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-03-25T00:14:50.814Z,1616631290.814 [RudderServo](INFO): Powering down
2021-03-25T00:14:50.815Z,1616631290.815 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-03-25T00:14:50.815Z,1616631290.815 [ThrusterServo](INFO): Powering down
2021-03-25T00:14:50.816Z,1616631290.816 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-03-25T00:14:50.816Z,1616631290.816 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-03-25T00:14:50.817Z,1616631290.817 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-03-25T00:14:50.817Z,1616631290.817 [CBIT](DEBUG): Powering off loads.
2021-03-25T00:14:50.828Z,1616631290.828 [CBIT](DEBUG): Disabling WDT.
2021-03-25T00:14:50.840Z,1616631290.840 [CBIT](DEBUG): Opening all GF detection circuits.
2021-03-25T00:14:50.841Z,1616631290.841 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.900Z,1616631290.900 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.902Z,1616631290.902 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.908Z,1616631290.908 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:50.954Z,1616631290.954 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:51.007Z,1616631291.007 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:51.010Z,1616631291.010 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:51.018Z,1616631291.018 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-03-25T00:14:51.079Z,1616631291.079 [logger ThreadHandler](INFO): Thread cancelled.