2021-08-31T18:48:29.794Z,1630435709.794 [Supervisor](DEBUG): Initializing supervisor.
2021-08-31T18:48:29.799Z,1630435709.799 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-31T18:48:29.799Z,1630435709.799 [SyncHandler](INFO): Protected caller Thread ID is 719
2021-08-31T18:48:29.800Z,1630435709.800 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-31T18:48:29.801Z,1630435709.801 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-31T18:48:29.801Z,1630435709.801 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 720
2021-08-31T18:48:29.805Z,1630435709.805 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-31T18:48:29.824Z,1630435709.824 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-08-31T18:48:29.825Z,1630435709.825 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-31T18:48:29.825Z,1630435709.825 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 721
2021-08-31T18:48:29.829Z,1630435709.829 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-31T18:48:29.830Z,1630435709.830 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-31T18:48:29.831Z,1630435709.831 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 722
2021-08-31T18:48:29.833Z,1630435709.833 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-31T18:48:29.834Z,1630435709.834 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-08-31T18:48:29.834Z,1630435709.834 [logger ThreadHandler](INFO): Protected caller Thread ID is 723
2021-08-31T18:48:29.838Z,1630435709.838 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-31T18:48:29.838Z,1630435709.838 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-31T18:48:29.840Z,1630435709.840 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-31T18:48:29.937Z,1630435709.937 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-31T18:48:29.938Z,1630435709.938 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-31T18:48:30.529Z,1630435710.529 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-31T18:48:30.529Z,1630435710.529 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-31T18:48:30.752Z,1630435710.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-31T18:48:30.752Z,1630435710.752 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-31T18:48:30.836Z,1630435710.836 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-31T18:48:30.964Z,1630435710.964 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-31T18:48:30.965Z,1630435710.965 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-31T18:48:31.050Z,1630435711.050 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-31T18:48:31.161Z,1630435711.161 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-31T18:48:31.161Z,1630435711.161 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-31T18:48:31.612Z,1630435711.612 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-31T18:48:31.612Z,1630435711.612 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-31T18:48:32.132Z,1630435712.132 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-31T18:48:32.133Z,1630435712.133 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-31T18:48:32.283Z,1630435712.283 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-31T18:48:32.284Z,1630435712.284 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-31T18:48:32.476Z,1630435712.476 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-31T18:48:32.477Z,1630435712.477 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-31T18:48:32.919Z,1630435712.919 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-31T18:48:32.920Z,1630435712.920 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-31T18:48:33.161Z,1630435713.161 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-31T18:48:33.162Z,1630435713.162 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-31T18:48:33.368Z,1630435713.368 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-31T18:48:33.368Z,1630435713.368 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-31T18:48:33.725Z,1630435713.725 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-31T18:48:33.726Z,1630435713.726 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-31T18:48:34.079Z,1630435714.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-31T18:48:34.081Z,1630435714.081 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2021-08-31T18:48:34.081Z,1630435714.081 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2021-08-31T18:48:34.167Z,1630435714.167 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2021-08-31T18:48:34.323Z,1630435714.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2021-08-31T18:48:34.435Z,1630435714.435 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2021-08-31T18:48:34.572Z,1630435714.572 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2021-08-31T18:48:34.946Z,1630435714.946 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2021-08-31T18:48:35.135Z,1630435715.135 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2021-08-31T18:48:35.395Z,1630435715.395 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-31T18:48:35.396Z,1630435715.396 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2021-08-31T18:48:35.492Z,1630435715.492 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2021-08-31T18:48:35.593Z,1630435715.593 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2021-08-31T18:48:35.735Z,1630435715.735 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2021-08-31T18:48:35.837Z,1630435715.837 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/root/
2021-08-31T18:48:35.837Z,1630435715.837 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-31T18:48:35.846Z,1630435715.846 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-31T18:48:35.942Z,1630435715.942 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-31T18:48:35.942Z,1630435715.942 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-31T18:48:35.996Z,1630435715.996 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-31T18:48:36.056Z,1630435716.056 [VerticalControl] Loaded
2021-08-31T18:48:36.057Z,1630435716.057 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-31T18:48:36.059Z,1630435716.059 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-31T18:48:36.097Z,1630435716.097 [HorizontalControl] Loaded
2021-08-31T18:48:36.097Z,1630435716.097 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-31T18:48:36.099Z,1630435716.099 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-31T18:48:36.102Z,1630435716.102 [SpeedControl] Loaded
2021-08-31T18:48:36.103Z,1630435716.103 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-31T18:48:36.105Z,1630435716.105 [LoopControl](DEBUG): Construct LoopControl.
2021-08-31T18:48:36.106Z,1630435716.106 [LoopControl] Loaded
2021-08-31T18:48:36.106Z,1630435716.106 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-31T18:48:36.106Z,1630435716.106 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-31T18:48:36.107Z,1630435716.107 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-31T18:48:36.151Z,1630435716.151 [DepthRateCalculator] Loaded
2021-08-31T18:48:36.151Z,1630435716.151 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-31T18:48:36.155Z,1630435716.155 [PitchRateCalculator] Loaded
2021-08-31T18:48:36.156Z,1630435716.156 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-31T18:48:36.165Z,1630435716.165 [SpeedCalculator] Loaded
2021-08-31T18:48:36.166Z,1630435716.166 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-31T18:48:36.179Z,1630435716.179 [TempGradientCalculator] Loaded
2021-08-31T18:48:36.179Z,1630435716.179 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-31T18:48:36.184Z,1630435716.184 [YawRateCalculator] Loaded
2021-08-31T18:48:36.184Z,1630435716.184 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-31T18:48:36.200Z,1630435716.200 [ElevatorOffsetCalculator] Loaded
2021-08-31T18:48:36.201Z,1630435716.201 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-31T18:48:36.201Z,1630435716.201 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-31T18:48:36.202Z,1630435716.202 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-31T18:48:36.230Z,1630435716.230 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-31T18:48:36.230Z,1630435716.230 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-31T18:48:36.291Z,1630435716.291 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-31T18:48:36.292Z,1630435716.292 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-31T18:48:36.612Z,1630435716.612 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-31T18:48:36.612Z,1630435716.612 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-31T18:48:36.718Z,1630435716.718 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-31T18:48:36.719Z,1630435716.719 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-31T18:48:37.090Z,1630435717.090 [AHRS_M2] Loaded
2021-08-31T18:48:37.090Z,1630435717.090 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-08-31T18:48:37.120Z,1630435717.120 [BackseatComponent] Loaded
2021-08-31T18:48:37.120Z,1630435717.120 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-08-31T18:48:37.121Z,1630435717.121 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4093A4E0
2021-08-31T18:48:37.121Z,1630435717.121 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 813
2021-08-31T18:48:37.124Z,1630435717.124 [LcmUniversalReporter] Loaded
2021-08-31T18:48:37.125Z,1630435717.125 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-08-31T18:48:37.888Z,1630435717.888 [BPC1] Loaded
2021-08-31T18:48:37.888Z,1630435717.888 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-31T18:48:37.959Z,1630435717.959 [DataOverHttps] Loaded
2021-08-31T18:48:37.959Z,1630435717.959 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-31T18:48:37.960Z,1630435717.960 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4096A4E0
2021-08-31T18:48:37.960Z,1630435717.960 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 814
2021-08-31T18:48:37.979Z,1630435717.979 [Depth_Keller] Loaded
2021-08-31T18:48:37.980Z,1630435717.980 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-31T18:48:38.038Z,1630435718.038 [NAL9602] Loaded
2021-08-31T18:48:38.039Z,1630435718.039 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-31T18:48:38.067Z,1630435718.067 [Onboard] Loaded
2021-08-31T18:48:38.068Z,1630435718.068 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-31T18:48:38.069Z,1630435718.069 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4099A4E0
2021-08-31T18:48:38.069Z,1630435718.069 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 815
2021-08-31T18:48:38.082Z,1630435718.082 [Power24vConverter] Loaded
2021-08-31T18:48:38.082Z,1630435718.082 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-31T18:48:38.094Z,1630435718.094 [Radio_Surface] Loaded
2021-08-31T18:48:38.095Z,1630435718.095 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-31T18:48:38.096Z,1630435718.096 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409CA4E0
2021-08-31T18:48:38.096Z,1630435718.096 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 817
2021-08-31T18:48:38.097Z,1630435718.097 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-31T18:48:38.097Z,1630435718.097 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-31T18:48:38.177Z,1630435718.177 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-31T18:48:38.177Z,1630435718.177 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-31T18:48:38.190Z,1630435718.190 [NavChart] Loaded
2021-08-31T18:48:38.190Z,1630435718.190 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-31T18:48:38.196Z,1630435718.196 [UniversalFixResidualReporter] Loaded
2021-08-31T18:48:38.196Z,1630435718.196 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-31T18:48:38.197Z,1630435718.197 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-31T18:48:38.197Z,1630435718.197 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-31T18:48:38.342Z,1630435718.342 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-31T18:48:38.352Z,1630435718.352 [SBIT] Loaded
2021-08-31T18:48:38.352Z,1630435718.352 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-31T18:48:38.355Z,1630435718.355 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-31T18:48:38.367Z,1630435718.367 [IBIT] Loaded
2021-08-31T18:48:38.368Z,1630435718.368 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-31T18:48:38.373Z,1630435718.373 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-31T18:48:38.471Z,1630435718.471 [CBIT] Loaded
2021-08-31T18:48:38.471Z,1630435718.471 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-31T18:48:38.471Z,1630435718.471 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-31T18:48:38.472Z,1630435718.472 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-31T18:48:38.601Z,1630435718.601 [BuoyancyServo] Loaded
2021-08-31T18:48:38.601Z,1630435718.601 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-31T18:48:38.621Z,1630435718.621 [ElevatorServo] Loaded
2021-08-31T18:48:38.621Z,1630435718.621 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-31T18:48:38.640Z,1630435718.640 [MassServo] Loaded
2021-08-31T18:48:38.640Z,1630435718.640 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-31T18:48:38.657Z,1630435718.657 [RudderServo] Loaded
2021-08-31T18:48:38.658Z,1630435718.658 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-31T18:48:38.675Z,1630435718.675 [ThrusterServo] Loaded
2021-08-31T18:48:38.675Z,1630435718.675 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-31T18:48:38.676Z,1630435718.676 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-31T18:48:38.676Z,1630435718.676 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-31T18:48:38.687Z,1630435718.687 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-31T18:48:38.688Z,1630435718.688 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-31T18:48:38.863Z,1630435718.863 [CTD_Seabird] Loaded
2021-08-31T18:48:38.863Z,1630435718.863 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-08-31T18:48:38.864Z,1630435718.864 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40B024E0
2021-08-31T18:48:38.864Z,1630435718.864 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 818
2021-08-31T18:48:38.884Z,1630435718.884 [PAR_Licor] Loaded
2021-08-31T18:48:38.885Z,1630435718.885 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-08-31T18:48:38.917Z,1630435718.917 [WetLabsBB2FL] Loaded
2021-08-31T18:48:38.917Z,1630435718.917 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2021-08-31T18:48:38.918Z,1630435718.918 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40B324E0
2021-08-31T18:48:38.919Z,1630435718.919 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 819
2021-08-31T18:48:38.940Z,1630435718.940 [WetLabsUBAT] Loaded
2021-08-31T18:48:38.940Z,1630435718.940 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2021-08-31T18:48:38.941Z,1630435718.941 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40B624E0
2021-08-31T18:48:38.941Z,1630435718.941 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 820
2021-08-31T18:48:38.942Z,1630435718.942 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-31T18:48:38.948Z,1630435718.948 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-31T18:48:38.951Z,1630435718.951 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-31T18:48:38.961Z,1630435718.961 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-31T18:48:38.962Z,1630435718.962 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B924E0
2021-08-31T18:48:38.963Z,1630435718.963 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 821
2021-08-31T18:48:38.967Z,1630435718.967 [Supervisor](INFO): Main Thread ID is 718
2021-08-31T18:48:38.967Z,1630435718.967 [Supervisor](DEBUG): Running supervisor.
2021-08-31T18:48:38.968Z,1630435718.968 [CommandExec ThreadHandler](INFO): Handler Thread ID is 822
2021-08-31T18:48:38.970Z,1630435718.970 [CommandLine ThreadHandler](INFO): Handler Thread ID is 824
2021-08-31T18:48:38.974Z,1630435718.974 [controlThread ThreadHandler](INFO): Handler Thread ID is 825
2021-08-31T18:48:38.974Z,1630435718.974 [controlThread](DEBUG): Initializing ControlThread
2021-08-31T18:48:38.975Z,1630435718.975 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-31T18:48:38.977Z,1630435718.977 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-31T18:48:38.978Z,1630435718.978 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-31T18:48:38.978Z,1630435718.978 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-31T18:48:38.979Z,1630435718.979 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-31T18:48:38.979Z,1630435718.979 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-31T18:48:38.979Z,1630435718.979 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-31T18:48:38.980Z,1630435718.980 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-31T18:48:38.980Z,1630435718.980 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-31T18:48:38.981Z,1630435718.981 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-31T18:48:38.984Z,1630435718.984 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-31T18:48:38.984Z,1630435718.984 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-31T18:48:38.985Z,1630435718.985 [SBIT](INFO): Initialize SBIT Component.
2021-08-31T18:48:38.985Z,1630435718.985 [SBIT](IMPORTANT): git: 2021-08-30-6-g61bf5266b
2021-08-31T18:48:38.985Z,1630435718.985 [SBIT](INFO): git hash: 61bf5266b91d9fcf3990540d3edc62f9110dafe5
2021-08-31T18:48:38.986Z,1630435718.986 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-31T18:48:38.987Z,1630435718.987 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
Kernel Reported: #1 PREEMPT Wed Mar 17 08:23:48 PDT 2021
2021-08-31T18:48:38.988Z,1630435718.988 [SBIT](INFO): Beginning SBIT in 50.000000 seconds.
2021-08-31T18:48:38.989Z,1630435718.989 [IBIT](INFO): Initialize IBIT Component.
2021-08-31T18:48:38.989Z,1630435718.989 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-31T18:48:38.990Z,1630435718.990 [logger ThreadHandler](INFO): Handler Thread ID is 826
2021-08-31T18:48:39.002Z,1630435719.002 [CBIT](DEBUG): Initialized mux pins.
2021-08-31T18:48:39.003Z,1630435719.003 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-31T18:48:39.011Z,1630435719.011 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 827
2021-08-31T18:48:39.023Z,1630435719.023 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 828
2021-08-31T18:48:39.024Z,1630435719.024 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2021-08-31T18:48:39.027Z,1630435719.027 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-31T18:48:39.027Z,1630435719.027 [CBIT](DEBUG): Initializing heartbeat.
2021-08-31T18:48:39.035Z,1630435719.035 [Onboard ThreadHandler](INFO): Handler Thread ID is 829
2021-08-31T18:48:39.052Z,1630435719.052 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 830
2021-08-31T18:48:39.075Z,1630435719.075 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 831
2021-08-31T18:48:39.076Z,1630435719.076 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-08-31T18:48:39.080Z,1630435719.080 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 833
2021-08-31T18:48:39.083Z,1630435719.083 [WetLabsBB2FL](INFO): Powering up
2021-08-31T18:48:39.084Z,1630435719.084 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 837
2021-08-31T18:48:39.087Z,1630435719.087 [WetLabsUBAT](INFO): Powering up
2021-08-31T18:48:39.088Z,1630435719.088 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 839
2021-08-31T18:48:39.092Z,1630435719.092 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-31T18:48:39.092Z,1630435719.092 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-31T18:48:39.092Z,1630435719.092 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-31T18:48:39.092Z,1630435719.092 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-31T18:48:39.093Z,1630435719.093 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-31T18:48:39.093Z,1630435719.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-31T18:48:39.093Z,1630435719.093 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-31T18:48:39.093Z,1630435719.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-31T18:48:39.093Z,1630435719.093 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-31T18:48:39.093Z,1630435719.093 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-31T18:48:39.094Z,1630435719.094 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-31T18:48:39.094Z,1630435719.094 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-31T18:48:39.094Z,1630435719.094 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-31T18:48:39.094Z,1630435719.094 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-31T18:48:39.094Z,1630435719.094 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-31T18:48:39.095Z,1630435719.095 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-31T18:48:39.098Z,1630435719.098 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-31T18:48:39.099Z,1630435719.099 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-31T18:48:39.134Z,1630435719.134 [CBIT](DEBUG): Backplane powered.
2021-08-31T18:48:39.139Z,1630435719.139 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-08-31T18:48:39.167Z,1630435719.167 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-31T18:48:39.199Z,1630435719.199 [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>


2021-08-31T18:48:39.199Z,1630435719.199 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2021-08-31T18:48:39.267Z,1630435719.267 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-31T18:48:39.268Z,1630435719.268 [Default:A.Wait](DEBUG): Construct Wait.
2021-08-31T18:48:39.280Z,1630435719.280 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-31T18:48:39.354Z,1630435719.354 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-31T18:48:39.357Z,1630435719.357 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-31T18:48:39.375Z,1630435719.375 [Default:E.Execute](DEBUG): Construct Execute.
2021-08-31T18:48:39.378Z,1630435719.378 [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>


2021-08-31T18:48:39.391Z,1630435719.391 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,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,
2021-08-31T18:48:39.403Z,1630435719.403 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-08-31T18:48:39.459Z,1630435719.459 [Radio_Surface](INFO): Powering up
2021-08-31T18:48:39.477Z,1630435719.477 [Power24vConverter](INFO): Powering up.
2021-08-31T18:48:39.602Z,1630435719.602 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-31T18:48:39.611Z,1630435719.611 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-31T18:48:39.612Z,1630435719.612 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-31T18:48:39.619Z,1630435719.619 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-31T18:48:39.620Z,1630435719.620 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-31T18:48:39.627Z,1630435719.627 [MassServo](DEBUG): Initializing MassServo.
2021-08-31T18:48:39.628Z,1630435719.628 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-31T18:48:39.635Z,1630435719.635 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-31T18:48:39.636Z,1630435719.636 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-31T18:48:39.643Z,1630435719.643 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-31T18:48:40.543Z,1630435720.543 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-08-31T18:48:40.543Z,1630435720.543 [RudderServo](FAULT): Rudder failed to initialize
2021-08-31T18:48:40.543Z,1630435720.543 [RudderServo] Communications Fault, FailCount= 1
2021-08-31T18:48:40.543Z,1630435720.543 [RudderServo](ERROR): Communications Fault
2021-08-31T18:48:40.643Z,1630435720.643 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-08-31T18:48:40.812Z,1630435720.812 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-08-31T18:48:40.812Z,1630435720.812 [RudderServo](INFO): Powering down
2021-08-31T18:48:41.520Z,1630435721.520 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-31T18:48:41.639Z,1630435721.639 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-31T18:48:41.644Z,1630435721.644 [CBIT](INFO): Clearing failed state for component RudderServo
2021-08-31T18:48:41.644Z,1630435721.644 [RudderServo] No Fault, FailCount= 1
2021-08-31T18:48:41.695Z,1630435721.695 [WetLabsBB2FL](INFO): Powering down
2021-08-31T18:48:46.107Z,1630435726.107 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2021-08-31T18:48:48.351Z,1630435728.351 [WetLabsUBAT](INFO): Powering down
2021-08-31T18:48:52.517Z,1630435732.517 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004711
2021-08-31T18:49:08.128Z,1630435748.128 [NAL9602](INFO): Powering up NAL9602
2021-08-31T18:49:19.040Z,1630435759.040 [NAL9602](INFO): NAL9602 initialized
2021-08-31T18:49:21.423Z,1630435761.423 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T18:49:21.423Z,1630435761.423 [CommandExec](IMPORTANT): Failed components:
2021-08-31T18:49:21.424Z,1630435761.424 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T18:49:29.593Z,1630435769.593 [SBIT](IMPORTANT): Beginning Startup BIT
2021-08-31T18:49:29.597Z,1630435769.597 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-31T18:49:40.560Z,1630435780.560 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.000607
CHAN A1 (24V): -0.167390
CHAN A2 (12V): -0.007417
CHAN A3 (5V): -0.001750
CHAN B0 (3.3V): 0.000556
CHAN B1 (3.15aV): 0.000237
CHAN B2 (3.15bV): -0.000216
CHAN B3 (GND): 0.001725
OPEN: 0.003629
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-31T18:50:10.264Z,1630435810.264 [CommandExec](IMPORTANT): got command failComponent segfault CommandExec
2021-08-31T18:50:10.264Z,1630435810.264 [CommandExec](IMPORTANT): CommandExec failureMode is No Fault
2021-08-31T18:50:10.303Z,1630435810.303 [CommandExec](FAULT): Segfault Requested!
2021-08-31T18:50:10.351Z,1630435810.351 [CommandExec](CRITICAL): SIGSEGV: address not mapped to object
2021-08-31T18:50:10.351Z,1630435810.351 [CommandExec] Software Fault, FailCount= 1
2021-08-31T18:50:10.351Z,1630435810.351 [CommandExec](ERROR): Software Fault
2021-08-31T18:50:10.393Z,1630435810.393 [CommandExec](FAULT): Scheduling is paused
2021-08-31T18:50:10.393Z,1630435810.393 [CBIT](INFO): Critical error at 20210831T185010
2021-08-31T18:50:10.393Z,1630435810.393 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-08-31T18:50:10.396Z,1630435810.396 [CBIT](ERROR): Software Fault in component: CommandExec
2021-08-31T18:50:10.397Z,1630435810.397 [CBIT](CRITICAL): Software Fault in component: CommandExec
2021-08-31T18:50:10.759Z,1630435810.759 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-31T18:50:10.759Z,1630435810.759 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 867
2021-08-31T18:50:10.759Z,1630435810.759 [CommandExec](INFO): Uninitializing the command scheduler.
2021-08-31T18:50:10.779Z,1630435810.779 [CBIT](INFO): Critical error at 20210831T185010
2021-08-31T18:50:15.640Z,1630435815.640 [CBIT](INFO): Clearing failed state for component CommandExec
2021-08-31T18:50:15.640Z,1630435815.640 [CommandExec] No Fault, FailCount= 1
2021-08-31T18:50:16.015Z,1630435816.015 [CommandExec](INFO): Initializing Scheduler.
2021-08-31T18:50:19.191Z,1630435819.191 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T18:50:19.191Z,1630435819.191 [CommandExec](IMPORTANT): Failed components:
2021-08-31T18:50:19.191Z,1630435819.191 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T18:50:23.293Z,1630435823.293 [SBIT](IMPORTANT): SBIT PASSED
2021-08-31T18:50:23.293Z,1630435823.293 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-31T18:50:23.294Z,1630435823.294 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=6 count;

