2019-10-09T18:08:07.270Z,1570644487.270 [Supervisor](DEBUG): Initializing supervisor.
2019-10-09T18:08:07.274Z,1570644487.274 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-10-09T18:08:07.275Z,1570644487.275 [SyncHandler](INFO): Protected caller Thread ID is 5883
2019-10-09T18:08:07.275Z,1570644487.275 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-10-09T18:08:07.276Z,1570644487.276 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-10-09T18:08:07.276Z,1570644487.276 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5884
2019-10-09T18:08:07.280Z,1570644487.280 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-10-09T18:08:07.292Z,1570644487.292 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-10-09T18:08:07.294Z,1570644487.294 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-10-09T18:08:07.294Z,1570644487.294 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5885
2019-10-09T18:08:07.295Z,1570644487.295 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-10-09T18:08:07.296Z,1570644487.296 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-10-09T18:08:07.296Z,1570644487.296 [logger ThreadHandler](INFO): Protected caller Thread ID is 5886
2019-10-09T18:08:07.298Z,1570644487.298 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-10-09T18:08:07.298Z,1570644487.298 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-10-09T18:08:07.300Z,1570644487.300 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-10-09T18:08:07.729Z,1570644487.729 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-10-09T18:08:07.729Z,1570644487.729 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-10-09T18:08:07.826Z,1570644487.826 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-10-09T18:08:07.827Z,1570644487.827 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-10-09T18:08:08.149Z,1570644488.149 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-10-09T18:08:08.149Z,1570644488.149 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-10-09T18:08:08.290Z,1570644488.290 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-10-09T18:08:08.290Z,1570644488.290 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-10-09T18:08:08.484Z,1570644488.484 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-10-09T18:08:08.484Z,1570644488.484 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-10-09T18:08:08.939Z,1570644488.939 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-10-09T18:08:08.940Z,1570644488.940 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-10-09T18:08:09.233Z,1570644489.233 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-10-09T18:08:09.234Z,1570644489.234 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-10-09T18:08:09.378Z,1570644489.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-10-09T18:08:09.379Z,1570644489.379 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-10-09T18:08:09.578Z,1570644489.578 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-10-09T18:08:09.578Z,1570644489.578 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-10-09T18:08:09.673Z,1570644489.673 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-10-09T18:08:09.674Z,1570644489.674 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-10-09T18:08:09.979Z,1570644489.979 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-10-09T18:08:09.980Z,1570644489.980 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-10-09T18:08:10.059Z,1570644490.059 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-10-09T18:08:10.161Z,1570644490.161 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-10-09T18:08:10.162Z,1570644490.162 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-10-09T18:08:10.786Z,1570644490.786 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-10-09T18:08:10.787Z,1570644490.787 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-10-09T18:08:11.190Z,1570644491.190 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-10-09T18:08:11.192Z,1570644491.192 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-10-09T18:08:11.193Z,1570644491.193 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-10-09T18:08:11.400Z,1570644491.400 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-10-09T18:08:11.499Z,1570644491.499 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-10-09T18:08:11.596Z,1570644491.596 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-10-09T18:08:11.823Z,1570644491.823 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-10-09T18:08:11.823Z,1570644491.823 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-10-09T18:08:11.907Z,1570644491.907 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-10-09T18:08:12.001Z,1570644492.001 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-10-09T18:08:12.098Z,1570644492.098 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-10-09T18:08:12.180Z,1570644492.180 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-10-09T18:08:12.289Z,1570644492.289 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-10-09T18:08:12.476Z,1570644492.476 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-10-09T18:08:12.610Z,1570644492.610 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-10-09T18:08:12.610Z,1570644492.610 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-10-09T18:08:12.615Z,1570644492.615 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-10-09T18:08:12.916Z,1570644492.916 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-10-09T18:08:12.922Z,1570644492.922 [AHRS_M2](INFO): created writer for : platform_orientation
2019-10-09T18:08:12.924Z,1570644492.924 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-10-09T18:08:12.929Z,1570644492.929 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-10-09T18:08:12.930Z,1570644492.930 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-10-09T18:08:12.935Z,1570644492.935 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-10-09T18:08:12.936Z,1570644492.936 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-10-09T18:08:12.941Z,1570644492.941 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-10-09T18:08:13.015Z,1570644493.015 [AHRS_M2] Loaded