2021-08-31T18:50:23.294Z,1630435823.294 [SBIT](IMPORTANT): CBIT.gf24Offset=143 microampere;

2021-08-31T18:50:23.294Z,1630435823.294 [SBIT](IMPORTANT): DAT.loadAtStartup=0 bool;

2021-08-31T18:50:23.294Z,1630435823.294 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2021-08-31T18:50:23.295Z,1630435823.295 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=24 ampere_hour;

2021-08-31T18:50:23.295Z,1630435823.295 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=13 volt;

2021-08-31T18:50:23.295Z,1630435823.295 [SBIT](IMPORTANT): RDI_Pathfinder.loadAtStartup=0 bool;

2021-08-31T18:50:23.295Z,1630435823.295 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=195 cubic_centimeter;

2021-08-31T18:50:23.295Z,1630435823.295 [SBIT](IMPORTANT): VerticalControl.massDefault=7.7 millimeter;

2021-08-31T18:50:23.703Z,1630435823.703 [MissionManager](IMPORTANT): Started mission Startup
2021-08-31T18:50:23.703Z,1630435823.703 [Startup] Running Loop=1
2021-08-31T18:50:23.703Z,1630435823.703 [Startup](DEBUG): Aggregate::initialize Startup
2021-08-31T18:50:23.703Z,1630435823.703 [Startup:A.GoToSurface] Running Loop=1
2021-08-31T18:50:23.703Z,1630435823.703 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-31T18:50:23.704Z,1630435823.704 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-31T18:50:23.704Z,1630435823.704 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-31T18:50:23.705Z,1630435823.705 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-31T18:50:23.705Z,1630435823.705 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-31T18:50:23.705Z,1630435823.705 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-31T18:50:23.707Z,1630435823.707 [Startup:StartupSatComms] Running Loop=1
2021-08-31T18:50:23.708Z,1630435823.708 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-08-31T18:50:23.708Z,1630435823.708 [Startup:StartupSatComms:A] Running Loop=1
2021-08-31T18:50:24.102Z,1630435824.102 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-08-31T18:50:26.300Z,1630435826.300 [CommandExec](IMPORTANT): got command schedule "stop"
2021-08-31T18:50:26.301Z,1630435826.301 [CommandExec](IMPORTANT): Scheduled #1: "stop", AFTER MISSION
2021-08-31T18:50:26.351Z,1630435826.351 [CommandExec](IMPORTANT): got command stop
2021-08-31T18:50:26.352Z,1630435826.352 [CommandExec](IMPORTANT): Scheduling is paused
2021-08-31T18:50:32.196Z,1630435832.196 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T18:50:32.196Z,1630435832.196 [CommandExec](IMPORTANT): Scheduling is resumed
2021-08-31T18:50:52.744Z,1630435852.744 [CommandExec](IMPORTANT): got command schedule pause
2021-08-31T18:50:52.744Z,1630435852.744 [CommandExec](IMPORTANT): Scheduling is paused
2021-08-31T18:50:57.459Z,1630435857.459 [CommandExec](IMPORTANT): got command schedule "stop"
2021-08-31T18:50:57.459Z,1630435857.459 [CommandExec](IMPORTANT): Scheduled #2: "stop", AFTER MISSION
2021-08-31T18:50:57.460Z,1630435857.460 [CommandExec](FAULT): Scheduling was paused by a command at 2021-08-31T18:50:52Z
2021-08-31T18:51:04.644Z,1630435864.644 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T18:51:04.644Z,1630435864.644 [CommandExec](IMPORTANT): Scheduling is resumed
2021-08-31T18:51:04.695Z,1630435864.695 [CommandExec](IMPORTANT): got command stop
2021-08-31T18:51:04.695Z,1630435864.695 [CommandExec](IMPORTANT): Scheduling is paused
2021-08-31T18:51:22.951Z,1630435882.951 [CommandExec](IMPORTANT): got command failComponent segfault CommandExec
2021-08-31T18:51:22.951Z,1630435882.951 [CommandExec](IMPORTANT): CommandExec failureMode is No Fault
2021-08-31T18:51:22.991Z,1630435882.991 [CommandExec](FAULT): Segfault Requested!
2021-08-31T18:51:23.012Z,1630435883.012 [CommandExec](CRITICAL): SIGSEGV: address not mapped to object
2021-08-31T18:51:23.012Z,1630435883.012 [CommandExec] Software Fault, FailCount= 1
2021-08-31T18:51:23.012Z,1630435883.012 [CommandExec](ERROR): Software Fault
2021-08-31T18:51:23.082Z,1630435883.082 [CommandExec](FAULT): Scheduling is paused
2021-08-31T18:51:23.095Z,1630435883.095 [CBIT](INFO): Critical error at 20210831T185123
2021-08-31T18:51:23.103Z,1630435883.103 [CBIT](ERROR): Software Fault in component: CommandExec
2021-08-31T18:51:23.103Z,1630435883.103 [CBIT](CRITICAL): Software Fault in component: CommandExec
2021-08-31T18:51:23.431Z,1630435883.431 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-31T18:51:23.431Z,1630435883.431 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 869
2021-08-31T18:51:23.431Z,1630435883.431 [CommandExec](INFO): Uninitializing the command scheduler.
2021-08-31T18:51:23.542Z,1630435883.542 [CBIT](INFO): Critical error at 20210831T185123
2021-08-31T18:51:23.913Z,1630435883.913 [Startup:StartupSatComms:A](INFO): Timed out from 2021-08-31T18:50:23.7Z
2021-08-31T18:51:23.913Z,1630435883.913 [Startup:StartupSatComms:A] Stopped
2021-08-31T18:51:23.913Z,1630435883.913 [Startup:StartupSatComms:B] Running Loop=1
2021-08-31T18:51:24.301Z,1630435884.301 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-31T18:51:28.399Z,1630435888.399 [CBIT](INFO): Clearing failed state for component CommandExec
2021-08-31T18:51:28.399Z,1630435888.399 [CommandExec] No Fault, FailCount= 1
2021-08-31T18:51:28.699Z,1630435888.699 [CommandExec](INFO): Initializing Scheduler.
2021-08-31T18:51:36.094Z,1630435896.094 [DataOverHttps](INFO): Sending 105 bytes from file Logs/20210831T030919/Courier0019.lzma
2021-08-31T18:51:37.097Z,1630435897.097 [DataOverHttps](INFO): Moved sent file to Logs/20210831T030919/Courier0019.lzma.bak
2021-08-31T18:51:37.097Z,1630435897.097 [DataOverHttps](INFO): SBD MOMSN=15904574
2021-08-31T18:51:39.367Z,1630435899.367 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2021-08-31T18:51:39.367Z,1630435899.367 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T18:51:39.417Z,1630435899.417 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T18:51:39.784Z,1630435899.784 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T18:51:39.784Z,1630435899.784 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2021-08-31T18:51:55.251Z,1630435915.251 [DataOverHttps](INFO): Sending 267 bytes from file Logs/20210831T184829/Courier0000.lzma
2021-08-31T18:51:56.252Z,1630435916.252 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Courier0000.lzma.bak
2021-08-31T18:51:56.252Z,1630435916.252 [DataOverHttps](INFO): SBD MOMSN=15904577
2021-08-31T18:52:14.887Z,1630435934.887 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20210831T030919/Express0020.lzma
2021-08-31T18:52:15.888Z,1630435935.888 [DataOverHttps](INFO): Moved sent file to Logs/20210831T030919/Express0020.lzma.bak
2021-08-31T18:52:15.888Z,1630435935.888 [DataOverHttps](INFO): SBD MOMSN=15904584
2021-08-31T18:52:24.179Z,1630435944.179 [Startup:StartupSatComms:B](INFO): Timed out from 2021-08-31T18:51:23.9Z
2021-08-31T18:52:24.179Z,1630435944.179 [Startup:StartupSatComms:B] Stopped
2021-08-31T18:52:24.179Z,1630435944.179 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-08-31T18:52:24.179Z,1630435944.179 [Startup:StartupSatComms] Stopped
2021-08-31T18:52:24.179Z,1630435944.179 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-08-31T18:52:24.180Z,1630435944.180 [Startup](INFO): Completed Startup
2021-08-31T18:52:24.180Z,1630435944.180 [MissionManager](INFO): Startup is completed.
2021-08-31T18:52:24.180Z,1630435944.180 [MissionManager](INFO): Uninitializing Mission Startup
2021-08-31T18:52:24.181Z,1630435944.181 [Startup] Stopped
2021-08-31T18:52:24.181Z,1630435944.181 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-08-31T18:52:24.181Z,1630435944.181 [Startup:A.GoToSurface] Stopped
2021-08-31T18:52:24.181Z,1630435944.181 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-31T18:52:24.593Z,1630435944.593 [MissionManager](IMPORTANT): Started mission Default
2021-08-31T18:52:24.593Z,1630435944.593 [Default] Running Loop=1
2021-08-31T18:52:24.593Z,1630435944.593 [Default](DEBUG): Aggregate::initialize Default
2021-08-31T18:52:24.593Z,1630435944.593 [Default:B.GoToSurface] Running Loop=1
2021-08-31T18:52:24.593Z,1630435944.593 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-31T18:52:24.594Z,1630435944.594 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-31T18:52:24.594Z,1630435944.594 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-31T18:52:24.594Z,1630435944.594 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-31T18:52:24.595Z,1630435944.595 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-31T18:52:24.595Z,1630435944.595 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-31T18:52:24.595Z,1630435944.595 [Default:A.Wait] Running Loop=1
2021-08-31T18:52:24.595Z,1630435944.595 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-08-31T18:52:32.785Z,1630435952.785 [DataOverHttps](INFO): Sending 1174 bytes from file Logs/20210831T184829/Express0001.lzma
2021-08-31T18:52:33.784Z,1630435953.784 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Express0001.lzma.bak
2021-08-31T18:52:33.784Z,1630435953.784 [DataOverHttps](INFO): SBD MOMSN=15904590
2021-08-31T18:52:37.925Z,1630435957.925 [Default:A.Wait](INFO): Done Waiting.
2021-08-31T18:52:37.925Z,1630435957.925 [Default:A.Wait] Stopped
2021-08-31T18:52:37.925Z,1630435957.925 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-31T18:52:38.320Z,1630435958.320 [Default:CheckIn] Running Loop=1
2021-08-31T18:52:38.320Z,1630435958.320 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-08-31T18:52:38.320Z,1630435958.320 [Default:CheckIn:Read_GPS] Running Loop=1
2021-08-31T18:52:38.720Z,1630435958.720 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-31T18:53:07.715Z,1630435987.715 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T18:53:07.715Z,1630435987.715 [CommandExec](IMPORTANT): Failed components:
2021-08-31T18:53:07.716Z,1630435987.716 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T18:53:25.174Z,1630436005.174 [NAL9602](INFO): SBD MO Status=2, MOMSN=16098, MT Status=2, MTMSN=0
2021-08-31T18:53:25.174Z,1630436005.174 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-31T18:53:35.610Z,1630436015.610 [CommandExec](IMPORTANT): got command failComponent segfault CommandLine
2021-08-31T18:53:35.611Z,1630436015.611 [CommandExec](IMPORTANT): CommandLine failureMode is No Fault
2021-08-31T18:53:47.843Z,1630436027.843 [CommandExec](IMPORTANT): got command load
2021-08-31T18:53:47.843Z,1630436027.843 [CommandExec](FAULT): Incomplete syntax. Try: help load
2021-08-31T18:53:51.543Z,1630436031.543 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T18:53:51.543Z,1630436031.543 [CommandExec](IMPORTANT): Failed components:
2021-08-31T18:53:51.543Z,1630436031.543 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T18:53:59.539Z,1630436039.539 [CommandExec](IMPORTANT): got command failComponent segfault CommandLine
2021-08-31T18:53:59.539Z,1630436039.539 [CommandExec](IMPORTANT): CommandLine failureMode is No Fault
2021-08-31T18:54:12.771Z,1630436052.771 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T18:54:12.771Z,1630436052.771 [CommandExec](IMPORTANT): Failed components:
2021-08-31T18:54:12.771Z,1630436052.771 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T18:54:22.136Z,1630436062.136 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2021-08-31T18:54:40.336Z,1630436080.336 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2021-08-31T18:54:40.336Z,1630436080.336 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T18:54:40.347Z,1630436080.347 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T18:54:40.764Z,1630436080.764 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T18:54:40.764Z,1630436080.764 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2021-08-31T18:54:44.390Z,1630436084.390 [CommandExec](IMPORTANT): got command failComponent segfault CommandExec
2021-08-31T18:54:44.390Z,1630436084.390 [CommandExec](IMPORTANT): CommandExec failureMode is No Fault
2021-08-31T18:54:44.419Z,1630436084.419 [CommandExec](FAULT): Segfault Requested!
2021-08-31T18:54:44.457Z,1630436084.457 [CommandExec](CRITICAL): SIGSEGV: address not mapped to object
2021-08-31T18:54:44.457Z,1630436084.457 [CommandExec] Software Fault, FailCount= 1
2021-08-31T18:54:44.457Z,1630436084.457 [CommandExec](ERROR): Software Fault
2021-08-31T18:54:44.501Z,1630436084.501 [CommandExec](FAULT): Scheduling is paused
2021-08-31T18:54:44.501Z,1630436084.501 [CBIT](INFO): Critical error at 20210831T185444
2021-08-31T18:54:44.520Z,1630436084.520 [CBIT](ERROR): Software Fault in component: CommandExec
2021-08-31T18:54:44.520Z,1630436084.520 [CBIT](CRITICAL): Software Fault in component: CommandExec
2021-08-31T18:54:44.779Z,1630436084.779 [CBIT](INFO): Critical error at 20210831T185444
2021-08-31T18:54:44.863Z,1630436084.863 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-31T18:54:44.863Z,1630436084.863 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 875
2021-08-31T18:54:44.863Z,1630436084.863 [CommandExec](INFO): Uninitializing the command scheduler.
2021-08-31T18:54:49.658Z,1630436089.658 [CBIT](INFO): Clearing failed state for component CommandExec
2021-08-31T18:54:49.662Z,1630436089.662 [CommandExec] No Fault, FailCount= 1
2021-08-31T18:54:49.711Z,1630436089.711 [CommandExec](INFO): Initializing Scheduler.
2021-08-31T18:56:07.182Z,1630436167.182 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-31T18:56:07.185Z,1630436167.185 [BPC1](INFO): Received data from all battery sticks.
2021-08-31T18:57:38.507Z,1630436258.507 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-08-31T18:52:38.3Z
2021-08-31T18:57:38.507Z,1630436258.507 [Default:CheckIn:Read_GPS] Stopped
2021-08-31T18:57:38.507Z,1630436258.507 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-08-31T18:57:38.917Z,1630436258.917 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-31T18:57:41.354Z,1630436261.354 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2021-08-31T18:57:41.354Z,1630436261.354 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T18:57:41.373Z,1630436261.373 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T18:57:41.783Z,1630436261.783 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T18:57:41.783Z,1630436261.783 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2021-08-31T18:57:45.635Z,1630436265.635 [DataOverHttps](INFO): Sending 249 bytes from file Logs/20210831T184829/Courier0004.lzma
2021-08-31T18:57:46.636Z,1630436266.636 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Courier0004.lzma.bak
2021-08-31T18:57:46.636Z,1630436266.636 [DataOverHttps](INFO): SBD MOMSN=15904640
2021-08-31T18:58:04.433Z,1630436284.433 [DataOverHttps](INFO): Sending 402 bytes from file Logs/20210831T184829/Express0005.lzma
2021-08-31T18:58:05.432Z,1630436285.432 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Express0005.lzma.bak
2021-08-31T18:58:05.433Z,1630436285.433 [DataOverHttps](INFO): SBD MOMSN=15904644
2021-08-31T18:58:08.036Z,1630436288.036 [Default:CheckIn:Read_Iridium] Stopped
2021-08-31T18:58:08.036Z,1630436288.036 [Default:CheckIn:C.Wait] Running Loop=1
2021-08-31T18:58:08.036Z,1630436288.036 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-31T18:58:40.323Z,1630436320.323 [Power24vConverter](INFO): Powering down.
2021-08-31T18:59:21.520Z,1630436361.520 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-08-31T18:59:21.520Z,1630436361.520 [NAL9602] Data Fault, FailCount= 1
2021-08-31T18:59:21.520Z,1630436361.520 [NAL9602](ERROR): Data Fault
2021-08-31T18:59:21.536Z,1630436361.536 [CBIT](ERROR): Data Fault in component: NAL9602
2021-08-31T18:59:21.924Z,1630436361.924 [NAL9602](INFO): Powering down
2021-08-31T18:59:22.756Z,1630436362.756 [CBIT](INFO): Clearing failed state for component NAL9602
2021-08-31T18:59:22.756Z,1630436362.756 [NAL9602] No Fault, FailCount= 1
2021-08-31T18:59:52.228Z,1630436392.228 [NAL9602](INFO): Powering up NAL9602
2021-08-31T19:00:03.136Z,1630436403.136 [NAL9602](INFO): NAL9602 initialized
2021-08-31T19:00:42.362Z,1630436442.362 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2021-08-31T19:00:42.362Z,1630436442.362 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:00:42.399Z,1630436442.399 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:00:42.776Z,1630436442.776 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:00:42.776Z,1630436442.776 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2021-08-31T19:03:08.628Z,1630436588.628 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-31T19:03:08.628Z,1630436588.628 [Default:CheckIn:C.Wait] Stopped
2021-08-31T19:03:08.628Z,1630436588.628 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-31T19:03:08.628Z,1630436588.628 [Default:CheckIn:D] Running Loop=1
2021-08-31T19:03:09.036Z,1630436589.036 [Default:CheckIn:D] Stopped
2021-08-31T19:03:09.036Z,1630436589.036 [Default:CheckIn:E] Running Loop=1
2021-08-31T19:03:09.417Z,1630436589.417 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.740715 min 
2021-08-31T19:03:09.417Z,1630436589.417 [Default:CheckIn:E] Stopped
2021-08-31T19:03:09.417Z,1630436589.417 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-08-31T19:03:09.417Z,1630436589.417 [Default:CheckIn] Stopped
2021-08-31T19:03:09.418Z,1630436589.418 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-08-31T19:03:09.418Z,1630436589.418 [Default:CheckIn](INFO): Running loop #2
2021-08-31T19:03:09.418Z,1630436589.418 [Default:CheckIn] Running Loop=2
2021-08-31T19:03:09.418Z,1630436589.418 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-08-31T19:03:09.418Z,1630436589.418 [Default:CheckIn:Read_GPS] Running Loop=1
2021-08-31T19:03:43.357Z,1630436623.357 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2021-08-31T19:03:43.357Z,1630436623.357 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:03:43.367Z,1630436623.367 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:03:43.775Z,1630436623.775 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:03:43.776Z,1630436623.776 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2021-08-31T19:06:44.343Z,1630436804.343 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2021-08-31T19:06:44.344Z,1630436804.344 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:06:44.354Z,1630436804.354 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:06:44.764Z,1630436804.764 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:06:44.764Z,1630436804.764 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2021-08-31T19:08:09.588Z,1630436889.588 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-08-31T19:03:09.4Z
2021-08-31T19:08:09.588Z,1630436889.588 [Default:CheckIn:Read_GPS] Stopped
2021-08-31T19:08:09.588Z,1630436889.588 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-08-31T19:08:16.510Z,1630436896.510 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210831T184829/Courier0007.lzma
2021-08-31T19:08:17.512Z,1630436897.512 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Courier0007.lzma.bak
2021-08-31T19:08:17.513Z,1630436897.513 [DataOverHttps](INFO): SBD MOMSN=15904667
2021-08-31T19:08:35.618Z,1630436915.618 [DataOverHttps](INFO): Sending 181 bytes from file Logs/20210831T184829/Express0008.lzma
2021-08-31T19:08:36.620Z,1630436916.620 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Express0008.lzma.bak
2021-08-31T19:08:36.621Z,1630436916.621 [DataOverHttps](INFO): SBD MOMSN=15904669
2021-08-31T19:08:39.084Z,1630436919.084 [Default:CheckIn:Read_Iridium] Stopped
2021-08-31T19:08:39.084Z,1630436919.084 [Default:CheckIn:C.Wait] Running Loop=1
2021-08-31T19:08:39.084Z,1630436919.084 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-31T19:09:45.348Z,1630436985.348 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2021-08-31T19:09:45.348Z,1630436985.348 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:09:45.359Z,1630436985.359 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:09:45.766Z,1630436985.766 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:09:45.766Z,1630436985.766 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2021-08-31T19:10:05.121Z,1630437005.121 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-08-31T19:10:05.121Z,1630437005.121 [NAL9602] Data Fault, FailCount= 2
2021-08-31T19:10:05.121Z,1630437005.121 [NAL9602](ERROR): Data Fault
2021-08-31T19:10:05.189Z,1630437005.189 [CBIT](ERROR): Data Fault in component: NAL9602
2021-08-31T19:10:05.528Z,1630437005.528 [NAL9602](INFO): Powering down
2021-08-31T19:10:06.352Z,1630437006.352 [CBIT](INFO): Clearing failed state for component NAL9602
2021-08-31T19:10:06.352Z,1630437006.352 [NAL9602] No Fault, FailCount= 2
2021-08-31T19:10:35.828Z,1630437035.828 [NAL9602](INFO): Powering up NAL9602
2021-08-31T19:10:46.736Z,1630437046.736 [NAL9602](INFO): NAL9602 initialized
2021-08-31T19:12:46.357Z,1630437166.357 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2021-08-31T19:12:46.357Z,1630437166.357 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:12:46.367Z,1630437166.367 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:12:46.781Z,1630437166.781 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:12:46.781Z,1630437166.781 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2021-08-31T19:13:39.686Z,1630437219.686 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-31T19:13:39.686Z,1630437219.686 [Default:CheckIn:C.Wait] Stopped
2021-08-31T19:13:39.686Z,1630437219.686 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-31T19:13:39.687Z,1630437219.687 [Default:CheckIn:D] Running Loop=1
2021-08-31T19:13:40.099Z,1630437220.099 [Default:CheckIn:D] Stopped
2021-08-31T19:13:40.100Z,1630437220.100 [Default:CheckIn:E] Running Loop=1
2021-08-31T19:13:40.501Z,1630437220.501 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.258441 min 
2021-08-31T19:13:40.501Z,1630437220.501 [Default:CheckIn:E] Stopped
2021-08-31T19:13:40.502Z,1630437220.502 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-08-31T19:13:40.502Z,1630437220.502 [Default:CheckIn] Stopped
2021-08-31T19:13:40.502Z,1630437220.502 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-08-31T19:13:40.502Z,1630437220.502 [Default:CheckIn](INFO): Running loop #3
2021-08-31T19:13:40.502Z,1630437220.502 [Default:CheckIn] Running Loop=3
2021-08-31T19:13:40.502Z,1630437220.502 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-08-31T19:13:40.540Z,1630437220.540 [Default:CheckIn:Read_GPS] Running Loop=1
2021-08-31T19:13:41.543Z,1630437221.543 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T19:13:41.543Z,1630437221.543 [CommandExec](IMPORTANT): Failed components:
2021-08-31T19:13:41.544Z,1630437221.544 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T19:13:45.888Z,1630437225.888 [CommandExec](IMPORTANT): got command schedule list
2021-08-31T19:13:51.257Z,1630437231.257 [CommandExec](IMPORTANT): got command schedule clear
2021-08-31T19:13:51.258Z,1630437231.258 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2021-08-31T19:13:51.258Z,1630437231.258 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T19:15:13.752Z,1630437313.752 [CommandExec](IMPORTANT): got command schedule "stop" 
2021-08-31T19:15:13.753Z,1630437313.753 [CommandExec](IMPORTANT): Scheduled #1: "stop", AFTER MISSION
2021-08-31T19:15:13.803Z,1630437313.803 [CommandExec](IMPORTANT): got command stop
2021-08-31T19:15:13.803Z,1630437313.803 [CommandExec](IMPORTANT): Scheduling is paused
2021-08-31T19:15:19.172Z,1630437319.172 [CommandExec](IMPORTANT): got command schedule list
2021-08-31T19:15:19.173Z,1630437319.173 [CommandExec](FAULT): Scheduling was paused by a command at 2021-08-31T19:15:13Z
2021-08-31T19:15:21.932Z,1630437321.932 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T19:15:21.932Z,1630437321.932 [CommandExec](IMPORTANT): Scheduling is resumed
2021-08-31T19:15:45.027Z,1630437345.027 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T19:15:45.027Z,1630437345.027 [CommandExec](IMPORTANT): Failed components:
2021-08-31T19:15:45.027Z,1630437345.027 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T19:15:47.364Z,1630437347.364 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2021-08-31T19:15:47.364Z,1630437347.364 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:15:47.374Z,1630437347.374 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:15:47.801Z,1630437347.801 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:15:47.801Z,1630437347.801 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2021-08-31T19:15:49.176Z,1630437349.176 [CommandExec](IMPORTANT): got command help failComponent
2021-08-31T19:16:01.675Z,1630437361.675 [CommandExec](IMPORTANT): got command failComponent segfault CommandExec
2021-08-31T19:16:01.675Z,1630437361.675 [CommandExec](IMPORTANT): CommandExec failureMode is No Fault
2021-08-31T19:16:01.715Z,1630437361.715 [CommandExec](FAULT): Segfault Requested!
2021-08-31T19:16:01.741Z,1630437361.741 [CommandExec](CRITICAL): SIGSEGV: address not mapped to object
2021-08-31T19:16:01.741Z,1630437361.741 [CommandExec] Software Fault, FailCount= 1
2021-08-31T19:16:01.741Z,1630437361.741 [CommandExec](ERROR): Software Fault
2021-08-31T19:16:01.927Z,1630437361.927 [CommandExec](FAULT): Scheduling is paused
2021-08-31T19:16:01.928Z,1630437361.928 [CBIT](INFO): Critical error at 20210831T191601
2021-08-31T19:16:01.930Z,1630437361.930 [CBIT](ERROR): Software Fault in component: CommandExec
2021-08-31T19:16:01.931Z,1630437361.931 [CBIT](CRITICAL): Software Fault in component: CommandExec
2021-08-31T19:16:02.143Z,1630437362.143 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-31T19:16:02.144Z,1630437362.144 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 899
2021-08-31T19:16:02.145Z,1630437362.145 [CommandExec](INFO): Uninitializing the command scheduler.
2021-08-31T19:16:02.319Z,1630437362.319 [CBIT](INFO): Critical error at 20210831T191601
2021-08-31T19:16:06.798Z,1630437366.798 [CBIT](INFO): Clearing failed state for component CommandExec
2021-08-31T19:16:06.832Z,1630437366.832 [CommandExec] No Fault, FailCount= 1
2021-08-31T19:16:06.991Z,1630437366.991 [CommandExec](INFO): Initializing Scheduler.
2021-08-31T19:16:07.095Z,1630437367.095 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T19:16:07.095Z,1630437367.095 [CommandExec](IMPORTANT): Failed components:
2021-08-31T19:16:07.095Z,1630437367.095 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T19:16:11.108Z,1630437371.108 [CommandExec](IMPORTANT): got command schedule list
2021-08-31T19:16:14.805Z,1630437374.805 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T19:16:18.192Z,1630437378.192 [CommandExec](IMPORTANT): got command schedule "stop"
2021-08-31T19:16:18.193Z,1630437378.193 [CommandExec](IMPORTANT): Scheduled #1: "stop", AFTER MISSION
2021-08-31T19:16:18.243Z,1630437378.243 [CommandExec](IMPORTANT): got command stop
2021-08-31T19:16:18.243Z,1630437378.243 [CommandExec](IMPORTANT): Scheduling is paused
2021-08-31T19:16:34.656Z,1630437394.656 [CommandExec](IMPORTANT): got command schedule list
2021-08-31T19:16:34.657Z,1630437394.657 [CommandExec](FAULT): Scheduling was paused by a command at 2021-08-31T19:16:18Z
2021-08-31T19:16:44.052Z,1630437404.052 [CommandExec](IMPORTANT): got command schedule "failc" 
2021-08-31T19:16:44.053Z,1630437404.053 [CommandExec](IMPORTANT): Scheduled #2: "failc", AFTER MISSION
2021-08-31T19:16:44.053Z,1630437404.053 [CommandExec](FAULT): Scheduling was paused by a command at 2021-08-31T19:16:18Z
2021-08-31T19:16:48.120Z,1630437408.120 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T19:16:48.120Z,1630437408.120 [CommandExec](IMPORTANT): Scheduling is resumed
2021-08-31T19:16:48.171Z,1630437408.171 [CommandExec](IMPORTANT): got command failComponent
2021-08-31T19:16:48.171Z,1630437408.171 [CommandExec](IMPORTANT): Failed components:
2021-08-31T19:16:48.171Z,1630437408.171 [CommandExec](IMPORTANT): No failed Components.
2021-08-31T19:18:40.680Z,1630437520.680 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-08-31T19:13:40.5Z
2021-08-31T19:18:40.680Z,1630437520.680 [Default:CheckIn:Read_GPS] Stopped
2021-08-31T19:18:40.681Z,1630437520.681 [Default:CheckIn:Read_Iridium] Running Loop=1
2021-08-31T19:18:47.293Z,1630437527.293 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20210831T184829/Courier0010.lzma
2021-08-31T19:18:48.284Z,1630437528.284 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Courier0010.lzma.bak
2021-08-31T19:18:48.285Z,1630437528.285 [DataOverHttps](INFO): SBD MOMSN=15904673
2021-08-31T19:18:48.387Z,1630437528.387 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2021-08-31T19:18:48.387Z,1630437528.387 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:18:48.398Z,1630437528.398 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:18:48.785Z,1630437528.785 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:18:48.785Z,1630437528.785 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2021-08-31T19:19:05.135Z,1630437545.135 [DataOverHttps](INFO): Sending 581 bytes from file Logs/20210831T184829/Express0011.lzma
2021-08-31T19:19:06.136Z,1630437546.136 [DataOverHttps](INFO): Moved sent file to Logs/20210831T184829/Express0011.lzma.bak
2021-08-31T19:19:06.137Z,1630437546.137 [DataOverHttps](INFO): SBD MOMSN=15904677
2021-08-31T19:19:08.568Z,1630437548.568 [Default:CheckIn:Read_Iridium] Stopped
2021-08-31T19:19:08.568Z,1630437548.568 [Default:CheckIn:C.Wait] Running Loop=1
2021-08-31T19:19:08.568Z,1630437548.568 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-31T19:20:49.556Z,1630437649.556 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-08-31T19:20:49.556Z,1630437649.556 [NAL9602] Data Fault, FailCount= 3
2021-08-31T19:20:49.556Z,1630437649.556 [NAL9602](ERROR): Data Fault
2021-08-31T19:20:49.610Z,1630437649.610 [CBIT](ERROR): Data Fault in component: NAL9602
2021-08-31T19:20:49.959Z,1630437649.959 [NAL9602](INFO): Powering down
2021-08-31T19:20:50.788Z,1630437650.788 [CBIT](INFO): Clearing failed state for component NAL9602
2021-08-31T19:20:50.788Z,1630437650.788 [NAL9602] No Fault, FailCount= 3
2021-08-31T19:21:20.260Z,1630437680.260 [NAL9602](INFO): Powering up NAL9602
2021-08-31T19:21:31.168Z,1630437691.168 [NAL9602](INFO): NAL9602 initialized
2021-08-31T19:21:49.380Z,1630437709.380 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2021-08-31T19:21:49.380Z,1630437709.380 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:21:49.423Z,1630437709.423 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:21:49.788Z,1630437709.788 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:21:49.788Z,1630437709.788 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2021-08-31T19:23:46.140Z,1630437826.140 [CommandExec](IMPORTANT): got command schedule resume
2021-08-31T19:24:09.169Z,1630437849.169 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-31T19:24:09.169Z,1630437849.169 [Default:CheckIn:C.Wait] Stopped
2021-08-31T19:24:09.170Z,1630437849.170 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-31T19:24:09.170Z,1630437849.170 [Default:CheckIn:D] Running Loop=1
2021-08-31T19:24:09.569Z,1630437849.569 [Default:CheckIn:D] Stopped
2021-08-31T19:24:09.569Z,1630437849.569 [Default:CheckIn:E] Running Loop=1
2021-08-31T19:24:09.967Z,1630437849.967 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 31.749593 min 
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn:E] Stopped
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn](INFO): Completed Default:CheckIn
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn] Stopped
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn](INFO): Running loop #4
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn] Running Loop=4
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-08-31T19:24:09.968Z,1630437849.968 [Default:CheckIn:Read_GPS] Running Loop=1
2021-08-31T19:24:43.837Z,1630437883.837 [DataOverHttps](IMPORTANT): SBD MTMSN=20210831T192442
2021-08-31T19:24:50.383Z,1630437890.383 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2021-08-31T19:24:50.383Z,1630437890.383 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:24:50.394Z,1630437890.394 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:24:50.784Z,1630437890.784 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:24:50.784Z,1630437890.784 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2021-08-31T19:24:51.143Z,1630437891.143 [DataOverHttps](INFO): Received command: sched asap "load Science/cork_and_screw_2.xml;set CorkAndScrew.MissionTimeout 21 min;set CorkAndScrew.NumScrewsPerCylinder 2 count;set CorkAndScrew.NumDepths 11 count;set CorkAndScrew.NeedCommsTimeOnCorkScrew 69 h" 3n4l4 1 6
2021-08-31T19:24:51.182Z,1630437891.182 [CommandExec](IMPORTANT): got command schedule asap "load Science/cork_and_screw_2.xml;set CorkAndScrew.MissionTimeout 21 min;set CorkAndScrew.NumScrewsPerCylinder 2 count;set CorkAndScrew.NumDepths 11 count;set CorkAndScrew.NeedCommsTimeOnCorkScrew 69 h" 3n4l4 1 6.000000
2021-08-31T19:24:51.183Z,1630437891.183 [CommandExec](IMPORTANT): Scheduling command #1 of 6 with id=3n4l4
2021-08-31T19:24:51.184Z,1630437891.184 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 6 with id='3n4l4'): "load Science/cork_and_screw_2.xml;set CorkAndScrew.MissionTimeout 21 min;set CorkAndScrew.NumScrewsPerCylinder 2 count;set CorkAndScrew.NumDepths 11 count;set CorkAndScrew.NeedCommsTimeOnCorkScrew 69 h", ASAP
2021-08-31T19:24:52.061Z,1630437892.061 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2021-08-31T19:24:52.061Z,1630437892.061 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2021-08-31T19:24:52.145Z,1630437892.145 [DataOverHttps](IMPORTANT): SBD MTMSN=20210831T192451
2021-08-31T19:24:52.189Z,1630437892.189 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2021-08-31T19:24:52.192Z,1630437892.192 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2021-08-31T19:24:52.195Z,1630437892.195 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2021-08-31T19:24:52.198Z,1630437892.198 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2021-08-31T19:24:52.201Z,1630437892.201 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2021-08-31T19:24:52.250Z,1630437892.250 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2021-08-31T19:24:52.253Z,1630437892.253 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2021-08-31T19:24:52.261Z,1630437892.261 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2021-08-31T19:24:52.264Z,1630437892.264 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2021-08-31T19:24:52.267Z,1630437892.267 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2021-08-31T19:24:52.270Z,1630437892.270 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2021-08-31T19:24:52.302Z,1630437892.302 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2021-08-31T19:24:52.305Z,1630437892.305 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2021-08-31T19:24:52.308Z,1630437892.308 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mm
2021-08-31T19:24:52.323Z,1630437892.323 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cc
2021-08-31T19:24:52.326Z,1630437892.326 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 99.900000 %
2021-08-31T19:24:52.329Z,1630437892.329 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2021-08-31T19:24:52.332Z,1630437892.332 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2021-08-31T19:24:52.407Z,1630437892.407 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2021-08-31T19:24:52.410Z,1630437892.410 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2021-08-31T19:24:52.424Z,1630437892.424 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2021-08-31T19:24:52.425Z,1630437892.425 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-31T19:24:53.115Z,1630437893.115 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2021-08-31T19:24:53.118Z,1630437893.118 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2021-08-31T19:24:53.121Z,1630437893.121 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2021-08-31T19:24:53.124Z,1630437893.124 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2021-08-31T19:24:53.126Z,1630437893.126 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2021-08-31T19:24:53.129Z,1630437893.129 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2021-08-31T19:24:53.132Z,1630437893.132 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DetectTrough = 0 bool
2021-08-31T19:24:53.135Z,1630437893.135 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2021-08-31T19:24:53.137Z,1630437893.137 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-31T19:24:53.140Z,1630437893.140 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-31T19:24:53.143Z,1630437893.143 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2021-08-31T19:24:53.146Z,1630437893.146 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2021-08-31T19:24:53.150Z,1630437893.150 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2021-08-31T19:24:53.226Z,1630437893.226 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2021-08-31T19:24:53.229Z,1630437893.229 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-31T19:24:53.232Z,1630437893.232 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-31T19:24:53.247Z,1630437893.247 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0.000000 bool
2021-08-31T19:24:53.250Z,1630437893.250 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1.000000 bool
2021-08-31T19:24:53.254Z,1630437893.254 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-08-31T19:24:53.282Z,1630437893.282 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-08-31T19:24:53.285Z,1630437893.285 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 1.000000 bool
2021-08-31T19:24:53.288Z,1630437893.288 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2021-08-31T19:24:53.321Z,1630437893.321 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2021-08-31T19:24:53.324Z,1630437893.324 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakShallowBound = nan m
2021-08-31T19:24:53.327Z,1630437893.327 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDeepBound = nan m
2021-08-31T19:24:53.329Z,1630437893.329 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-31T19:24:53.362Z,1630437893.362 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = 0.000000 ug/l
2021-08-31T19:24:53.365Z,1630437893.365 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = 0.000000 m
2021-08-31T19:24:53.368Z,1630437893.368 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = 0.000000 degC
2021-08-31T19:24:53.388Z,1630437893.388 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2021-08-31T19:24:53.391Z,1630437893.391 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2021-08-31T19:24:53.394Z,1630437893.394 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = 0.000000 umol/l
2021-08-31T19:24:53.397Z,1630437893.397 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = 0.000000 m
2021-08-31T19:24:53.418Z,1630437893.418 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2021-08-31T19:24:53.421Z,1630437893.421 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2021-08-31T19:24:53.424Z,1630437893.424 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = 0.000000 kg/m3
2021-08-31T19:24:53.443Z,1630437893.443 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = 0.000000 m
2021-08-31T19:24:53.447Z,1630437893.447 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2021-08-31T19:24:53.450Z,1630437893.450 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2021-08-31T19:24:53.453Z,1630437893.453 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = 0.000000 ppb
2021-08-31T19:24:53.480Z,1630437893.480 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = 0.000000 m
2021-08-31T19:24:53.483Z,1630437893.483 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2021-08-31T19:24:53.487Z,1630437893.487 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2021-08-31T19:24:53.490Z,1630437893.490 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2021-08-31T19:24:53.514Z,1630437893.514 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchFDOMDistance = nan m
2021-08-31T19:24:53.517Z,1630437893.517 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = 0.000000 psu
2021-08-31T19:24:53.520Z,1630437893.520 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = 0.000000 m
2021-08-31T19:24:53.535Z,1630437893.535 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = 0.000000 degC
2021-08-31T19:24:53.538Z,1630437893.538 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2021-08-31T19:24:53.541Z,1630437893.541 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2021-08-31T19:24:53.544Z,1630437893.544 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = 0.000000 ug/l
2021-08-31T19:24:53.576Z,1630437893.576 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = 0.000000 m
2021-08-31T19:24:53.579Z,1630437893.579 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2021-08-31T19:24:53.627Z,1630437893.627 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2021-08-31T19:24:53.630Z,1630437893.630 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2021-08-31T19:24:53.637Z,1630437893.637 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = 0.000000 psu
2021-08-31T19:24:53.648Z,1630437893.648 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = 0.000000 m
2021-08-31T19:24:53.668Z,1630437893.668 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2021-08-31T19:24:53.675Z,1630437893.675 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2021-08-31T19:24:53.683Z,1630437893.683 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2021-08-31T19:24:53.686Z,1630437893.686 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = 0.000000 psu
2021-08-31T19:24:53.698Z,1630437893.698 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = 0.000000 m
2021-08-31T19:24:53.711Z,1630437893.711 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2021-08-31T19:24:53.731Z,1630437893.731 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2021-08-31T19:24:53.734Z,1630437893.734 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2021-08-31T19:24:53.825Z,1630437893.825 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:24:53.871Z,1630437893.871 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:24:53.901Z,1630437893.901 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:24:53.933Z,1630437893.933 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:24:53.963Z,1630437893.963 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:24:54.029Z,1630437894.029 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:24:54.085Z,1630437894.085 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:24:54.117Z,1630437894.117 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:24:54.155Z,1630437894.155 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-31T19:24:54.293Z,1630437894.293 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 3.000000 h
2021-08-31T19:24:54.296Z,1630437894.296 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-31T19:24:54.299Z,1630437894.299 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-31T19:24:54.303Z,1630437894.303 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2021-08-31T19:24:54.305Z,1630437894.305 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-31T19:24:54.337Z,1630437894.337 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2021-08-31T19:24:54.341Z,1630437894.341 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2021-08-31T19:24:54.364Z,1630437894.364 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-31T19:24:54.439Z,1630437894.439 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-31T19:24:54.481Z,1630437894.481 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-31T19:24:54.484Z,1630437894.484 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-31T19:24:54.513Z,1630437894.513 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-31T19:24:54.515Z,1630437894.515 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-31T19:24:54.551Z,1630437894.551 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-31T19:24:54.560Z,1630437894.560 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-31T19:24:54.617Z,1630437894.617 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:24:54.638Z,1630437894.638 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:24:54.644Z,1630437894.644 [MissionManager](INFO): Inserting Stack: Missions/Insert/BallastAndTrim.xml
2021-08-31T19:24:54.950Z,1630437894.950 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2021-08-31T19:24:54.957Z,1630437894.957 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2021-08-31T19:24:54.972Z,1630437894.972 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2021-08-31T19:24:54.977Z,1630437894.977 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2021-08-31T19:24:54.997Z,1630437894.997 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2021-08-31T19:24:55.000Z,1630437895.000 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2021-08-31T19:24:55.023Z,1630437895.023 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2021-08-31T19:24:55.031Z,1630437895.031 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2021-08-31T19:24:55.034Z,1630437895.034 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2021-08-31T19:24:55.053Z,1630437895.053 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2021-08-31T19:24:55.058Z,1630437895.058 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2021-08-31T19:24:55.086Z,1630437895.086 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900000 %
2021-08-31T19:24:55.089Z,1630437895.089 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2021-08-31T19:24:55.093Z,1630437895.093 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2021-08-31T19:24:55.124Z,1630437895.124 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2021-08-31T19:24:55.143Z,1630437895.143 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-31T19:24:55.147Z,1630437895.147 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2021-08-31T19:24:55.192Z,1630437895.192 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2021-08-31T19:24:55.210Z,1630437895.210 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2021-08-31T19:24:55.233Z,1630437895.233 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2021-08-31T19:24:55.282Z,1630437895.282 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:24:55.294Z,1630437895.294 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2021-08-31T19:24:55.305Z,1630437895.305 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2021-08-31T19:24:55.330Z,1630437895.330 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2021-08-31T19:24:55.344Z,1630437895.344 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](DEBUG): Construct BallastAndTrim.
2021-08-31T19:24:55.396Z,1630437895.396 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2021-08-31T19:24:55.406Z,1630437895.406 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2021-08-31T19:24:55.408Z,1630437895.408 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2021-08-31T19:24:55.418Z,1630437895.418 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2021-08-31T19:24:55.420Z,1630437895.420 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2021-08-31T19:24:55.422Z,1630437895.422 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2021-08-31T19:24:55.432Z,1630437895.432 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2021-08-31T19:24:55.434Z,1630437895.434 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2021-08-31T19:24:55.440Z,1630437895.440 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2021-08-31T19:24:55.442Z,1630437895.442 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2021-08-31T19:24:55.456Z,1630437895.456 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2021-08-31T19:24:55.458Z,1630437895.458 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2021-08-31T19:24:55.472Z,1630437895.472 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2021-08-31T19:24:55.643Z,1630437895.643 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Units="Tethys/Units"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
       Id="ballast_and_trim">

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="SkipComms"><Description>
        Skip communications at start of mission.
    </Description><False/></DefineArg>

    <DefineArg Name="Depth1"><Units:meter/><Value>35</Value></DefineArg>

    <DefineArg Name="Depth2"><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed durnig the
        mission.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Enables vehicle thruster at the commanded speed to reach target depth
        (set to 0 m/s to drift).
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum wait time for the vehicle to reach the targeted depth.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
        surface.
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait after reaching target depth before starting ballast and
        trim.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="EstimationTimeout"><Description>
        Timeout for ballast and trim estimation.
    </Description><Units:minute/><Value>45</Value></DefineArg>

    <DefineArg Name="MinEstimationTime"><Description>
        Minimum time to run ballast and trim estimation before determining
        convergence (must be shorter than timeout).
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="MassEstimationErrorBound"><Description>
        Desired range of the estimated sample mean from the true mean statistic
        (smaller values take longer to converge).
    </Description><Units:millimeter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="BuoyEstimationErrorBound"><Description>
        Desired range of the estimated sample mean from the true mean statistic
        (smaller values take longer to converge).
    </Description><Units:cubic_centimeter/><Value>15</Value></DefineArg>

    <DefineArg Name="EstimationConfidence"><Description>
        Confidence level that the estimator has reached the desired error range
        (larger values take longer to converge).
    </Description><Units:percent/><Value>99.9</Value></DefineArg>

    <DefineArg Name="massDeadband"><Description>
        Degree of rounding in mass-shifter command output values.
    </Description><Units:millimeter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Units:meter/><Value>52</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="CheckDepths"><Units:bool/><Value>1</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

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

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

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

    <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="CheckTargetDepths">

        <Sequence/>

        <Break>
            <Not><Arg Name="CheckDepths"/></Not>
        </Break>

        <Aggregate Id="CheckDepth1">

            <Sequence/>

            <Break>
                <Not><Arg Name="Depth1"/><Gt><Arg Name="MaxDepth"/></Gt></Not>
            </Break>

            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission's MaxDepth setting (review mission parameters).</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

        </Aggregate>

        <Aggregate Id="CheckDepth2">

            <Sequence/>

            <Break>
                <Not><Arg Name="Depth2"/><Gt><Arg Name="MaxDepth"/></Gt></Not>
            </Break>

            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission's MaxDepth setting (review mission parameters).</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

        </Aggregate>

        <Assign><Sequence/><Arg Name="CheckDepths"/><Units:bool/><Value>0</Value></Assign>

    </Aggregate>

    <Aggregate Id="StartingMission">

        <Sequence/>

        <Break><Arg Name="SkipComms"/>
        </Break>

<!-- DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of SkipComms, does not evaluate the Break statement properly, and always calls NeedComms. Adding the syslog call somehow fixes it. -->

        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>

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

    </Aggregate>

    <Aggregate Id="RunBallastAndTrim">

        <Sequence/>

        <Insert Filename="Insert/BallastAndTrim.xml">
            <RedefineArg Name="InsertDepthDeadband"><Arg Name="DepthDeadband"/></RedefineArg>
            <RedefineArg Name="InsertApproachSpeed"><Arg Name="ApproachSpeed"/></RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate"><Arg Name="ApproachDepthRate"/></RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit"><Arg Name="ApproachPitchLimit"/></RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive"><Arg Name="ApproachSettleTimePreDive"/></RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout"><Arg Name="ApproachDepthTimeout"/></RedefineArg>
            <RedefineArg Name="InsertSettleTime"><Arg Name="SettleTime"/></RedefineArg>
            <RedefineArg Name="EstTimeout"><Arg Name="EstimationTimeout"/></RedefineArg>
            <RedefineArg Name="MinEstTime"><Arg Name="MinEstimationTime"/></RedefineArg>
            <RedefineArg Name="MassEstErrorBound"><Arg Name="MassEstimationErrorBound"/></RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound"><Arg Name="BuoyEstimationErrorBound"/></RedefineArg>
            <RedefineArg Name="EstConfidence"><Arg Name="EstimationConfidence"/></RedefineArg>
            <RedefineArg Name="InsertMassDeadband"><Arg Name="massDeadband"/></RedefineArg>
        </Insert>

        <Aggregate Id="RunDepth1">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="Depth1"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="BallastAndTrim:InsertDepth"/><Arg Name="Depth1"/></Assign>

            <Call RefId="BallastAndTrim"/>

        </Aggregate>

        <Aggregate Id="RunDepth2">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="Depth2"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="BallastAndTrim:InsertDepth"/><Arg Name="Depth2"/></Assign>

            <Call RefId="BallastAndTrim"/>

        </Aggregate>

    </Aggregate>

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

</Mission>


2021-08-31T19:24:55.643Z,1630437895.643 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2021-08-31T19:25:01.155Z,1630437901.155 [DataOverHttps](INFO): Received command: sched asap "set CorkAndScrew.AcousticTrackingTimeout 22 min;set CorkAndScrew.AcousticContactTimeout 14 min;set CorkAndScrew.MaxWaitNotAchievingDepth 1 h;set CorkAndScrew.CylinderTimeout 241 min;set CorkAndScrew.ScrewEachDepthTimeout 121 min" 3n4l4 2 6
2021-08-31T19:25:01.179Z,1630437901.179 [CommandExec](IMPORTANT): got command schedule asap "set CorkAndScrew.AcousticTrackingTimeout 22 min;set CorkAndScrew.AcousticContactTimeout 14 min;set CorkAndScrew.MaxWaitNotAchievingDepth 1 h;set CorkAndScrew.CylinderTimeout 241 min;set CorkAndScrew.ScrewEachDepthTimeout 121 min" 3n4l4 2 6.000000
2021-08-31T19:25:01.179Z,1630437901.179 [CommandExec](IMPORTANT): Scheduling command #2 of 6 with id=3n4l4
2021-08-31T19:25:01.180Z,1630437901.180 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 6 with id='3n4l4'): "set CorkAndScrew.AcousticTrackingTimeout 22 min;set CorkAndScrew.AcousticContactTimeout 14 min;set CorkAndScrew.MaxWaitNotAchievingDepth 1 h;set CorkAndScrew.CylinderTimeout 241 min;set CorkAndScrew.ScrewEachDepthTimeout 121 min", ASAP
2021-08-31T19:25:02.157Z,1630437902.157 [DataOverHttps](IMPORTANT): SBD MTMSN=20210831T192501
2021-08-31T19:25:08.620Z,1630437908.620 [CommandExec](IMPORTANT): got command load ./Missions/Maintenance/ballast_and_trim.xml
2021-08-31T19:25:08.620Z,1630437908.620 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2021-08-31T19:25:08.702Z,1630437908.702 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/ballast_and_trim.xml
2021-08-31T19:25:08.839Z,1630437908.839 [MissionManager](INFO): DefineArg ballast_and_trim.MissionTimeout = 90.000000 min
2021-08-31T19:25:08.841Z,1630437908.841 [MissionManager](INFO): DefineArg ballast_and_trim.SkipComms = 0 bool
2021-08-31T19:25:08.865Z,1630437908.865 [MissionManager](INFO): DefineArg ballast_and_trim.Depth1 = 35.000000 m
2021-08-31T19:25:08.868Z,1630437908.868 [MissionManager](INFO): DefineArg ballast_and_trim.Depth2 = nan m
2021-08-31T19:25:08.870Z,1630437908.870 [MissionManager](INFO): DefineArg ballast_and_trim.DepthDeadband = 0.100000 m
2021-08-31T19:25:08.872Z,1630437908.872 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSpeed = 1.000000 m/s
2021-08-31T19:25:08.875Z,1630437908.875 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthTimeout = 20.000000 min
2021-08-31T19:25:08.877Z,1630437908.877 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachDepthRate = 0.400000 m/s
2021-08-31T19:25:08.879Z,1630437908.879 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachPitchLimit = 20.000000 arcdeg
2021-08-31T19:25:08.881Z,1630437908.881 [MissionManager](INFO): DefineArg ballast_and_trim.ApproachSettleTimePreDive = 0.000000 min
2021-08-31T19:25:08.884Z,1630437908.884 [MissionManager](INFO): DefineArg ballast_and_trim.SettleTime = 10.000000 min
2021-08-31T19:25:08.886Z,1630437908.886 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationTimeout = 45.000000 min
2021-08-31T19:25:08.888Z,1630437908.888 [MissionManager](INFO): DefineArg ballast_and_trim.MinEstimationTime = 10.000000 min
2021-08-31T19:25:08.891Z,1630437908.891 [MissionManager](INFO): DefineArg ballast_and_trim.MassEstimationErrorBound = 0.250000 mm
2021-08-31T19:25:08.893Z,1630437908.893 [MissionManager](INFO): DefineArg ballast_and_trim.BuoyEstimationErrorBound = 15.000000 cc
2021-08-31T19:25:08.931Z,1630437908.931 [MissionManager](INFO): DefineArg ballast_and_trim.EstimationConfidence = 99.900000 %
2021-08-31T19:25:08.934Z,1630437908.934 [MissionManager](INFO): DefineArg ballast_and_trim.massDeadband = 0.250000 mm
2021-08-31T19:25:08.967Z,1630437908.967 [MissionManager](INFO): DefineArg ballast_and_trim.MinAltitude = 5.000000 m
2021-08-31T19:25:08.970Z,1630437908.970 [MissionManager](INFO): DefineArg ballast_and_trim.MaxDepth = 52.000000 m
2021-08-31T19:25:09.035Z,1630437909.035 [MissionManager](INFO): DefineArg ballast_and_trim.MinOffshore = 2.000000 km
2021-08-31T19:25:09.037Z,1630437909.037 [MissionManager](INFO): DefineArg ballast_and_trim.CheckDepths = 1.000000 bool
2021-08-31T19:25:09.037Z,1630437909.037 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-31T19:25:09.459Z,1630437909.459 [DataOverHttps](INFO): Received command: sched asap "set CorkAndScrew.SpeedScrew 1.1 m/s;set CorkAndScrew.MaxDepth 200 m;set CorkAndScrew.ShallowBoundChl 4.8 m;set CorkAndScrew.DeepBoundChl 50 m;set CorkAndScrew.CenterLatitude 36.842389345897897234 degree" 3n4l4 3 6
2021-08-31T19:25:09.565Z,1630437909.565 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectChlActive = 0 bool
2021-08-31T19:25:09.567Z,1630437909.567 [MissionManager](INFO): DefineArg ballast_and_trim:Science.TimeWindowPeakReport = nan min
2021-08-31T19:25:09.569Z,1630437909.569 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestChlPeakReportActive = 0 bool
2021-08-31T19:25:09.571Z,1630437909.571 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestSaltPeakReportActive = 0 bool
2021-08-31T19:25:09.573Z,1630437909.573 [MissionManager](INFO): DefineArg ballast_and_trim:Science.HighestOilPeakReportActive = 0 bool
2021-08-31T19:25:09.575Z,1630437909.575 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PatchTracking = 0 bool
2021-08-31T19:25:09.577Z,1630437909.577 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DetectTrough = 0 bool
2021-08-31T19:25:09.579Z,1630437909.579 [MissionManager](INFO): DefineArg ballast_and_trim:Science.FilterWidthHorizontal = 3.000000 count
2021-08-31T19:25:09.581Z,1630437909.581 [MissionManager](INFO): DefineArg ballast_and_trim:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-31T19:25:09.584Z,1630437909.584 [MissionManager](INFO): DefineArg ballast_and_trim:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-31T19:25:09.585Z,1630437909.585 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectNO3Active = 0 bool
2021-08-31T19:25:09.587Z,1630437909.587 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectOilActive = 0 bool
2021-08-31T19:25:09.589Z,1630437909.589 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectFDOMActive = 0 bool
2021-08-31T19:25:09.591Z,1630437909.591 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDetectSalinityActive = 0 bool
2021-08-31T19:25:09.593Z,1630437909.593 [MissionManager](INFO): DefineArg ballast_and_trim:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-31T19:25:09.620Z,1630437909.620 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-31T19:25:09.622Z,1630437909.622 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledNeilBrown = 0.000000 bool
2021-08-31T19:25:09.637Z,1630437909.637 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledSeabird = 1.000000 bool
2021-08-31T19:25:09.640Z,1630437909.640 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-08-31T19:25:09.642Z,1630437909.642 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-08-31T19:25:09.674Z,1630437909.674 [MissionManager](INFO): DefineArg ballast_and_trim:Science.EnabledWetLabsUBAT = 1.000000 bool
2021-08-31T19:25:09.689Z,1630437909.689 [MissionManager](INFO): DefineArg ballast_and_trim:Science.LowPassWindowLength = 20.000000 count
2021-08-31T19:25:09.691Z,1630437909.691 [MissionManager](INFO): DefineArg ballast_and_trim:Science.MedianFilterLen = 5.000000 count
2021-08-31T19:25:09.693Z,1630437909.693 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakShallowBound = nan m
2021-08-31T19:25:09.695Z,1630437909.695 [MissionManager](INFO): DefineArg ballast_and_trim:Science.PeakDeepBound = nan m
2021-08-31T19:25:09.697Z,1630437909.697 [MissionManager](INFO): DefineArg ballast_and_trim:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-31T19:25:09.735Z,1630437909.735 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChl = 0.000000 ug/l
2021-08-31T19:25:09.737Z,1630437909.737 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlDepth = 0.000000 m
2021-08-31T19:25:09.740Z,1630437909.740 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlTemperature = 0.000000 degC
2021-08-31T19:25:09.742Z,1630437909.742 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLatitude = nan arcdeg
2021-08-31T19:25:09.800Z,1630437909.800 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakChlLongitude = nan arcdeg
2021-08-31T19:25:09.811Z,1630437909.811 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3 = 0.000000 umol/l
2021-08-31T19:25:09.813Z,1630437909.813 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Depth = 0.000000 m
2021-08-31T19:25:09.828Z,1630437909.828 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Latitude = nan arcdeg
2021-08-31T19:25:09.830Z,1630437909.830 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakNO3Longitude = nan arcdeg
2021-08-31T19:25:09.841Z,1630437909.841 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOil = 0.000000 kg/m3
2021-08-31T19:25:09.855Z,1630437909.855 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilDepth = 0.000000 m
2021-08-31T19:25:09.857Z,1630437909.857 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLatitude = nan arcdeg
2021-08-31T19:25:09.868Z,1630437909.868 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakOilLongitude = nan arcdeg
2021-08-31T19:25:09.887Z,1630437909.887 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOM = 0.000000 ppb
2021-08-31T19:25:09.889Z,1630437909.889 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMDepth = 0.000000 m
2021-08-31T19:25:09.900Z,1630437909.900 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMTemperature = nan degC
2021-08-31T19:25:09.902Z,1630437909.902 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLatitude = nan arcdeg
2021-08-31T19:25:09.920Z,1630437909.920 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakFDOMLongitude = nan arcdeg
2021-08-31T19:25:09.922Z,1630437909.922 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchFDOMDistance = nan m
2021-08-31T19:25:09.933Z,1630437909.933 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSalt = 0.000000 psu
2021-08-31T19:25:09.947Z,1630437909.947 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltDepth = 0.000000 m
2021-08-31T19:25:09.949Z,1630437909.949 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltTemperature = 0.000000 degC
2021-08-31T19:25:09.960Z,1630437909.960 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLatitude = nan arcdeg
2021-08-31T19:25:09.962Z,1630437909.962 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PeakSaltLongitude = nan arcdeg
2021-08-31T19:25:09.973Z,1630437909.973 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChl = 0.000000 ug/l
2021-08-31T19:25:09.996Z,1630437909.996 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDepth = 0.000000 m
2021-08-31T19:25:09.998Z,1630437909.998 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLatitude = nan arcdeg
2021-08-31T19:25:10.001Z,1630437910.001 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlLongitude = nan arcdeg
2021-08-31T19:25:10.007Z,1630437910.007 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchChlDistance = nan m
2021-08-31T19:25:10.009Z,1630437910.009 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSalt = 0.000000 psu
2021-08-31T19:25:10.024Z,1630437910.024 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDepth = 0.000000 m
2021-08-31T19:25:10.047Z,1630437910.047 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLatitude = nan arcdeg
2021-08-31T19:25:10.049Z,1630437910.049 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltLongitude = nan arcdeg
2021-08-31T19:25:10.052Z,1630437910.052 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchSaltDistance = nan m
2021-08-31T19:25:10.054Z,1630437910.054 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOil = 0.000000 psu
2021-08-31T19:25:10.065Z,1630437910.065 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDepth = 0.000000 m
2021-08-31T19:25:10.071Z,1630437910.071 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLatitude = nan arcdeg
2021-08-31T19:25:10.073Z,1630437910.073 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilLongitude = nan arcdeg
2021-08-31T19:25:10.083Z,1630437910.083 [MissionManager](INFO): DefineOutput ballast_and_trim:Science.PatchOilDistance = nan m
2021-08-31T19:25:10.121Z,1630437910.121 [ballast_and_trim:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:10.189Z,1630437910.189 [ballast_and_trim:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:25:10.245Z,1630437910.245 [ballast_and_trim:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:10.295Z,1630437910.295 [ballast_and_trim:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:10.331Z,1630437910.331 [ballast_and_trim:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:25:10.362Z,1630437910.362 [ballast_and_trim:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:10.405Z,1630437910.405 [ballast_and_trim:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:10.445Z,1630437910.445 [ballast_and_trim:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:25:10.461Z,1630437910.461 [DataOverHttps](IMPORTANT): SBD MTMSN=20210831T192509
2021-08-31T19:25:10.480Z,1630437910.480 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-31T19:25:10.652Z,1630437910.652 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.DiveInterval = 3.000000 h
2021-08-31T19:25:10.654Z,1630437910.654 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-31T19:25:10.657Z,1630437910.657 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-31T19:25:10.671Z,1630437910.671 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceDepthRate = nan m/s
2021-08-31T19:25:10.673Z,1630437910.673 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-31T19:25:10.675Z,1630437910.675 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.GPSTimeout = 7.000000 min
2021-08-31T19:25:10.677Z,1630437910.677 [MissionManager](INFO): DefineArg ballast_and_trim:NeedComms.CommsTimeout = 30.000000 min
2021-08-31T19:25:10.682Z,1630437910.682 [ballast_and_trim:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-31T19:25:10.726Z,1630437910.726 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-31T19:25:10.767Z,1630437910.767 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-31T19:25:10.769Z,1630437910.769 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-31T19:25:10.775Z,1630437910.775 [MissionManager](INFO): DefineArg ballast_and_trim:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-31T19:25:10.776Z,1630437910.776 [ballast_and_trim:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-31T19:25:10.786Z,1630437910.786 [ballast_and_trim:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-31T19:25:10.832Z,1630437910.832 [ballast_and_trim:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-31T19:25:10.916Z,1630437910.916 [ballast_and_trim:CheckTargetDepths:CheckDepth1:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:25:10.924Z,1630437910.924 [ballast_and_trim:CheckTargetDepths:CheckDepth2:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:25:10.949Z,1630437910.949 [MissionManager](INFO): Inserting Stack: Missions/Insert/BallastAndTrim.xml
2021-08-31T19:25:11.100Z,1630437911.100 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepth = 25.000000 m
2021-08-31T19:25:11.103Z,1630437911.103 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = 0.000000 m/s
2021-08-31T19:25:11.105Z,1630437911.105 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = 0.400000 m/s
2021-08-31T19:25:11.107Z,1630437911.107 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = 20.000000 arcdeg
2021-08-31T19:25:11.109Z,1630437911.109 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = 0.000000 min
2021-08-31T19:25:11.111Z,1630437911.111 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = 20.000000 min
2021-08-31T19:25:11.113Z,1630437911.113 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = 10.000000 min
2021-08-31T19:25:11.116Z,1630437911.116 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = 45.000000 min
2021-08-31T19:25:11.118Z,1630437911.118 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = 10.000000 min
2021-08-31T19:25:11.120Z,1630437911.120 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = 0.250000 mm
2021-08-31T19:25:11.123Z,1630437911.123 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = 15.000000 cc
2021-08-31T19:25:11.125Z,1630437911.125 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = 99.900000 %
2021-08-31T19:25:11.127Z,1630437911.127 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = 1.000000 m
2021-08-31T19:25:11.129Z,1630437911.129 [MissionManager](INFO): DefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = 0.250000 mm
2021-08-31T19:25:11.141Z,1630437911.141 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:A.Point](DEBUG): Construct.
2021-08-31T19:25:11.147Z,1630437911.147 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:B.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-31T19:25:11.150Z,1630437911.150 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ActuatorHold:C.Pitch](DEBUG): Construct.
2021-08-31T19:25:11.226Z,1630437911.226 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:WaitPreDive:B.Wait](DEBUG): Construct Wait.
2021-08-31T19:25:11.237Z,1630437911.237 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:B.SetSpeed](DEBUG): Construct.
2021-08-31T19:25:11.241Z,1630437911.241 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch](DEBUG): Construct.
2021-08-31T19:25:11.259Z,1630437911.259 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:GoToTargetDepth:ApproachDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:25:11.275Z,1630437911.275 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2021-08-31T19:25:11.277Z,1630437911.277 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:B.Pitch](DEBUG): Construct.
2021-08-31T19:25:11.299Z,1630437911.299 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:D.Wait](DEBUG): Construct Wait.
2021-08-31T19:25:11.302Z,1630437911.302 [ballast_and_trim:RunBallastAndTrim:BallastAndTrim:BallastAndTrimAtTargetDepth:F.](DEBUG): Construct BallastAndTrim.
2021-08-31T19:25:11.325Z,1630437911.325 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertDepthDeadband = reader:ballast_and_trim.DepthDeadband
2021-08-31T19:25:11.326Z,1630437911.326 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSpeed = reader:ballast_and_trim.ApproachSpeed
2021-08-31T19:25:11.336Z,1630437911.336 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthRate = reader:ballast_and_trim.ApproachDepthRate
2021-08-31T19:25:11.337Z,1630437911.337 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachPitchLimit = reader:ballast_and_trim.ApproachPitchLimit
2021-08-31T19:25:11.347Z,1630437911.347 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachSettleTimePreDive = reader:ballast_and_trim.ApproachSettleTimePreDive
2021-08-31T19:25:11.349Z,1630437911.349 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertApproachDepthTimeout = reader:ballast_and_trim.ApproachDepthTimeout
2021-08-31T19:25:11.355Z,1630437911.355 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertSettleTime = reader:ballast_and_trim.SettleTime
2021-08-31T19:25:11.356Z,1630437911.356 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstTimeout = reader:ballast_and_trim.EstimationTimeout
2021-08-31T19:25:11.358Z,1630437911.358 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MinEstTime = reader:ballast_and_trim.MinEstimationTime
2021-08-31T19:25:11.395Z,1630437911.395 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.MassEstErrorBound = reader:ballast_and_trim.MassEstimationErrorBound
2021-08-31T19:25:11.397Z,1630437911.397 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.BuoyEstErrorBound = reader:ballast_and_trim.BuoyEstimationErrorBound
2021-08-31T19:25:11.398Z,1630437911.398 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.EstConfidence = reader:ballast_and_trim.EstimationConfidence
2021-08-31T19:25:11.399Z,1630437911.399 [MissionManager](INFO): RedefineArg ballast_and_trim:RunBallastAndTrim:BallastAndTrim.InsertMassDeadband = reader:ballast_and_trim.massDeadband
2021-08-31T19:25:11.576Z,1630437911.576 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Units="Tethys/Units"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
       Id="ballast_and_trim">