2019-10-09T18:08:13.015Z,1570644493.015 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-10-09T18:08:13.088Z,1570644493.088 [DataOverHttps] Loaded
2019-10-09T18:08:13.089Z,1570644493.089 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-10-09T18:08:13.090Z,1570644493.090 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4075C4E0
2019-10-09T18:08:13.090Z,1570644493.090 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5965
2019-10-09T18:08:13.103Z,1570644493.103 [Depth_Keller] Loaded
2019-10-09T18:08:13.104Z,1570644493.104 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-10-09T18:08:13.156Z,1570644493.156 [Micromodem] Loaded
2019-10-09T18:08:13.156Z,1570644493.156 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-10-09T18:08:13.257Z,1570644493.257 [NAL9602] Loaded
2019-10-09T18:08:13.257Z,1570644493.257 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-10-09T18:08:13.273Z,1570644493.273 [Onboard] Loaded
2019-10-09T18:08:13.274Z,1570644493.274 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-10-09T18:08:13.280Z,1570644493.280 [PowerOnly] Loaded
2019-10-09T18:08:13.280Z,1570644493.280 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-10-09T18:08:13.287Z,1570644493.287 [Radio_Surface] Loaded
2019-10-09T18:08:13.287Z,1570644493.287 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-10-09T18:08:13.288Z,1570644493.288 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078C4E0
2019-10-09T18:08:13.288Z,1570644493.288 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5966
2019-10-09T18:08:13.333Z,1570644493.333 [RDI_Pathfinder] Loaded
2019-10-09T18:08:13.333Z,1570644493.333 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-10-09T18:08:15.164Z,1570644495.164 [BPC1] Loaded
2019-10-09T18:08:15.165Z,1570644495.165 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-10-09T18:08:15.165Z,1570644495.165 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-10-09T18:08:15.166Z,1570644495.166 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-10-09T18:08:15.180Z,1570644495.180 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-10-09T18:08:15.180Z,1570644495.180 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-10-09T18:08:15.288Z,1570644495.288 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-10-09T18:08:15.288Z,1570644495.288 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-10-09T18:08:15.309Z,1570644495.309 [NavChart] Loaded
2019-10-09T18:08:15.309Z,1570644495.309 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-10-09T18:08:15.313Z,1570644495.313 [UniversalFixResidualReporter] Loaded
2019-10-09T18:08:15.314Z,1570644495.314 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-10-09T18:08:15.314Z,1570644495.314 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-10-09T18:08:15.315Z,1570644495.315 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-10-09T18:08:15.425Z,1570644495.425 [BuoyancyServo] Loaded
2019-10-09T18:08:15.426Z,1570644495.426 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-10-09T18:08:15.441Z,1570644495.441 [ElevatorServo] Loaded
2019-10-09T18:08:15.441Z,1570644495.441 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-10-09T18:08:15.456Z,1570644495.456 [MassServo] Loaded
2019-10-09T18:08:15.457Z,1570644495.457 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-10-09T18:08:15.472Z,1570644495.472 [RudderServo] Loaded
2019-10-09T18:08:15.472Z,1570644495.472 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-10-09T18:08:15.487Z,1570644495.487 [ThrusterServo] Loaded
2019-10-09T18:08:15.487Z,1570644495.487 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-10-09T18:08:15.488Z,1570644495.488 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-10-09T18:08:15.488Z,1570644495.488 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-10-09T18:08:15.678Z,1570644495.678 [PAR_Licor] Loaded
2019-10-09T18:08:15.679Z,1570644495.679 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-10-09T18:08:15.724Z,1570644495.724 [WetLabsSeaOWL_UV_A] Loaded
2019-10-09T18:08:15.724Z,1570644495.724 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-10-09T18:08:15.725Z,1570644495.725 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408D74E0
2019-10-09T18:08:15.726Z,1570644495.726 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5967
2019-10-09T18:08:15.726Z,1570644495.726 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-10-09T18:08:15.727Z,1570644495.727 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-10-09T18:08:16.027Z,1570644496.027 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-10-09T18:08:16.028Z,1570644496.028 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-10-09T18:08:16.071Z,1570644496.071 [DepthRateCalculator] Loaded
2019-10-09T18:08:16.071Z,1570644496.071 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-10-09T18:08:16.077Z,1570644496.077 [PitchRateCalculator] Loaded
2019-10-09T18:08:16.077Z,1570644496.077 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-10-09T18:08:16.090Z,1570644496.090 [SpeedCalculator] Loaded
2019-10-09T18:08:16.090Z,1570644496.090 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-10-09T18:08:16.111Z,1570644496.111 [TempGradientCalculator] Loaded
2019-10-09T18:08:16.112Z,1570644496.112 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-10-09T18:08:16.117Z,1570644496.117 [YawRateCalculator] Loaded
2019-10-09T18:08:16.118Z,1570644496.118 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-10-09T18:08:16.159Z,1570644496.159 [ElevatorOffsetCalculator] Loaded
2019-10-09T18:08:16.159Z,1570644496.159 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-10-09T18:08:16.160Z,1570644496.160 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-10-09T18:08:16.160Z,1570644496.160 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-10-09T18:08:16.300Z,1570644496.300 [SBIT](DEBUG): Construct Startup Built In Test.