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>90</Value></DefineArg>

    <DefineArg Name="SkipComms"><Description>
        Skip communications at start of mission.
    </Description><False/></DefineArg>

    <DefineArg Name="Depth1"><Units:meter/><Value>35</Value></DefineArg>

    <DefineArg Name="Depth2"><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed durnig the
        mission.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Enables vehicle thruster at the commanded speed to reach target depth
        (set to 0 m/s to drift).
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum wait time for the vehicle to reach the targeted depth.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.4</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
        surface.
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait after reaching target depth before starting ballast and
        trim.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="EstimationTimeout"><Description>
        Timeout for ballast and trim estimation.
    </Description><Units:minute/><Value>45</Value></DefineArg>

    <DefineArg Name="MinEstimationTime"><Description>
        Minimum time to run ballast and trim estimation before determining
        convergence (must be shorter than timeout).
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="MassEstimationErrorBound"><Description>
        Desired range of the estimated sample mean from the true mean statistic
        (smaller values take longer to converge).
    </Description><Units:millimeter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="BuoyEstimationErrorBound"><Description>
        Desired range of the estimated sample mean from the true mean statistic
        (smaller values take longer to converge).
    </Description><Units:cubic_centimeter/><Value>15</Value></DefineArg>

    <DefineArg Name="EstimationConfidence"><Description>
        Confidence level that the estimator has reached the desired error range
        (larger values take longer to converge).
    </Description><Units:percent/><Value>99.9</Value></DefineArg>

    <DefineArg Name="massDeadband"><Description>
        Degree of rounding in mass-shifter command output values.
    </Description><Units:millimeter/><Value>0.25</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Units:meter/><Value>52</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="CheckDepths"><Units:bool/><Value>1</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

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

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

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

    <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="CheckTargetDepths">

        <Sequence/>

        <Break>
            <Not><Arg Name="CheckDepths"/></Not>
        </Break>

        <Aggregate Id="CheckDepth1">

            <Sequence/>

            <Break>
                <Not><Arg Name="Depth1"/><Gt><Arg Name="MaxDepth"/></Gt></Not>
            </Break>

            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth1 exceeds the mission's MaxDepth setting (review mission parameters).</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

        </Aggregate>

        <Aggregate Id="CheckDepth2">

            <Sequence/>

            <Break>
                <Not><Arg Name="Depth2"/><Gt><Arg Name="MaxDepth"/></Gt></Not>
            </Break>

            <Syslog Severity="Important">Aborting ballast and trim mission. Target depth Depth2 exceeds the mission's MaxDepth setting (review mission parameters).</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

        </Aggregate>

        <Assign><Sequence/><Arg Name="CheckDepths"/><Units:bool/><Value>0</Value></Assign>

    </Aggregate>

    <Aggregate Id="StartingMission">

        <Sequence/>

        <Break><Arg Name="SkipComms"/>
        </Break>

<!-- DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of SkipComms, does not evaluate the Break statement properly, and always calls NeedComms. Adding the syslog call somehow fixes it. -->

        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>

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

    </Aggregate>

    <Aggregate Id="RunBallastAndTrim">

        <Sequence/>

        <Insert Filename="Insert/BallastAndTrim.xml">
            <RedefineArg Name="InsertDepthDeadband"><Arg Name="DepthDeadband"/></RedefineArg>
            <RedefineArg Name="InsertApproachSpeed"><Arg Name="ApproachSpeed"/></RedefineArg>
            <RedefineArg Name="InsertApproachDepthRate"><Arg Name="ApproachDepthRate"/></RedefineArg>
            <RedefineArg Name="InsertApproachPitchLimit"><Arg Name="ApproachPitchLimit"/></RedefineArg>
            <RedefineArg Name="InsertApproachSettleTimePreDive"><Arg Name="ApproachSettleTimePreDive"/></RedefineArg>
            <RedefineArg Name="InsertApproachDepthTimeout"><Arg Name="ApproachDepthTimeout"/></RedefineArg>
            <RedefineArg Name="InsertSettleTime"><Arg Name="SettleTime"/></RedefineArg>
            <RedefineArg Name="EstTimeout"><Arg Name="EstimationTimeout"/></RedefineArg>
            <RedefineArg Name="MinEstTime"><Arg Name="MinEstimationTime"/></RedefineArg>
            <RedefineArg Name="MassEstErrorBound"><Arg Name="MassEstimationErrorBound"/></RedefineArg>
            <RedefineArg Name="BuoyEstErrorBound"><Arg Name="BuoyEstimationErrorBound"/></RedefineArg>
            <RedefineArg Name="EstConfidence"><Arg Name="EstimationConfidence"/></RedefineArg>
            <RedefineArg Name="InsertMassDeadband"><Arg Name="massDeadband"/></RedefineArg>
        </Insert>

        <Aggregate Id="RunDepth1">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="Depth1"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="BallastAndTrim:InsertDepth"/><Arg Name="Depth1"/></Assign>

            <Call RefId="BallastAndTrim"/>

        </Aggregate>

        <Aggregate Id="RunDepth2">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="Depth2"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="BallastAndTrim:InsertDepth"/><Arg Name="Depth2"/></Assign>

            <Call RefId="BallastAndTrim"/>

        </Aggregate>

    </Aggregate>

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

</Mission>


2021-08-31T19:25:11.576Z,1630437911.576 [CommandExec](IMPORTANT): Loaded ./Missions/Maintenance/ballast_and_trim.xml
2021-08-31T19:25:11.583Z,1630437911.583 [CommandExec](IMPORTANT): got command schedule asap "set CorkAndScrew.SpeedScrew 1.1 m/s;set CorkAndScrew.MaxDepth 200 m;set CorkAndScrew.ShallowBoundChl 4.8 m;set CorkAndScrew.DeepBoundChl 50 m;set CorkAndScrew.CenterLatitude 36.842389345897897234 degree" 3n4l4 3 6.000000
2021-08-31T19:25:11.583Z,1630437911.583 [CommandExec](IMPORTANT): Scheduling command #3 of 6 with id=3n4l4
2021-08-31T19:25:11.584Z,1630437911.584 [CommandExec](IMPORTANT): Scheduled #5 (#3 of 6 with id='3n4l4'): "set CorkAndScrew.SpeedScrew 1.1 m/s;set CorkAndScrew.MaxDepth 200 m;set CorkAndScrew.ShallowBoundChl 4.8 m;set CorkAndScrew.DeepBoundChl 50 m;set CorkAndScrew.CenterLatitude 36.842389345897897234 degree", ASAP
2021-08-31T19:25:17.790Z,1630437917.790 [DataOverHttps](INFO): Received command: sched asap "set CorkAndScrew.CenterLongitude -122.00478345893754354542389375873475 degree;set CorkAndScrew.CylinderYoYoMinDep 1.8 m;set CorkAndScrew.CylinderYoYoMaxDep 31 m;set CorkAndScrew.CylinderRadius 201 m" 3n4l4 4 6
2021-08-31T19:25:17.831Z,1630437917.831 [CommandExec](IMPORTANT): got command schedule asap "set CorkAndScrew.CenterLongitude -122.00478345893754354542389375873475 degree;set CorkAndScrew.CylinderYoYoMinDep 1.8 m;set CorkAndScrew.CylinderYoYoMaxDep 31 m;set CorkAndScrew.CylinderRadius 201 m" 3n4l4 4 6.000000
2021-08-31T19:25:17.832Z,1630437917.832 [CommandExec](IMPORTANT): Scheduling command #4 of 6 with id=3n4l4
2021-08-31T19:25:17.833Z,1630437917.833 [CommandExec](IMPORTANT): Scheduled #6 (#4 of 6 with id='3n4l4'): "set CorkAndScrew.CenterLongitude -122.00478345893754354542389375873475 degree;set CorkAndScrew.CylinderYoYoMinDep 1.8 m;set CorkAndScrew.CylinderYoYoMaxDep 31 m;set CorkAndScrew.CylinderRadius 201 m", ASAP
2021-08-31T19:25:18.793Z,1630437918.793 [DataOverHttps](IMPORTANT): SBD MTMSN=20210831T192517
2021-08-31T19:25:26.083Z,1630437926.083 [DataOverHttps](INFO): Received command: sched asap "set CorkAndScrew.ScrewRadius 105 m;set CorkAndScrew.Depth1 50 m;set CorkAndScrew.Depth2 55 m;set CorkAndScrew.Depth3 60 m;set CorkAndScrew.Depth4 65 m;set CorkAndScrew.Depth5 70 m;set CorkAndScrew.Depth6 75 m" 3n4l4 5 6
2021-08-31T19:25:26.091Z,1630437926.091 [CommandExec](IMPORTANT): got command schedule asap "set CorkAndScrew.ScrewRadius 105 m;set CorkAndScrew.Depth1 50 m;set CorkAndScrew.Depth2 55 m;set CorkAndScrew.Depth3 60 m;set CorkAndScrew.Depth4 65 m;set CorkAndScrew.Depth5 70 m;set CorkAndScrew.Depth6 75 m" 3n4l4 5 6.000000
2021-08-31T19:25:26.091Z,1630437926.091 [CommandExec](IMPORTANT): Scheduling command #5 of 6 with id=3n4l4
2021-08-31T19:25:26.092Z,1630437926.092 [CommandExec](IMPORTANT): Scheduled #7 (#5 of 6 with id='3n4l4'): "set CorkAndScrew.ScrewRadius 105 m;set CorkAndScrew.Depth1 50 m;set CorkAndScrew.Depth2 55 m;set CorkAndScrew.Depth3 60 m;set CorkAndScrew.Depth4 65 m;set CorkAndScrew.Depth5 70 m;set CorkAndScrew.Depth6 75 m", ASAP
2021-08-31T19:25:27.085Z,1630437927.085 [DataOverHttps](IMPORTANT): SBD MTMSN=20210831T192526
2021-08-31T19:25:34.451Z,1630437934.451 [DataOverHttps](INFO): Received command: sched asap "set CorkAndScrew.Depth7 80 m;set CorkAndScrew.Depth8 85 m;set CorkAndScrew.Depth9 90 m;set CorkAndScrew.Depth10 95 m;set CorkAndScrew.Depth11 100 m;set CorkAndScrew.YoYoMinAltitude 10 m;run" 3n4l4 6 6
2021-08-31T19:25:34.470Z,1630437934.470 [CommandExec](IMPORTANT): got command schedule asap "set CorkAndScrew.Depth7 80 m;set CorkAndScrew.Depth8 85 m;set CorkAndScrew.Depth9 90 m;set CorkAndScrew.Depth10 95 m;set CorkAndScrew.Depth11 100 m;set CorkAndScrew.YoYoMinAltitude 10 m;run" 3n4l4 6 6.000000
2021-08-31T19:25:34.471Z,1630437934.471 [CommandExec](IMPORTANT): Scheduling command #6 of 6 with id=3n4l4
2021-08-31T19:25:34.472Z,1630437934.472 [CommandExec](IMPORTANT): Scheduled #8 (#6 of 6 with id='3n4l4'): "set CorkAndScrew.Depth7 80 m;set CorkAndScrew.Depth8 85 m;set CorkAndScrew.Depth9 90 m;set CorkAndScrew.Depth10 95 m;set CorkAndScrew.Depth11 100 m;set CorkAndScrew.YoYoMinAltitude 10 m;run", ASAP
2021-08-31T19:25:34.555Z,1630437934.555 [CommandExec](IMPORTANT): got command load ./Missions/Science/cork_and_screw_2.xml
2021-08-31T19:25:34.555Z,1630437934.555 [MissionManager](INFO): Uninitializing Mission ballast_and_trim
2021-08-31T19:25:34.647Z,1630437934.647 [MissionManager](INFO): Loading Mission: ./Missions/Science/cork_and_screw_2.xml
2021-08-31T19:25:35.375Z,1630437935.375 [MissionManager](INFO): DefineArg CorkAndScrew.MissionTimeout = 20.000000 h
2021-08-31T19:25:35.379Z,1630437935.379 [MissionManager](INFO): DefineArg CorkAndScrew.NumRoundsWholeSet = 1.000000 count
2021-08-31T19:25:35.383Z,1630437935.383 [MissionManager](INFO): DefineArg CorkAndScrew.NumScrewsPerCylinder = 1.000000 count
2021-08-31T19:25:35.387Z,1630437935.387 [MissionManager](INFO): DefineArg CorkAndScrew.NumDepths = 10.000000 count
2021-08-31T19:25:35.390Z,1630437935.390 [MissionManager](INFO): DefineArg CorkAndScrew.NeedCommsTimeOnCorkScrew = 60.000000 min
2021-08-31T19:25:35.394Z,1630437935.394 [MissionManager](INFO): DefineArg CorkAndScrew.AcousticTrackingTimeout = 21.000000 h
2021-08-31T19:25:35.398Z,1630437935.398 [MissionManager](INFO): DefineArg CorkAndScrew.AcousticContactTimeout = 15.000000 min
2021-08-31T19:25:35.426Z,1630437935.426 [MissionManager](INFO): DefineArg CorkAndScrew.MaxWaitNotAchievingDepth = 2.000000 h
2021-08-31T19:25:35.442Z,1630437935.442 [MissionManager](INFO): DefineArg CorkAndScrew.OuterCylinder = 1 bool
2021-08-31T19:25:35.459Z,1630437935.459 [MissionManager](INFO): DefineArg CorkAndScrew.InnerScrew = 1 bool
2021-08-31T19:25:35.467Z,1630437935.467 [MissionManager](INFO): DefineArg CorkAndScrew.CylinderTimeout = 240.000000 min
2021-08-31T19:25:35.483Z,1630437935.483 [MissionManager](INFO): DefineArg CorkAndScrew.ScrewEachDepthTimeout = 120.000000 min
2021-08-31T19:25:35.491Z,1630437935.491 [MissionManager](INFO): DefineArg CorkAndScrew.SpeedCylinder = 1.000000 m/s
2021-08-31T19:25:35.499Z,1630437935.499 [MissionManager](INFO): DefineArg CorkAndScrew.SpeedScrew = 1.000000 m/s
2021-08-31T19:25:35.515Z,1630437935.515 [MissionManager](INFO): DefineArg CorkAndScrew.MaxDepth = 100.000000 m
2021-08-31T19:25:35.524Z,1630437935.524 [MissionManager](INFO): DefineArg CorkAndScrew.ShallowBoundChl = 4.500000 m
2021-08-31T19:25:35.532Z,1630437935.532 [MissionManager](INFO): DefineArg CorkAndScrew.DeepBoundChl = 27.000000 m
2021-08-31T19:25:35.548Z,1630437935.548 [MissionManager](INFO): DefineArg CorkAndScrew.ContactLabel = 0.000000 count
2021-08-31T19:25:35.560Z,1630437935.560 [MissionManager](INFO): DefineArg CorkAndScrew.AcousticTargetDepth = nan m
2021-08-31T19:25:35.583Z,1630437935.583 [MissionManager](INFO): DefineArg CorkAndScrew.CenterLatitude = nan arcdeg
2021-08-31T19:25:35.632Z,1630437935.632 [MissionManager](INFO): DefineArg CorkAndScrew.CenterLongitude = nan arcdeg
2021-08-31T19:25:35.636Z,1630437935.636 [MissionManager](INFO): DefineArg CorkAndScrew.CylinderYoYoMinDep = 1.500000 m
2021-08-31T19:25:35.670Z,1630437935.670 [MissionManager](INFO): DefineArg CorkAndScrew.CylinderYoYoMaxDep = 30.000000 m
2021-08-31T19:25:35.674Z,1630437935.674 [MissionManager](INFO): DefineArg CorkAndScrew.CylinderRadius = 200.000000 m
2021-08-31T19:25:35.678Z,1630437935.678 [MissionManager](INFO): DefineArg CorkAndScrew.MaxCirclesOnCylinder = 1.000000 count
2021-08-31T19:25:35.699Z,1630437935.699 [MissionManager](INFO): DefineArg CorkAndScrew.ScrewRadius = 100.000000 m
2021-08-31T19:25:35.702Z,1630437935.702 [MissionManager](INFO): DefineArg CorkAndScrew.MaxCirclesEachDepthOnScrew = 1.000000 count
2021-08-31T19:25:35.706Z,1630437935.706 [MissionManager](INFO): DefineArg CorkAndScrew.Depth1 = nan m
2021-08-31T19:25:35.728Z,1630437935.728 [MissionManager](INFO): DefineArg CorkAndScrew.Depth2 = nan m
2021-08-31T19:25:35.731Z,1630437935.731 [MissionManager](INFO): DefineArg CorkAndScrew.Depth3 = nan m
2021-08-31T19:25:35.764Z,1630437935.764 [MissionManager](INFO): DefineArg CorkAndScrew.Depth4 = nan m
2021-08-31T19:25:35.768Z,1630437935.768 [MissionManager](INFO): DefineArg CorkAndScrew.Depth5 = nan m
2021-08-31T19:25:35.771Z,1630437935.771 [MissionManager](INFO): DefineArg CorkAndScrew.Depth6 = nan m
2021-08-31T19:25:35.775Z,1630437935.775 [MissionManager](INFO): DefineArg CorkAndScrew.Depth7 = nan m
2021-08-31T19:25:35.804Z,1630437935.804 [MissionManager](INFO): DefineArg CorkAndScrew.Depth8 = nan m
2021-08-31T19:25:35.808Z,1630437935.808 [MissionManager](INFO): DefineArg CorkAndScrew.Depth9 = nan m
2021-08-31T19:25:35.812Z,1630437935.812 [MissionManager](INFO): DefineArg CorkAndScrew.Depth10 = nan m
2021-08-31T19:25:35.853Z,1630437935.853 [MissionManager](INFO): DefineArg CorkAndScrew.Depth11 = nan m
2021-08-31T19:25:35.857Z,1630437935.857 [MissionManager](INFO): DefineArg CorkAndScrew.Depth12 = nan m
2021-08-31T19:25:35.860Z,1630437935.860 [MissionManager](INFO): DefineArg CorkAndScrew.Depth13 = nan m
2021-08-31T19:25:35.864Z,1630437935.864 [MissionManager](INFO): DefineArg CorkAndScrew.Depth14 = nan m
2021-08-31T19:25:35.885Z,1630437935.885 [MissionManager](INFO): DefineArg CorkAndScrew.Depth15 = nan m
2021-08-31T19:25:35.889Z,1630437935.889 [MissionManager](INFO): DefineArg CorkAndScrew.Depth16 = nan m
2021-08-31T19:25:35.893Z,1630437935.893 [MissionManager](INFO): DefineArg CorkAndScrew.Depth17 = nan m
2021-08-31T19:25:35.948Z,1630437935.948 [MissionManager](INFO): DefineArg CorkAndScrew.Depth18 = nan m
2021-08-31T19:25:35.957Z,1630437935.957 [MissionManager](INFO): DefineArg CorkAndScrew.Depth19 = nan m
2021-08-31T19:25:35.961Z,1630437935.961 [MissionManager](INFO): DefineArg CorkAndScrew.Depth20 = nan m
2021-08-31T19:25:36.034Z,1630437936.034 [MissionManager](INFO): DefineArg CorkAndScrew.YoYoMinAltitude = 9.000000 m
2021-08-31T19:25:36.038Z,1630437936.038 [MissionManager](INFO): DefineArg CorkAndScrew.MinAltitude = 7.000000 m
2021-08-31T19:25:36.042Z,1630437936.042 [MissionManager](INFO): DefineArg CorkAndScrew.MinOffshore = 2.000000 km
2021-08-31T19:25:36.058Z,1630437936.058 [MissionManager](INFO): DefineArg CorkAndScrew.TrackingUpdatePeriod = 15.000000 s
2021-08-31T19:25:36.062Z,1630437936.062 [MissionManager](INFO): DefineArg CorkAndScrew.NumberOfPings = 1.000000 count
2021-08-31T19:25:36.065Z,1630437936.065 [MissionManager](INFO): DefineArg CorkAndScrew.NumberOfFixesLowPass = 4.000000 count
2021-08-31T19:25:36.096Z,1630437936.096 [MissionManager](INFO): DefineArg CorkAndScrew.NumberOfStartingFixesToIgnore = 8.000000 count
2021-08-31T19:25:36.100Z,1630437936.100 [MissionManager](INFO): DefineArg CorkAndScrew.VerticalTolerance = 0.100000 m
2021-08-31T19:25:36.104Z,1630437936.104 [MissionManager](INFO): DefineArg CorkAndScrew.CylinderCircleMaxError = 100.000000 m
2021-08-31T19:25:36.126Z,1630437936.126 [MissionManager](INFO): DefineArg CorkAndScrew.CylinderCircleTurnToPort = 1 bool
2021-08-31T19:25:36.130Z,1630437936.130 [MissionManager](INFO): DefineArg CorkAndScrew.ScrewCircleMaxError = 50.000000 m
2021-08-31T19:25:36.133Z,1630437936.133 [MissionManager](INFO): DefineArg CorkAndScrew.ScrewCircleTurnToPort = 1 bool
2021-08-31T19:25:36.156Z,1630437936.156 [MissionManager](INFO): DefineArg CorkAndScrew.KwpHeading = 0.010000 rad/m
2021-08-31T19:25:36.165Z,1630437936.165 [MissionManager](INFO): DefineArg CorkAndScrew.YoYoUpPitch = 20.000000 arcdeg
2021-08-31T19:25:36.169Z,1630437936.169 [MissionManager](INFO): DefineArg CorkAndScrew.YoYoDownPitch = -20.000000 arcdeg
2021-08-31T19:25:36.181Z,1630437936.181 [MissionManager](INFO): DefineArg CorkAndScrew.RudderAngleSpiral = 13.000000 arcdeg
2021-08-31T19:25:36.197Z,1630437936.197 [MissionManager](INFO): DefineArg CorkAndScrew.NumberOfProfilesSlidingwindow = 100.000000 count
2021-08-31T19:25:36.209Z,1630437936.209 [MissionManager](INFO): DefineArg CorkAndScrew.LPWindowLength = 20.000000 count
2021-08-31T19:25:36.232Z,1630437936.232 [MissionManager](INFO): DefineArg CorkAndScrew.BuoyancyNeutral = 195.000001 cc
2021-08-31T19:25:36.257Z,1630437936.257 [MissionManager](INFO): DefineArg CorkAndScrew.MassDefault = 0.770000 cm
2021-08-31T19:25:36.277Z,1630437936.277 [MissionManager](INFO): DefineArg CorkAndScrew.YoYoMinDepth = 4.500000 m
2021-08-31T19:25:36.299Z,1630437936.299 [MissionManager](INFO): DefineArg CorkAndScrew.YoYoMaxDepth = 27.000000 m
2021-08-31T19:25:36.307Z,1630437936.307 [MissionManager](INFO): DefineArg CorkAndScrew.DepthLogged = 0.000000 m
2021-08-31T19:25:36.315Z,1630437936.315 [MissionManager](INFO): DefineArg CorkAndScrew.TempLogged = 0.000000 degC
2021-08-31T19:25:36.335Z,1630437936.335 [MissionManager](INFO): DefineArg CorkAndScrew.ChlLogged = 0.000000 ug/l
2021-08-31T19:25:36.339Z,1630437936.339 [MissionManager](INFO): DefineArg CorkAndScrew.MissionStartCommsCompleted = 0 bool
2021-08-31T19:25:36.342Z,1630437936.342 [MissionManager](INFO): DefineArg CorkAndScrew.StartScrew = 0 bool
2021-08-31T19:25:36.346Z,1630437936.346 [MissionManager](INFO): DefineArg CorkAndScrew.RudderAngleOnScrew = 0.000000 arcdeg
2021-08-31T19:25:36.376Z,1630437936.376 [MissionManager](INFO): DefineArg CorkAndScrew.DepthSet = 10.000000 m
2021-08-31T19:25:36.385Z,1630437936.385 [MissionManager](INFO): DefineArg CorkAndScrew.DepthOptionsSet = 0 bool
2021-08-31T19:25:36.388Z,1630437936.388 [MissionManager](INFO): DefineArg CorkAndScrew.DepthCompleted = 0 bool
2021-08-31T19:25:36.392Z,1630437936.392 [MissionManager](INFO): DefineArg CorkAndScrew.FromLastTimeFixToCenterUpdate = 0.000000 min
2021-08-31T19:25:36.472Z,1630437936.472 [MissionManager](INFO): DefineArg CorkAndScrew.ElapsedTimeFix = 0.000000 min
2021-08-31T19:25:36.477Z,1630437936.477 [MissionManager](INFO): DefineArg CorkAndScrew.ContactLatitudeLowpass = nan arcdeg
2021-08-31T19:25:36.488Z,1630437936.488 [MissionManager](INFO): DefineArg CorkAndScrew.ContactLongitudeLowpass = nan arcdeg
2021-08-31T19:25:36.504Z,1630437936.504 [MissionManager](INFO): DefineArg CorkAndScrew.CntScrews = 1.000000 count
2021-08-31T19:25:36.508Z,1630437936.508 [MissionManager](INFO): DefineArg CorkAndScrew.CntDepths = 1.000000 count
2021-08-31T19:25:36.509Z,1630437936.509 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-31T19:25:36.647Z,1630437936.647 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.DiveInterval = 3.000000 h
2021-08-31T19:25:36.667Z,1630437936.667 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-31T19:25:36.675Z,1630437936.675 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-31T19:25:36.691Z,1630437936.691 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.SurfaceDepthRate = nan m/s
2021-08-31T19:25:36.699Z,1630437936.699 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-31T19:25:36.707Z,1630437936.707 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.GPSTimeout = 7.000000 min
2021-08-31T19:25:36.723Z,1630437936.723 [MissionManager](INFO): DefineArg CorkAndScrew:NeedComms.CommsTimeout = 30.000000 min
2021-08-31T19:25:36.734Z,1630437936.734 [CorkAndScrew:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-31T19:25:37.020Z,1630437937.020 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-31T19:25:37.109Z,1630437937.109 [MissionManager](INFO): DefineArg CorkAndScrew:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-31T19:25:37.113Z,1630437937.113 [MissionManager](INFO): DefineArg CorkAndScrew:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-31T19:25:37.117Z,1630437937.117 [MissionManager](INFO): DefineArg CorkAndScrew:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-31T19:25:37.118Z,1630437937.118 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-31T19:25:37.143Z,1630437937.143 [CorkAndScrew:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-31T19:25:37.199Z,1630437937.199 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-31T19:25:37.263Z,1630437937.263 [MissionManager](INFO): Inserting Stack: Missions/Insert/AbortDrift.xml
2021-08-31T19:25:37.316Z,1630437937.316 [MissionManager](INFO): DefineArg CorkAndScrew:AbortDrift.AcousticTimeout = 96.000000 h
2021-08-31T19:25:37.331Z,1630437937.331 [CorkAndScrew:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2021-08-31T19:25:37.333Z,1630437937.333 [CorkAndScrew:AbortDrift:C.Execute](DEBUG): Construct Execute.
2021-08-31T19:25:37.336Z,1630437937.336 [MissionManager](INFO): RedefineArg CorkAndScrew:AbortDrift.AcousticTimeout = reader:CorkAndScrew.AcousticTrackingTimeout
2021-08-31T19:25:37.337Z,1630437937.337 [CorkAndScrew:J.Pitch](DEBUG): Construct.
2021-08-31T19:25:37.342Z,1630437937.342 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-31T19:25:38.215Z,1630437938.215 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakDetectChlActive = 0 bool
2021-08-31T19:25:38.220Z,1630437938.220 [MissionManager](INFO): DefineArg CorkAndScrew:Science.TimeWindowPeakReport = nan min
2021-08-31T19:25:38.241Z,1630437938.241 [MissionManager](INFO): DefineArg CorkAndScrew:Science.HighestChlPeakReportActive = 0 bool
2021-08-31T19:25:38.275Z,1630437938.275 [MissionManager](INFO): DefineArg CorkAndScrew:Science.HighestSaltPeakReportActive = 0 bool
2021-08-31T19:25:38.303Z,1630437938.303 [MissionManager](INFO): DefineArg CorkAndScrew:Science.HighestOilPeakReportActive = 0 bool
2021-08-31T19:25:38.306Z,1630437938.306 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PatchTracking = 0 bool
2021-08-31T19:25:38.310Z,1630437938.310 [MissionManager](INFO): DefineArg CorkAndScrew:Science.DetectTrough = 0 bool
2021-08-31T19:25:38.329Z,1630437938.329 [MissionManager](INFO): DefineArg CorkAndScrew:Science.FilterWidthHorizontal = 3.000000 count
2021-08-31T19:25:38.333Z,1630437938.333 [MissionManager](INFO): DefineArg CorkAndScrew:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-31T19:25:38.354Z,1630437938.354 [MissionManager](INFO): DefineArg CorkAndScrew:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-31T19:25:38.357Z,1630437938.357 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakDetectNO3Active = 0 bool
2021-08-31T19:25:38.360Z,1630437938.360 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakDetectOilActive = 0 bool
2021-08-31T19:25:38.376Z,1630437938.376 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakDetectFDOMActive = 0 bool
2021-08-31T19:25:38.379Z,1630437938.379 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakDetectSalinityActive = 0 bool
2021-08-31T19:25:38.383Z,1630437938.383 [MissionManager](INFO): DefineArg CorkAndScrew:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-31T19:25:38.400Z,1630437938.400 [MissionManager](INFO): DefineArg CorkAndScrew:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-31T19:25:38.404Z,1630437938.404 [MissionManager](INFO): DefineArg CorkAndScrew:Science.EnabledNeilBrown = 0.000000 bool
2021-08-31T19:25:38.408Z,1630437938.408 [MissionManager](INFO): DefineArg CorkAndScrew:Science.EnabledSeabird = 1.000000 bool
2021-08-31T19:25:38.438Z,1630437938.438 [MissionManager](INFO): DefineArg CorkAndScrew:Science.EnabledWetLabsBB2FL = 1.000000 bool
2021-08-31T19:25:38.442Z,1630437938.442 [MissionManager](INFO): DefineArg CorkAndScrew:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2021-08-31T19:25:38.480Z,1630437938.480 [MissionManager](INFO): DefineArg CorkAndScrew:Science.EnabledWetLabsUBAT = 1.000000 bool
2021-08-31T19:25:38.484Z,1630437938.484 [MissionManager](INFO): DefineArg CorkAndScrew:Science.LowPassWindowLength = 20.000000 count
2021-08-31T19:25:38.487Z,1630437938.487 [MissionManager](INFO): DefineArg CorkAndScrew:Science.MedianFilterLen = 5.000000 count
2021-08-31T19:25:38.503Z,1630437938.503 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakShallowBound = nan m
2021-08-31T19:25:38.507Z,1630437938.507 [MissionManager](INFO): DefineArg CorkAndScrew:Science.PeakDeepBound = nan m
2021-08-31T19:25:38.510Z,1630437938.510 [MissionManager](INFO): DefineArg CorkAndScrew:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-31T19:25:38.514Z,1630437938.514 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakChl = 0.000000 ug/l
2021-08-31T19:25:38.527Z,1630437938.527 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakChlDepth = 0.000000 m
2021-08-31T19:25:38.531Z,1630437938.531 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakChlTemperature = 0.000000 degC
2021-08-31T19:25:38.547Z,1630437938.547 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakChlLatitude = nan arcdeg
2021-08-31T19:25:38.551Z,1630437938.551 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakChlLongitude = nan arcdeg
2021-08-31T19:25:38.554Z,1630437938.554 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakNO3 = 0.000000 umol/l
2021-08-31T19:25:38.558Z,1630437938.558 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakNO3Depth = 0.000000 m
2021-08-31T19:25:38.579Z,1630437938.579 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakNO3Latitude = nan arcdeg
2021-08-31T19:25:38.587Z,1630437938.587 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakNO3Longitude = nan arcdeg
2021-08-31T19:25:38.595Z,1630437938.595 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakOil = 0.000000 kg/m3
2021-08-31T19:25:38.603Z,1630437938.603 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakOilDepth = 0.000000 m
2021-08-31T19:25:38.612Z,1630437938.612 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakOilLatitude = nan arcdeg
2021-08-31T19:25:38.620Z,1630437938.620 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakOilLongitude = nan arcdeg
2021-08-31T19:25:38.628Z,1630437938.628 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakFDOM = 0.000000 ppb
2021-08-31T19:25:38.636Z,1630437938.636 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakFDOMDepth = 0.000000 m
2021-08-31T19:25:38.640Z,1630437938.640 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakFDOMTemperature = nan degC
2021-08-31T19:25:38.652Z,1630437938.652 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakFDOMLatitude = nan arcdeg
2021-08-31T19:25:38.657Z,1630437938.657 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakFDOMLongitude = nan arcdeg
2021-08-31T19:25:38.669Z,1630437938.669 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchFDOMDistance = nan m
2021-08-31T19:25:38.673Z,1630437938.673 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakSalt = 0.000000 psu
2021-08-31T19:25:38.685Z,1630437938.685 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakSaltDepth = 0.000000 m
2021-08-31T19:25:38.690Z,1630437938.690 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakSaltTemperature = 0.000000 degC
2021-08-31T19:25:38.698Z,1630437938.698 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakSaltLatitude = nan arcdeg
2021-08-31T19:25:38.706Z,1630437938.706 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PeakSaltLongitude = nan arcdeg
2021-08-31T19:25:38.714Z,1630437938.714 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchChl = 0.000000 ug/l
2021-08-31T19:25:38.722Z,1630437938.722 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchChlDepth = 0.000000 m
2021-08-31T19:25:38.730Z,1630437938.730 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchChlLatitude = nan arcdeg
2021-08-31T19:25:38.738Z,1630437938.738 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchChlLongitude = nan arcdeg
2021-08-31T19:25:38.746Z,1630437938.746 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchChlDistance = nan m
2021-08-31T19:25:38.750Z,1630437938.750 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchSalt = 0.000000 psu
2021-08-31T19:25:38.754Z,1630437938.754 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchSaltDepth = 0.000000 m
2021-08-31T19:25:38.770Z,1630437938.770 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchSaltLatitude = nan arcdeg
2021-08-31T19:25:38.774Z,1630437938.774 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchSaltLongitude = nan arcdeg
2021-08-31T19:25:38.777Z,1630437938.777 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchSaltDistance = nan m
2021-08-31T19:25:38.824Z,1630437938.824 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchOil = 0.000000 psu
2021-08-31T19:25:38.828Z,1630437938.828 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchOilDepth = 0.000000 m
2021-08-31T19:25:38.876Z,1630437938.876 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchOilLatitude = nan arcdeg
2021-08-31T19:25:38.880Z,1630437938.880 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchOilLongitude = nan arcdeg
2021-08-31T19:25:38.900Z,1630437938.900 [MissionManager](INFO): DefineOutput CorkAndScrew:Science.PatchOilDistance = nan m
2021-08-31T19:25:38.947Z,1630437938.947 [CorkAndScrew:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:38.972Z,1630437938.972 [CorkAndScrew:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:25:39.004Z,1630437939.004 [CorkAndScrew:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:39.036Z,1630437939.036 [CorkAndScrew:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:39.059Z,1630437939.059 [CorkAndScrew:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:25:39.081Z,1630437939.081 [CorkAndScrew:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:39.109Z,1630437939.109 [CorkAndScrew:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-31T19:25:39.143Z,1630437939.143 [CorkAndScrew:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-31T19:25:39.177Z,1630437939.177 [MissionManager](INFO): RedefineArg CorkAndScrew:Science.PeakDetectChlActive = value:1 bool
2021-08-31T19:25:39.207Z,1630437939.207 [MissionManager](INFO): RedefineArg CorkAndScrew:Science.HighestChlPeakReportActive = value:1 bool
2021-08-31T19:25:39.209Z,1630437939.209 [MissionManager](INFO): RedefineArg CorkAndScrew:Science.LowPassWindowLength = reader:CorkAndScrew.LPWindowLength
2021-08-31T19:25:39.211Z,1630437939.211 [MissionManager](INFO): RedefineArg CorkAndScrew:Science.NumProfilesSlidingwindow = reader:CorkAndScrew.NumberOfProfilesSlidingwindow
2021-08-31T19:25:39.212Z,1630437939.212 [MissionManager](INFO): RedefineArg CorkAndScrew:Science.PeakShallowBound = reader:CorkAndScrew.ShallowBoundChl
2021-08-31T19:25:39.215Z,1630437939.215 [MissionManager](INFO): RedefineArg CorkAndScrew:Science.PeakDeepBound = reader:CorkAndScrew.DeepBoundChl
2021-08-31T19:25:39.216Z,1630437939.216 [CorkAndScrew:L.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-31T19:25:39.224Z,1630437939.224 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-31T19:25:39.343Z,1630437939.343 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.DiveInterval = 3.000000 h
2021-08-31T19:25:39.358Z,1630437939.358 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-31T19:25:39.362Z,1630437939.362 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-31T19:25:39.366Z,1630437939.366 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.SurfaceDepthRate = nan m/s
2021-08-31T19:25:39.370Z,1630437939.370 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-31T19:25:39.404Z,1630437939.404 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.GPSTimeout = 7.000000 min
2021-08-31T19:25:39.408Z,1630437939.408 [MissionManager](INFO): DefineArg CorkAndScrew:MissionStart:NeedComms.CommsTimeout = 30.000000 min
2021-08-31T19:25:39.423Z,1630437939.423 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-31T19:25:39.497Z,1630437939.497 [CorkAndScrew:CircleAtDesignatedDepth:CircleWrapper:B.Circle](DEBUG): Construct.
2021-08-31T19:25:39.535Z,1630437939.535 [CorkAndScrew:OuterCylinderAndInnerScrew:OuterCylinder:A.SetSpeed](DEBUG): Construct.
2021-08-31T19:25:39.538Z,1630437939.538 [CorkAndScrew:OuterCylinderAndInnerScrew:OuterCylinder:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-31T19:25:39.601Z,1630437939.601 [CorkAndScrew:OuterCylinderAndInnerScrew:OuterCylinder:C.YoYo](DEBUG): Construct YoYo.
2021-08-31T19:25:39.610Z,1630437939.610 [CorkAndScrew:OuterCylinderAndInnerScrew:OuterCylinder:D.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-31T19:25:39.714Z,1630437939.714 [CorkAndScrew:OuterCylinderAndInnerScrew:OuterCylinder:OuterCylinderYoYo:CylinderIfNonNaNLatLon:CylinderWrapper:B.Circle](DEBUG): Construct.
2021-08-31T19:25:39.751Z,1630437939.751 [CorkAndScrew:OuterCylinderAndInnerScrew:InnerScrew:DepthHolding:A.Pitch](DEBUG): Construct.
2021-08-31T19:25:39.787Z,1630437939.787 [CorkAndScrew:OuterCylinderAndInnerScrew:InnerScrew:DepthHolding:B.SetSpeed](DEBUG): Construct.
2021-08-31T19:25:39.790Z,1630437939.790 [CorkAndScrew:OuterCylinderAndInnerScrew:InnerScrew:DepthHolding:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-31T19:25:40.201Z,1630437940.201 [CorkAndScrew:OuterCylinderAndInnerScrew:InnerScrew:ScrewThroughDepths:CircleAtDepth:B.Circle](DEBUG): Construct.
2021-08-31T19:25:40.225Z,1630437940.225 [CorkAndScrew:OuterCylinderAndInnerScrew:InnerScrew:ScrewThroughDepths:CircleAtDepth:C.Pitch](DEBUG): Construct.
2021-08-31T19:25:40.253Z,1630437940.253 [CorkAndScrew:OuterCylinderAndInnerScrew:InnerScrew:ScrewThroughDepths:CircleAtDepth:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:25:40.332Z,1630437940.332 [CorkAndScrew:MissionCompleted:B.Execute](DEBUG): Construct Execute.
2021-08-31T19:25:40.655Z,1630437940.655 [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:Science="Tethys/Science"
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/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/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="CorkAndScrew">

<!-- Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime. -->

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

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>20</Value></DefineArg>

    <DefineArg Name="NumRoundsWholeSet"><Description>
        Number of rounds of whole set of outer cylinders and inner screws.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumScrewsPerCylinder"><Description>
        Number of inner screws per outer cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumDepths"><Description>
        Total number of inner screw depths.
    </Description><Units:count/><Value>10</Value></DefineArg>

<!--debug
    </Description><Units:count/><Value>3</Value></DefineArg>
-->

    <DefineArg Name="NeedCommsTimeOnCorkScrew"><Description>
        On cork and screw, how often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!--debug
    </Description><Units:minute/><Value>20</Value></DefineArg>
-->

    <DefineArg Name="AcousticTrackingTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications. Set longer than
        MissionTimeout to effectively disable.
    </Description><Units:hour/><Value>21</Value></DefineArg>

    <DefineArg Name="AcousticContactTimeout"><Description>
        Only use a sufficiently fresh handshake to update the tracking center.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="MaxWaitNotAchievingDepth"><Description>
        Maximum wait time the vehicle cannot reach the targeted depth.
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="OuterCylinder"><Description>
        Whether to do an outer cylinder yoyo. Initialized to True.
    </Description><True/></DefineArg>

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

    <DefineArg Name="InnerScrew"><Description>
        Whether to do an inner screw. Initialized to True.
    </Description><True/></DefineArg>

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

    <DefineArg Name="CylinderTimeout"><Description>
        Maximum duration of cylinder yoyo.
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="ScrewEachDepthTimeout"><Description>
        Maximum duration at each depth on inner screw.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="SpeedCylinder"><Description>
        Vehicle speed on cylinder.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedScrew"><Description>
        Vehicle speed on screw.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="ShallowBoundChl"><Description>
        Shallow depth bound for chl-peak detection.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="DeepBoundChl"><Description>
        Deep depth bound for chl-peak detection.
    </Description><Units:meter/><Value>27</Value></DefineArg>

    <DefineArg Name="ContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="AcousticTargetDepth"><Description>
        Depth of acoustic target if known and fixed (or nearly fixed). For
        example, if the acoustic target is a Wave Glider, set it to zero. This
        will improve 2D projected position estimates in the Earth reference
        frame. Defaults to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CenterLatitude"><Description>
        The latitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.80</Value></DefineArg>
-->

    <DefineArg Name="CenterLongitude"><Description>
        The longitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.82</Value></DefineArg>
-->

    <DefineArg Name="CylinderYoYoMinDep"><Description>
        Minimum depth while performing the YoYo behavior on outer cylinder.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="CylinderYoYoMaxDep"><Description>
        Maximum depth while performing the YoYo behavior on outer cylinder.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="CylinderRadius"><Description>
        Radius of outer cylinder.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="MaxCirclesOnCylinder"><Description>
        Maximum number of circles on cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="ScrewRadius"><Description>
        Radius of inner screw.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="MaxCirclesEachDepthOnScrew"><Description>
        Maximum number of circles on cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Depth1"><Description>
        Depth 1.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>10</Value></DefineArg>
-->

    <DefineArg Name="Depth2"><Description>
        Depth 2.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>20</Value></DefineArg>
-->

    <DefineArg Name="Depth3"><Description>
        Depth 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>30</Value></DefineArg>
-->

    <DefineArg Name="Depth4"><Description>
        Depth 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>40</Value></DefineArg>
-->

    <DefineArg Name="Depth5"><Description>
        Depth 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>50</Value></DefineArg>
-->

    <DefineArg Name="Depth6"><Description>
        Depth 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>60</Value></DefineArg>
-->

    <DefineArg Name="Depth7"><Description>
        Depth 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>70</Value></DefineArg>
-->

    <DefineArg Name="Depth8"><Description>
        Depth 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>80</Value></DefineArg>
-->

    <DefineArg Name="Depth9"><Description>
        Depth 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>90</Value></DefineArg>
-->

    <DefineArg Name="Depth10"><Description>
        Depth 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>100</Value></DefineArg>
-->

    <DefineArg Name="Depth11"><Description>
        Depth 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>100</Value></DefineArg>
-->

    <DefineArg Name="Depth12"><Description>
        Depth 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>90</Value></DefineArg>
-->

    <DefineArg Name="Depth13"><Description>
        Depth 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>80</Value></DefineArg>
-->

    <DefineArg Name="Depth14"><Description>
        Depth 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>70</Value></DefineArg>
-->

    <DefineArg Name="Depth15"><Description>
        Depth 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>60</Value></DefineArg>
-->

    <DefineArg Name="Depth16"><Description>
        Depth 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>50</Value></DefineArg>
-->

    <DefineArg Name="Depth17"><Description>
        Depth 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>40</Value></DefineArg>
-->

    <DefineArg Name="Depth18"><Description>
        Depth 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>30</Value></DefineArg>
-->

    <DefineArg Name="Depth19"><Description>
        Depth 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>20</Value></DefineArg>
-->

    <DefineArg Name="Depth20"><Description>
        Depth 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>10</Value></DefineArg>
-->

<!-- Use caution when changing these. -->

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>9</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

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

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>15</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumberOfFixesLowPass"><Description>
        Number of fixes to average to produce smoothed lat/lon/dep output
        (initialized to 4).
    </Description><Units:count/><Value>4</Value></DefineArg>

    <DefineArg Name="NumberOfStartingFixesToIgnore"><Description>
        Number of fixes to ignore at the start of mission (as the vehicle just
        leaves surface, contact's location estimate especailly bearing can be
        erroneous. Initialized to 8, corresponding to 2 minutes if query
        interval TrackingUpdatePeriod = 15 s.
    </Description><Units:count/><Value>8</Value></DefineArg>

<!--debug
    </Description><Units:count/><Value>0</Value></DefineArg>
-->

    <DefineArg Name="VerticalTolerance"><Description>
        Depth error allowed for being considered at/near the target depth.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

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

    <DefineArg Name="ScrewCircleMaxError"><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>50</Value></DefineArg>

    <DefineArg Name="ScrewCircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><True/></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="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20</Value></DefineArg>

    <DefineArg Name="RudderAngleSpiral"><Description>
        Rudder angle to use while performing the donut cast.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="NumberOfProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. Picks the highest yoyo-wise chl
        peak (after low-pass filtering by a filter of length
        FilterWidthHorizontal) within this window. Ignore older highs because
        ocean is changing.
    </Description><Units:count/><Value>100</Value></DefineArg>

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

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
        for active buoyancy
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

<!-- Internal variables that you should not change -->

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior. Program will set to
        CylinderYoYoMinDep.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior. Program will set to
        CylinderYoYoMaxDep.
    </Description><Units:meter/><Value>27</Value></DefineArg>

    <DefineArg Name="DepthLogged"><Description></Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="TempLogged"><Description></Description><Units:celsius/><Value>0.0</Value></DefineArg>

    <DefineArg Name="ChlLogged"><Description></Description><Units:microgram_per_liter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="MissionStartCommsCompleted"><Description>
        MissionStartComms is completed (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="StartScrew"><Description>
        Start screw (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="RudderAngleOnScrew"><Description>
        Rudder angle on the screw (initialized to zero).
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="DepthSet"><Description>
        Depth held for inner screw. Initialized to 10 meters.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="DepthOptionsSet"><Description>
        Depth options for inner screw already set. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="DepthCompleted"><Description>
        Depth holding on inner screw completed. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="FromLastTimeFixToCenterUpdate"><Description>
        Elapsed time from last time-fix to center update time (initialized to
        zero).
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedTimeFix"><Description>
        Elapsed time from last time-fix since last fix (initialized to zero).
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="ContactLatitudeLowpass"><Description>
        Low-pass filtered latitude of contact (initialized to NaN).
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ContactLongitudeLowpass"><Description>
        Low-pass filtered longitude of contact (initialized to NaN).
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CntScrews"><Description>
        Count of inner screws (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="CntDepths"><Description>
        Count of inner screw depths (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineArg>

<!-- Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms. -->

    <Timeout Duration="MissionTimeout"/>

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

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

<!-- Add tracking directive high in the stack (above NeedComms to enable tracking from surface). -->

    <Estimation:Tracking>
        <Parallel/>
        <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        <Setting><Estimation:Tracking.numFixesLowPassSetting/><Arg Name="NumberOfFixesLowPass"/></Setting>
        <Setting><Estimation:Tracking.numStartingFixesToIgnoreSetting/><Arg Name="NumberOfStartingFixesToIgnore"/></Setting>
        <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="AcousticTargetDepth"/></Setting>
    </Estimation:Tracking>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><Estimation:Tracking.range_to_contact/></Elapsed>
            <Lt><Arg Name="AcousticContactTimeout"/></Lt>
        </When>

        <Assign><Sequence/><Arg Name="ContactLatitudeLowpass"/><Estimation:Tracking.contact_latitude_lowpass/></Assign>

        <Assign><Sequence/><Arg Name="ContactLongitudeLowpass"/><Estimation:Tracking.contact_longitude_lowpass/></Assign>

        <Assign><Sequence/><Arg Name="ElapsedTimeFix"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
	<Syslog Severity="Important">Overwrite or update. elapsed_time_fix, FromLastTimeFixToCenterUpdate, latitude_fix, longitude_fix = <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/></Syslog>
	<Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>
-->

        <Aggregate Id="UpdateWithContactLowpassLatLon">

            <Sequence/>

            <When>
                <Not><IsNaN><Arg Name="ContactLatitudeLowpass"/>
                </IsNaN></Not>
                <And><Not><IsNaN><Arg Name="ContactLongitudeLowpass"/>
                </IsNaN></Not></And>
                <And><Elapsed><Universal:time_fix/></Elapsed><Ge><Arg Name="FromLastTimeFixToCenterUpdate"/><Add><Arg Name="TrackingUpdatePeriod"/></Add></Ge></And>
            </When>

            <Assign><Sequence/><Arg Name="CenterLatitude"/><Estimation:Tracking.contact_latitude_lowpass/></Assign>

            <Assign><Sequence/><Arg Name="CenterLongitude"/><Estimation:Tracking.contact_longitude_lowpass/></Assign>

<!--debug
	    <Syslog Severity="Important">Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>
-->

            <Assign><Sequence/><Arg Name="FromLastTimeFixToCenterUpdate"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

        </Aggregate>

        <Aggregate Id="OverwriteWithGPSLatLon">

            <Sequence/>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Lt><Arg Name="FromLastTimeFixToCenterUpdate"/></Lt>
            </When>

<!--debug
	    <Assign><Sequence/><Arg Name="ElapsedTimeFix"/><Elapsed><Universal:time_fix/></Elapsed></Assign>
	    <Syslog Severity="Important">To overwriteWithGPSLatLon. latitude_fix, longitude_fix, elapsed_time_fix, FromLastTimeFixToCenterUpdate = <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/>, <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/></Syslog>
-->

            <Assign><Sequence/><Arg Name="CenterLatitude"/><Universal:latitude_fix/></Assign>

            <Assign><Sequence/><Arg Name="CenterLongitude"/><Universal:longitude_fix/></Assign>

            <Assign><Sequence/><Arg Name="FromLastTimeFixToCenterUpdate"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
	    <Syslog Severity="Important">Overwriting. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>
-->

        </Aggregate>

    </Aggregate>

<!-- Missions should almost always start with standard safety 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>

    <Insert Filename="Insert/AbortDrift.xml">
        <RedefineArg Name="AcousticTimeout"><Arg Name="AcousticTrackingTimeout"/></RedefineArg>
    </Insert>

<!-- Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting. -->

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
        <RedefineArg Name="HighestChlPeakReportActive"><True/></RedefineArg>
        <RedefineArg Name="LowPassWindowLength"><Arg Name="LPWindowLength"/></RedefineArg>
        <RedefineArg Name="NumProfilesSlidingwindow"><Arg Name="NumberOfProfilesSlidingwindow"/></RedefineArg>
        <RedefineArg Name="PeakShallowBound"><Arg Name="ShallowBoundChl"/></RedefineArg>
        <RedefineArg Name="PeakDeepBound"><Arg Name="DeepBoundChl"/></RedefineArg>
    </Insert>

    <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.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

        <Assign><Sequence/><Arg Name="MissionStartCommsCompleted"/><True/></Assign>

    </Aggregate>

    <Aggregate Id="CircleAtDesignatedDepth">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Circle at depth <Arg Name="DepthSet"/><Units:meter/> around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>, at radius = <Arg Name="ScrewRadius"/><Units:meter/></Syslog>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="MaxCirclesEachDepthOnScrew"/>

            <Timeout Duration="ScrewEachDepthTimeout"/>

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

            <Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="ScrewRadius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="ScrewCircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="ScrewCircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="OuterCylinderAndInnerScrew">

        <Sequence Repeat="NumRoundsWholeSet"/>

        <Aggregate Id="OuterCylinder">

            <Sequence/>

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

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
                <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
            </Guidance:Buoyancy>

            <Aggregate Id="OuterCylinderYoYo">

                <Sequence/>

                <Aggregate Id="CylinderIfNonNaNLatLon">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="OuterCylinder"/></Not>
                        <Or><IsNaN><Arg Name="CenterLatitude"/>
                        </IsNaN></Or>
                        <Or><IsNaN><Arg Name="CenterLongitude"/>
                        </IsNaN></Or>
                    </Break>

                    <Timeout Duration="CylinderTimeout"/>

                    <Syslog Severity="Important">Yoyo profile on a cylinder around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>, at radius = <Arg Name="CylinderRadius"/><Units:meter/></Syslog>

                    <Assign><Sequence/><Arg Name="YoYoMinDepth"/><Arg Name="CylinderYoYoMinDep"/></Assign>

                    <Assign><Sequence/><Arg Name="YoYoMaxDepth"/><Arg Name="CylinderYoYoMaxDep"/></Assign>

                    <Aggregate Id="CylinderWrapper">

                        <Sequence Repeat="MaxCirclesOnCylinder"/>

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

                        <Guidance:Circle>
                            <Sequence/>
                            <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                            <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                            <Setting><Guidance:Circle.radius/><Arg Name="CylinderRadius"/></Setting>
                            <Setting><Guidance:Circle.maxError/><Arg Name="CylinderCircleMaxError"/></Setting>
                            <Setting><Guidance:Circle.turnToPort/><Arg Name="CylinderCircleTurnToPort"/></Setting>
                        </Guidance:Circle>

                    </Aggregate>

                </Aggregate>

                <Syslog>Outer cylinder completed.</Syslog>

                <Assign><Sequence/><Arg Name="StartScrew"/><True/></Assign>

                <Assign><Sequence/><Arg Name="DepthCompleted"/><False/></Assign>

                <Assign><Sequence/><Arg Name="CntScrews"/><Units:count/><Value>1</Value></Assign>

                <Assign><Sequence/><Arg Name="CntDepths"/><Units:count/><Value>1</Value></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="InnerScrew">

            <Sequence/>

            <Break>
                <Not><Arg Name="InnerScrew"/></Not>
                <Or><IsNaN><Arg Name="CenterLatitude"/>
                </IsNaN></Or>
                <Or><IsNaN><Arg Name="CenterLongitude"/>
                </IsNaN></Or>
                <Or><Arg Name="CntScrews"/><Eq><Arg Name="NumScrewsPerCylinder"/><Add><Units:count/><Value>1</Value></Add></Eq></Or>
            </Break>

            <Aggregate Id="DepthHolding">

                <While>
                    <Arg Name="MissionStartCommsCompleted"/>
                    <And><Arg Name="StartScrew"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Control:VerticalControl.depthDeadband/><Arg Name="VerticalTolerance"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DepthSet"/></Setting>
                </Guidance:Pitch>

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

                <Guidance:Buoyancy>
                    <Parallel/>
                    <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
                </Guidance:Buoyancy>

            </Aggregate>

            <Aggregate Id="ScrewThroughDepths">

                <Parallel/>

                <Aggregate Id="SetOptionsOfDepth1">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>1</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth1"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth2">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>2</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth2"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth3">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>3</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth3"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth4">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>4</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth4"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth5">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>5</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth5"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth6">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>6</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth6"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth7">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>7</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth7"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth8">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>8</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth8"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth9">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>9</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth9"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth10">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>10</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth10"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth11">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>11</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth11"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth12">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>12</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth12"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth13">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>13</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth13"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth14">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>14</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth14"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth15">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>15</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth15"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth16">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>16</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth16"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth17">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>17</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth17"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth18">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>18</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth18"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth19">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>19</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth19"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth20">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>20</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth20"/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="CircleAtDepth">

                    <When>
                        <Arg Name="MissionStartCommsCompleted"/>
                        <And><Arg Name="StartScrew"/></And>
                        <And><Arg Name="DepthOptionsSet"/></And>
                        <And><Not><Arg Name="DepthCompleted"/></Not></And>
                    </When>

                    <Syslog Severity="Important">Go to depth <Arg Name="DepthSet"/><Units:meter/>.</Syslog>

                    <Guidance:Circle>
                        <Progression/>
                        <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                        <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                        <Setting><Guidance:Circle.radius/><Arg Name="ScrewRadius"/></Setting>
                        <Setting><Guidance:Circle.maxError/><Arg Name="ScrewCircleMaxError"/></Setting>
                        <Setting><Guidance:Circle.turnToPort/><Arg Name="ScrewCircleTurnToPort"/></Setting>
                    </Guidance:Circle>

                    <Guidance:Pitch>
                        <Progression/>
                        <Timeout Duration="MaxWaitNotAchievingDepth">
                            <Syslog Severity="Important">Timed out trying to reach the targeted depth. Stopping mission.</Syslog>
                            <Guidance:Execute>
                                <Sequence/>
                                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting><Guidance:Pitch.depth/><Arg Name="DepthSet"/></Setting>
                    </Guidance:Pitch>

                    <Call Id="Hold" RefId="CircleAtDesignatedDepth"/>

                    <Assign><Sequence/><Arg Name="DepthCompleted"/><True/></Assign>

                    <Assign><Sequence/><Arg Name="DepthOptionsSet"/><False/></Assign>

                </Aggregate>

                <Aggregate Id="IncrementDepthCounter">

                    <When>
                        <Arg Name="DepthCompleted"/>
                    </When>

                    <Assign><Sequence/><Arg Name="CntDepths"/><Arg Name="CntDepths"/><Add><Units:count/> <Value>1</Value></Add></Assign>

                    <Syslog Severity="Important">CntDepths = <Arg Name="CntDepths"/><Units:count/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DepthCompleted"/><False/></Assign>

                </Aggregate>

                <Aggregate Id="IncrementScrewCounter">

                    <When>
                        <Arg Name="DepthCompleted"/>
                        <And><Arg Name="CntDepths"/><Eq><Arg Name="NumDepths"/><Add><Units:count/><Value>1</Value></Add></Eq></And>
                    </When>

                    <Assign><Sequence/><Arg Name="CntDepths"/><Units:count/><Value>1</Value></Assign>

                    <Assign><Sequence/><Arg Name="CntScrews"/><Arg Name="CntScrews"/><Add><Units:count/> <Value>1</Value></Add></Assign>

                    <Syslog Severity="Important">CntScrews = <Arg Name="CntScrews"/><Units:count/>.</Syslog>

                </Aggregate>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="MissionCompleted">

        <Sequence/>

        <Syslog Severity="Important">Completed outer cylinders and inner screws. Stopping mission.</Syslog>

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
        </Guidance:Execute>

    </Aggregate>

</Mission>


2021-08-31T19:25:40.655Z,1630437940.655 [CommandExec](IMPORTANT): Loaded ./Missions/Science/cork_and_screw_2.xml
2021-08-31T19:25:51.680Z,1630437951.680 [CommandExec](IMPORTANT): got command set CorkAndScrew.MissionTimeout 21.000000 minute
2021-08-31T19:25:51.681Z,1630437951.681 [CommandExec](IMPORTANT): got command set CorkAndScrew.NumScrewsPerCylinder 2.000000 count
2021-08-31T19:25:51.682Z,1630437951.682 [CommandExec](IMPORTANT): got command set CorkAndScrew.NumDepths 11.000000 count
2021-08-31T19:25:51.683Z,1630437951.683 [CommandExec](IMPORTANT): got command set CorkAndScrew.NeedCommsTimeOnCorkScrew 69.000000 hour
2021-08-31T19:26:04.846Z,1630437964.846 [CommandExec](IMPORTANT): got command set CorkAndScrew.AcousticTrackingTimeout 22.000000 minute
2021-08-31T19:26:04.847Z,1630437964.847 [CommandExec](IMPORTANT): got command set CorkAndScrew.AcousticContactTimeout 14.000000 minute
2021-08-31T19:26:04.848Z,1630437964.848 [CommandExec](IMPORTANT): got command set CorkAndScrew.MaxWaitNotAchievingDepth 1.000000 hour
2021-08-31T19:26:04.849Z,1630437964.849 [CommandExec](IMPORTANT): got command set CorkAndScrew.CylinderTimeout 241.000000 minute
2021-08-31T19:26:04.849Z,1630437964.849 [CommandExec](IMPORTANT): got command set CorkAndScrew.ScrewEachDepthTimeout 121.000000 minute
2021-08-31T19:26:18.264Z,1630437978.264 [CommandExec](IMPORTANT): got command set CorkAndScrew.SpeedScrew 1.100000 meter_per_second
2021-08-31T19:26:18.265Z,1630437978.265 [CommandExec](IMPORTANT): got command set CorkAndScrew.MaxDepth 200.000000 meter
2021-08-31T19:26:18.265Z,1630437978.265 [CommandExec](IMPORTANT): got command set CorkAndScrew.ShallowBoundChl 4.800000 meter
2021-08-31T19:26:18.266Z,1630437978.266 [CommandExec](IMPORTANT): got command set CorkAndScrew.DeepBoundChl 50.000000 meter
2021-08-31T19:26:18.267Z,1630437978.267 [CommandExec](IMPORTANT): got command set CorkAndScrew.CenterLatitude 36.842388 degree
2021-08-31T19:26:27.642Z,1630437987.642 [CommandExec](IMPORTANT): got command set CorkAndScrew.CenterLongitude -122.004784 degree
2021-08-31T19:26:27.642Z,1630437987.642 [CommandExec](IMPORTANT): got command set CorkAndScrew.CylinderYoYoMinDep 1.800000 meter
2021-08-31T19:26:27.643Z,1630437987.643 [CommandExec](IMPORTANT): got command set CorkAndScrew.CylinderYoYoMaxDep 31.000000 meter
2021-08-31T19:26:27.644Z,1630437987.644 [CommandExec](IMPORTANT): got command set CorkAndScrew.CylinderRadius 201.000000 meter
2021-08-31T19:26:39.011Z,1630437999.011 [CommandExec](IMPORTANT): got command set CorkAndScrew.ScrewRadius 105.000000 meter
2021-08-31T19:26:39.012Z,1630437999.012 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth1 50.000000 meter
2021-08-31T19:26:39.012Z,1630437999.012 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth2 55.000000 meter
2021-08-31T19:26:39.013Z,1630437999.013 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth3 60.000000 meter
2021-08-31T19:26:39.014Z,1630437999.014 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth4 65.000000 meter
2021-08-31T19:26:39.015Z,1630437999.015 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth5 70.000000 meter
2021-08-31T19:26:39.015Z,1630437999.015 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth6 75.000000 meter
2021-08-31T19:26:52.936Z,1630438012.936 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth7 80.000000 meter
2021-08-31T19:26:52.937Z,1630438012.937 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth8 85.000000 meter
2021-08-31T19:26:52.938Z,1630438012.938 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth9 90.000000 meter
2021-08-31T19:26:52.939Z,1630438012.939 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth10 95.000000 meter
2021-08-31T19:26:52.939Z,1630438012.939 [CommandExec](IMPORTANT): got command set CorkAndScrew.Depth11 100.000000 meter
2021-08-31T19:26:52.940Z,1630438012.940 [CommandExec](IMPORTANT): got command set CorkAndScrew.YoYoMinAltitude 10.000000 meter
2021-08-31T19:26:52.940Z,1630438012.940 [CommandExec](IMPORTANT): got command run
2021-08-31T19:26:52.948Z,1630438012.948 [CommandExec](IMPORTANT): Running 
2021-08-31T19:26:53.192Z,1630438013.192 [Default] Stopped
2021-08-31T19:26:53.192Z,1630438013.192 [Default](DEBUG): Aggregate::uninitialize Default
2021-08-31T19:26:53.193Z,1630438013.193 [Default:B.GoToSurface] Stopped
2021-08-31T19:26:53.193Z,1630438013.193 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-31T19:26:53.193Z,1630438013.193 [Default:CheckIn] Stopped
2021-08-31T19:26:53.193Z,1630438013.193 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2021-08-31T19:26:53.193Z,1630438013.193 [Default:CheckIn:Read_GPS] Stopped
2021-08-31T19:26:53.193Z,1630438013.193 [MissionManager](IMPORTANT): Started mission CorkAndScrew
2021-08-31T19:26:53.193Z,1630438013.193 [CorkAndScrew] Running Loop=1
2021-08-31T19:26:53.193Z,1630438013.193 [CorkAndScrew](DEBUG): Aggregate::initialize CorkAndScrew
2021-08-31T19:26:53.194Z,1630438013.194 [CorkAndScrew:C.] Running Loop=1
2021-08-31T19:26:53.194Z,1630438013.194 [CorkAndScrew:C.](INFO): Initializing Tracking.
2021-08-31T19:26:53.194Z,1630438013.194 [CorkAndScrew:StandardEnvelopes] Running Loop=1
2021-08-31T19:26:53.194Z,1630438013.194 [CorkAndScrew:StandardEnvelopes](DEBUG): Aggregate::initialize CorkAndScrew:StandardEnvelopes
2021-08-31T19:26:53.194Z,1630438013.194 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-31T19:26:53.194Z,1630438013.194 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-31T19:26:53.195Z,1630438013.195 [CorkAndScrew:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-31T19:26:53.195Z,1630438013.195 [CorkAndScrew:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-31T19:26:53.195Z,1630438013.195 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-31T19:26:53.195Z,1630438013.195 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-31T19:26:53.195Z,1630438013.195 [CorkAndScrew:AbortDrift] Running Loop=1
2021-08-31T19:26:53.195Z,1630438013.195 [CorkAndScrew:AbortDrift](DEBUG): Aggregate::initialize CorkAndScrew:AbortDrift
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:AbortDrift:A] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:J.Pitch] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:J.Pitch](DEBUG): Initialize.
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science](DEBUG): Aggregate::initialize CorkAndScrew:Science
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science:A] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science:B] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science:C] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science:D] Running Loop=1
2021-08-31T19:26:53.196Z,1630438013.196 [CorkAndScrew:Science:E] Running Loop=1
2021-08-31T19:26:53.197Z,1630438013.197 [CorkAndScrew:Science:F] Running Loop=1
2021-08-31T19:26:53.197Z,1630438013.197 [CorkAndScrew:Science:Read_Oil] Running Loop=1
2021-08-31T19:26:53.197Z,1630438013.197 [CorkAndScrew:Science:PeakDetectChl] Running Loop=1
2021-08-31T19:26:53.197Z,1630438013.197 [CorkAndScrew:Science:PeakDetectChl](DEBUG): Aggregate::initialize CorkAndScrew:Science:PeakDetectChl
2021-08-31T19:26:53.197Z,1630438013.197 [CorkAndScrew:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-31T19:26:53.197Z,1630438013.197 [CorkAndScrew:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-31T19:26:53.199Z,1630438013.199 [CorkAndScrew:Science:HighestChlPeakReport] Running Loop=1
2021-08-31T19:26:53.199Z,1630438013.199 [CorkAndScrew:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize CorkAndScrew:Science:HighestChlPeakReport
2021-08-31T19:26:53.199Z,1630438013.199 [CorkAndScrew:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-31T19:26:53.200Z,1630438013.200 [CorkAndScrew:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-31T19:26:53.200Z,1630438013.200 [CorkAndScrew:Science:PeakDetectNO3] Running Loop=1
2021-08-31T19:26:53.200Z,1630438013.200 [CorkAndScrew:Science:PeakDetectNO3](DEBUG): Aggregate::initialize CorkAndScrew:Science:PeakDetectNO3
2021-08-31T19:26:53.200Z,1630438013.200 [CorkAndScrew:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-31T19:26:53.200Z,1630438013.200 [CorkAndScrew:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-31T19:26:53.202Z,1630438013.202 [CorkAndScrew:Science:PeakDetectOil] Running Loop=1
2021-08-31T19:26:53.203Z,1630438013.203 [CorkAndScrew:Science:PeakDetectOil](DEBUG): Aggregate::initialize CorkAndScrew:Science:PeakDetectOil
2021-08-31T19:26:53.203Z,1630438013.203 [CorkAndScrew:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-31T19:26:53.203Z,1630438013.203 [CorkAndScrew:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-31T19:26:53.205Z,1630438013.205 [CorkAndScrew:Science:HighestOilPeakReport] Running Loop=1
2021-08-31T19:26:53.205Z,1630438013.205 [CorkAndScrew:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize CorkAndScrew:Science:HighestOilPeakReport
2021-08-31T19:26:53.205Z,1630438013.205 [CorkAndScrew:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-31T19:26:53.205Z,1630438013.205 [CorkAndScrew:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-31T19:26:53.205Z,1630438013.205 [CorkAndScrew:Science:PeakDetectFDOM] Running Loop=1
2021-08-31T19:26:53.206Z,1630438013.206 [CorkAndScrew:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize CorkAndScrew:Science:PeakDetectFDOM
2021-08-31T19:26:53.206Z,1630438013.206 [CorkAndScrew:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-31T19:26:53.206Z,1630438013.206 [CorkAndScrew:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-31T19:26:53.208Z,1630438013.208 [CorkAndScrew:Science:PeakDetectSalinity] Running Loop=1
2021-08-31T19:26:53.208Z,1630438013.208 [CorkAndScrew:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize CorkAndScrew:Science:PeakDetectSalinity
2021-08-31T19:26:53.209Z,1630438013.209 [CorkAndScrew:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-31T19:26:53.209Z,1630438013.209 [CorkAndScrew:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-31T19:26:53.210Z,1630438013.210 [CorkAndScrew:Science:HighestSaltPeakReport] Running Loop=1
2021-08-31T19:26:53.211Z,1630438013.211 [CorkAndScrew:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize CorkAndScrew:Science:HighestSaltPeakReport
2021-08-31T19:26:53.211Z,1630438013.211 [CorkAndScrew:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-31T19:26:53.211Z,1630438013.211 [CorkAndScrew:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-31T19:26:53.211Z,1630438013.211 [CorkAndScrew:Science:OceanCurrent] Running Loop=1
2021-08-31T19:26:53.211Z,1630438013.211 [CorkAndScrew:Science:OceanCurrent](DEBUG): Aggregate::initialize CorkAndScrew:Science:OceanCurrent
2021-08-31T19:26:53.211Z,1630438013.211 [CorkAndScrew:Science:OceanCurrent:A.] Running Loop=1
2021-08-31T19:26:53.212Z,1630438013.212 [CorkAndScrew:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-31T19:26:53.212Z,1630438013.212 [CorkAndScrew:L.AltitudeEnvelope] Running Loop=1
2021-08-31T19:26:53.212Z,1630438013.212 [CorkAndScrew:L.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-31T19:26:53.212Z,1630438013.212 [CorkAndScrew:B] Running Loop=1
2021-08-31T19:26:53.213Z,1630438013.213 [CorkAndScrew:L.AltitudeEnvelope] Running Loop=1
2021-08-31T19:26:53.213Z,1630438013.213 [CorkAndScrew:Science] Running Loop=1
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:HighestSaltPeakReport] Stopped
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:HighestSaltPeakReport
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectSalinity] Stopped
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:PeakDetectSalinity
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectFDOM] Stopped
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:PeakDetectFDOM
2021-08-31T19:26:53.216Z,1630438013.216 [CorkAndScrew:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:HighestOilPeakReport] Stopped
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:HighestOilPeakReport
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectOil] Stopped
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:PeakDetectOil
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectNO3] Stopped
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:PeakDetectNO3
2021-08-31T19:26:53.217Z,1630438013.217 [CorkAndScrew:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-31T19:26:53.218Z,1630438013.217 [CorkAndScrew:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-31T19:26:53.218Z,1630438013.218 [CorkAndScrew:Science:HighestChlPeakReport] Running Loop=1
2021-08-31T19:26:53.219Z,1630438013.219 [CorkAndScrew:Science:PeakDetectChl] Running Loop=1
2021-08-31T19:26:53.219Z,1630438013.219 [CorkAndScrew:Science:OceanCurrent:A.] Running Loop=1
2021-08-31T19:26:53.219Z,1630438013.219 [CorkAndScrew:Science:Read_Oil] Stopped
2021-08-31T19:26:53.219Z,1630438013.219 [CorkAndScrew:Science:F] Running Loop=1
2021-08-31T19:26:53.220Z,1630438013.220 [CorkAndScrew:Science:F](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.average_bioluminescence
2021-08-31T19:26:53.220Z,1630438013.220 [CorkAndScrew:Science:E] Running Loop=1
2021-08-31T19:26:53.221Z,1630438013.221 [CorkAndScrew:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2021-08-31T19:26:53.221Z,1630438013.221 [CorkAndScrew:Science:D] Stopped
2021-08-31T19:26:53.221Z,1630438013.221 [CorkAndScrew:Science:C] Running Loop=1
2021-08-31T19:26:53.222Z,1630438013.222 [CorkAndScrew:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-31T19:26:53.222Z,1630438013.222 [CorkAndScrew:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-31T19:26:53.223Z,1630438013.223 [CorkAndScrew:Science:B] Running Loop=1
2021-08-31T19:26:53.223Z,1630438013.223 [CorkAndScrew:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-31T19:26:53.224Z,1630438013.224 [CorkAndScrew:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-31T19:26:53.224Z,1630438013.224 [CorkAndScrew:Science:A] Stopped
2021-08-31T19:26:53.224Z,1630438013.224 [CorkAndScrew:J.Pitch] Running Loop=1
2021-08-31T19:26:53.225Z,1630438013.225 [CorkAndScrew:AbortDrift] Running Loop=1
2021-08-31T19:26:53.225Z,1630438013.225 [CorkAndScrew:AbortDrift:A](INFO): Insert acoustic timeout set to 0.366667 h .
2021-08-31T19:26:53.225Z,1630438013.225 [CorkAndScrew:AbortDrift:A] Stopped
2021-08-31T19:26:53.226Z,1630438013.226 [CorkAndScrew:AbortDrift:B.AbortDrift] Running Loop=1
2021-08-31T19:26:53.226Z,1630438013.226 [CorkAndScrew:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2021-08-31T19:26:53.226Z,1630438013.226 [CorkAndScrew:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.37 hours.
2021-08-31T19:26:53.226Z,1630438013.226 [CorkAndScrew:StandardEnvelopes] Running Loop=1
2021-08-31T19:26:53.242Z,1630438013.242 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-31T19:26:53.243Z,1630438013.243 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:53.243Z,1630438013.243 [CorkAndScrew:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-31T19:26:53.244Z,1630438013.244 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-31T19:26:53.244Z,1630438013.244 [CorkAndScrew:C.] Running Loop=1
2021-08-31T19:26:53.244Z,1630438013.244 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:53.245Z,1630438013.245 [CorkAndScrew:B] Stopped
2021-08-31T19:26:53.245Z,1630438013.245 [CorkAndScrew:F] Running Loop=1
2021-08-31T19:26:53.245Z,1630438013.245 [CorkAndScrew:NeedComms] Running Loop=1
2021-08-31T19:26:53.245Z,1630438013.245 [CorkAndScrew:NeedComms](DEBUG): Aggregate::initialize CorkAndScrew:NeedComms
2021-08-31T19:26:53.245Z,1630438013.245 [CorkAndScrew:NeedComms:B.GoToSurface] Running Loop=1
2021-08-31T19:26:53.246Z,1630438013.246 [CorkAndScrew:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-31T19:26:53.246Z,1630438013.246 [CorkAndScrew:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-08-31T19:26:53.247Z,1630438013.247 [CorkAndScrew:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-08-31T19:26:53.247Z,1630438013.247 [CorkAndScrew:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-08-31T19:26:53.247Z,1630438013.247 [CorkAndScrew:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-31T19:26:53.248Z,1630438013.248 [CorkAndScrew:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-31T19:26:53.248Z,1630438013.248 [CorkAndScrew:NeedComms:A] Running Loop=1
2021-08-31T19:26:53.249Z,1630438013.249 [CorkAndScrew:NeedComms:A](ERROR): data element is not active.
2021-08-31T19:26:53.249Z,1630438013.249 [CorkAndScrew:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-08-31T19:26:53.249Z,1630438013.249 [CorkAndScrew:NeedComms:A] Stopped
2021-08-31T19:26:53.623Z,1630438013.623 [CorkAndScrew:F] Stopped
2021-08-31T19:26:53.623Z,1630438013.623 [CorkAndScrew:G] Running Loop=1
2021-08-31T19:26:53.623Z,1630438013.623 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:53.624Z,1630438013.624 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:53.625Z,1630438013.625 [CorkAndScrew:NeedComms:C] Running Loop=1
2021-08-31T19:26:53.697Z,1630438013.697 [WetLabsBB2FL](INFO): Powering up
2021-08-31T19:26:53.735Z,1630438013.735 [WetLabsUBAT](INFO): Powering up
2021-08-31T19:26:54.011Z,1630438014.011 [CorkAndScrew:G] Stopped
2021-08-31T19:26:54.011Z,1630438014.011 [CorkAndScrew:H] Running Loop=1
2021-08-31T19:26:54.011Z,1630438014.011 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:54.012Z,1630438014.012 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:54.013Z,1630438014.013 [CorkAndScrew:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-31T19:26:54.428Z,1630438014.428 [CorkAndScrew:H] Stopped
2021-08-31T19:26:54.428Z,1630438014.428 [CorkAndScrew:MissionStart] Running Loop=1
2021-08-31T19:26:54.428Z,1630438014.428 [CorkAndScrew:MissionStart](DEBUG): Aggregate::initialize CorkAndScrew:MissionStart
2021-08-31T19:26:54.428Z,1630438014.428 [CorkAndScrew:MissionStart:MissionStartComms] Running Loop=1
2021-08-31T19:26:54.428Z,1630438014.428 [CorkAndScrew:MissionStart:MissionStartComms](DEBUG): Aggregate::initialize CorkAndScrew:MissionStart:MissionStartComms
2021-08-31T19:26:54.428Z,1630438014.428 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:54.429Z,1630438014.429 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:54.836Z,1630438014.836 [CorkAndScrew:MissionStart:NeedComms] Running Loop=1
2021-08-31T19:26:54.836Z,1630438014.836 [CorkAndScrew:MissionStart:NeedComms](DEBUG): Aggregate::initialize CorkAndScrew:MissionStart:NeedComms
2021-08-31T19:26:54.836Z,1630438014.836 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface] Running Loop=1
2021-08-31T19:26:54.836Z,1630438014.836 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-31T19:26:54.836Z,1630438014.836 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-08-31T19:26:54.837Z,1630438014.837 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-08-31T19:26:54.837Z,1630438014.837 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-08-31T19:26:54.837Z,1630438014.837 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-31T19:26:54.838Z,1630438014.838 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-31T19:26:54.838Z,1630438014.838 [CorkAndScrew:MissionStart:NeedComms:A] Running Loop=1
2021-08-31T19:26:54.839Z,1630438014.839 [CorkAndScrew:MissionStart:NeedComms:A](ERROR): data element is not active.
2021-08-31T19:26:54.839Z,1630438014.839 [CorkAndScrew:MissionStart:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2021-08-31T19:26:54.839Z,1630438014.839 [CorkAndScrew:MissionStart:NeedComms:A] Stopped
2021-08-31T19:26:54.840Z,1630438014.840 [CorkAndScrew:L.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2021-08-31T19:26:54.842Z,1630438014.842 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:54.843Z,1630438014.843 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2021-08-31T19:26:54.843Z,1630438014.843 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:55.242Z,1630438015.242 [CorkAndScrew:MissionStart:NeedComms:C] Running Loop=1
2021-08-31T19:26:55.245Z,1630438015.245 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:55.245Z,1630438015.245 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:55.613Z,1630438015.613 [CorkAndScrew:MissionStart:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-31T19:26:55.616Z,1630438015.616 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:55.617Z,1630438015.617 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:56.046Z,1630438016.046 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:56.046Z,1630438016.046 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:56.436Z,1630438016.436 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:56.437Z,1630438016.437 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:56.664Z,1630438016.664 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-31T19:26:56.832Z,1630438016.832 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:56.833Z,1630438016.833 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:57.237Z,1630438017.237 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:57.238Z,1630438017.238 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:57.656Z,1630438017.656 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:57.657Z,1630438017.657 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:58.064Z,1630438018.064 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:58.065Z,1630438018.065 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:58.444Z,1630438018.444 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:58.445Z,1630438018.445 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:58.856Z,1630438018.856 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:58.857Z,1630438018.857 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:59.264Z,1630438019.264 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:59.264Z,1630438019.264 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:26:59.680Z,1630438019.680 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:26:59.680Z,1630438019.680 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:27:00.061Z,1630438020.061 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:27:00.061Z,1630438020.061 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:27:00.477Z,1630438020.477 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:27:00.477Z,1630438020.477 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:27:00.885Z,1630438020.885 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:27:00.885Z,1630438020.885 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:27:01.292Z,1630438021.292 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:27:01.293Z,1630438021.293 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:27:01.335Z,1630438021.335 [CommandExec](IMPORTANT): got command stop
2021-08-31T19:27:01.335Z,1630438021.335 [CommandExec](IMPORTANT): Scheduling is paused
2021-08-31T19:27:01.336Z,1630438021.336 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2021-08-31T19:27:01.672Z,1630438021.672 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2021-08-31T19:27:01.673Z,1630438021.673 [CorkAndScrew:C.](DEBUG): Tracking...
2021-08-31T19:27:01.674Z,1630438021.674 [MissionManager](INFO): MissionManager is completed.
2021-08-31T19:27:01.675Z,1630438021.675 [MissionManager](INFO): Uninitializing Mission CorkAndScrew
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew] Stopped
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew](DEBUG): Aggregate::uninitialize CorkAndScrew
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:NeedComms] Stopped
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:NeedComms](DEBUG): Aggregate::uninitialize CorkAndScrew:NeedComms
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:NeedComms:B.GoToSurface] Stopped
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:NeedComms:C] Stopped
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:C.] Stopped
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:C.](DEBUG): Uninitializing Tracking.
2021-08-31T19:27:01.675Z,1630438021.675 [CorkAndScrew:StandardEnvelopes] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes](DEBUG): Aggregate::uninitialize CorkAndScrew:StandardEnvelopes
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:AbortDrift] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:AbortDrift](DEBUG): Aggregate::uninitialize CorkAndScrew:AbortDrift
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:AbortDrift:B.AbortDrift] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:J.Pitch] Stopped
2021-08-31T19:27:01.676Z,1630438021.676 [CorkAndScrew:Science] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science](DEBUG): Aggregate::uninitialize CorkAndScrew:Science
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:B] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:C] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:E] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:F] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:OceanCurrent] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:OceanCurrent](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:OceanCurrent
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:OceanCurrent:A.] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:PeakDetectChl] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:PeakDetectChl
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:HighestChlPeakReport] Stopped
2021-08-31T19:27:01.677Z,1630438021.677 [CorkAndScrew:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize CorkAndScrew:Science:HighestChlPeakReport
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:L.AltitudeEnvelope] Stopped
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:L.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart] Stopped
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart](DEBUG): Aggregate::uninitialize CorkAndScrew:MissionStart
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart:NeedComms] Stopped
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart:NeedComms](DEBUG): Aggregate::uninitialize CorkAndScrew:MissionStart:NeedComms
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface] Stopped
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart:NeedComms:C] Stopped
2021-08-31T19:27:01.678Z,1630438021.678 [CorkAndScrew:MissionStart:MissionStartComms] Stopped
2021-08-31T19:27:01.679Z,1630438021.679 [CorkAndScrew:MissionStart:MissionStartComms](DEBUG): Aggregate::uninitialize CorkAndScrew:MissionStart:MissionStartComms
2021-08-31T19:27:01.855Z,1630438021.855 [WetLabsBB2FL](INFO): Powering down
2021-08-31T19:27:02.097Z,1630438022.097 [MissionManager](IMPORTANT): Started mission Default
2021-08-31T19:27:02.098Z,1630438022.098 [Default] Running Loop=1
2021-08-31T19:27:02.098Z,1630438022.098 [Default](DEBUG): Aggregate::initialize Default
2021-08-31T19:27:02.098Z,1630438022.098 [Default:B.GoToSurface] Running Loop=1
2021-08-31T19:27:02.098Z,1630438022.098 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-31T19:27:02.103Z,1630438022.103 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-31T19:27:02.103Z,1630438022.103 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-31T19:27:02.103Z,1630438022.103 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-31T19:27:02.104Z,1630438022.104 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-31T19:27:02.104Z,1630438022.104 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-31T19:27:02.104Z,1630438022.104 [Default:A.Wait] Running Loop=1
2021-08-31T19:27:02.104Z,1630438022.104 [Default:A.Wait](DEBUG): Initialize Wait Component.
2021-08-31T19:27:02.983Z,1630438022.983 [WetLabsUBAT](INFO): Powering down
2021-08-31T19:27:15.433Z,1630438035.433 [Default:A.Wait](INFO): Done Waiting.
2021-08-31T19:27:15.433Z,1630438035.433 [Default:A.Wait] Stopped
2021-08-31T19:27:15.433Z,1630438035.433 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-31T19:27:15.836Z,1630438035.836 [Default:CheckIn] Running Loop=1
2021-08-31T19:27:15.836Z,1630438035.836 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2021-08-31T19:27:15.836Z,1630438035.836 [Default:CheckIn:Read_GPS] Running Loop=1
2021-08-31T19:27:51.383Z,1630438071.383 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2021-08-31T19:27:51.383Z,1630438071.383 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2021-08-31T19:27:51.393Z,1630438071.393 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2021-08-31T19:27:51.809Z,1630438071.809 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2021-08-31T19:27:51.809Z,1630438071.809 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13