2019-10-09T18:08:16.323Z,1570644496.323 [SBIT] Loaded
2019-10-09T18:08:16.323Z,1570644496.323 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-10-09T18:08:16.324Z,1570644496.324 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-10-09T18:08:16.336Z,1570644496.336 [IBIT] Loaded
2019-10-09T18:08:16.336Z,1570644496.336 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-10-09T18:08:16.339Z,1570644496.339 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-10-09T18:08:16.479Z,1570644496.479 [CBIT] Loaded
2019-10-09T18:08:16.479Z,1570644496.479 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-10-09T18:08:16.480Z,1570644496.480 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-10-09T18:08:16.480Z,1570644496.480 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-10-09T18:08:16.567Z,1570644496.567 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-10-09T18:08:16.567Z,1570644496.567 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-10-09T18:08:16.671Z,1570644496.671 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-10-09T18:08:16.672Z,1570644496.672 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-10-09T18:08:16.741Z,1570644496.741 [VerticalControl](DEBUG): Construct VerticalControl.
2019-10-09T18:08:16.826Z,1570644496.826 [VerticalControl] Loaded
2019-10-09T18:08:16.826Z,1570644496.826 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-10-09T18:08:16.827Z,1570644496.827 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-10-09T18:08:16.885Z,1570644496.885 [HorizontalControl] Loaded
2019-10-09T18:08:16.886Z,1570644496.886 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-10-09T18:08:16.886Z,1570644496.886 [SpeedControl](DEBUG): Construct SpeedControl.
2019-10-09T18:08:16.888Z,1570644496.888 [SpeedControl] Loaded
2019-10-09T18:08:16.888Z,1570644496.888 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-10-09T18:08:16.889Z,1570644496.889 [LoopControl](DEBUG): Construct LoopControl.
2019-10-09T18:08:16.890Z,1570644496.890 [LoopControl] Loaded
2019-10-09T18:08:16.890Z,1570644496.890 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-10-09T18:08:16.890Z,1570644496.890 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-10-09T18:08:16.891Z,1570644496.891 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-10-09T18:08:16.926Z,1570644496.926 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-10-09T18:08:16.930Z,1570644496.930 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-10-09T18:08:16.931Z,1570644496.931 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-10-09T18:08:16.938Z,1570644496.938 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-10-09T18:08:16.939Z,1570644496.939 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AB44E0
2019-10-09T18:08:16.939Z,1570644496.939 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5968
2019-10-09T18:08:16.944Z,1570644496.944 [Supervisor](INFO): Main Thread ID is 5622
2019-10-09T18:08:16.944Z,1570644496.944 [Supervisor](DEBUG): Running supervisor.
2019-10-09T18:08:16.945Z,1570644496.945 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5969
2019-10-09T18:08:16.948Z,1570644496.948 [controlThread ThreadHandler](INFO): Handler Thread ID is 5970
2019-10-09T18:08:16.948Z,1570644496.948 [controlThread](DEBUG): Initializing ControlThread
2019-10-09T18:08:16.955Z,1570644496.955 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-10-09T18:08:16.955Z,1570644496.955 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-10-09T18:08:16.961Z,1570644496.961 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-10-09T18:08:16.961Z,1570644496.961 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-10-09T18:08:16.962Z,1570644496.962 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-10-09T18:08:16.962Z,1570644496.962 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-10-09T18:08:16.963Z,1570644496.963 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-10-09T18:08:16.963Z,1570644496.963 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-10-09T18:08:16.963Z,1570644496.963 [SBIT](INFO): Initialize SBIT Component.
2019-10-09T18:08:16.964Z,1570644496.964 [SBIT](IMPORTANT): git: 2019-09-23_TRN-90-g217e710
2019-10-09T18:08:16.964Z,1570644496.964 [SBIT](INFO): git hash: 217e710eb7ee4d50c735837a6a63058c2a331c1b
2019-10-09T18:08:16.964Z,1570644496.964 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-10-09T18:08:16.966Z,1570644496.966 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #2 PREEMPT Wed May 15 08:34:03 PDT 2019
2019-10-09T18:08:16.967Z,1570644496.967 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-10-09T18:08:16.967Z,1570644496.967 [IBIT](INFO): Initialize IBIT Component.
2019-10-09T18:08:16.968Z,1570644496.968 [CBIT](DEBUG): Initialize CBIT Component.
2019-10-09T18:08:16.969Z,1570644496.969 [logger ThreadHandler](INFO): Handler Thread ID is 5971
2019-10-09T18:08:16.981Z,1570644496.981 [CBIT](DEBUG): Initialized mux pins.
2019-10-09T18:08:16.981Z,1570644496.981 [CBIT](DEBUG): Initializing the watchdog timer.
2019-10-09T18:08:16.989Z,1570644496.989 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5972
2019-10-09T18:08:16.990Z,1570644496.990 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-10-09T18:08:17.002Z,1570644497.002 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5973
2019-10-09T18:08:17.005Z,1570644497.005 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-10-09T18:08:17.005Z,1570644497.005 [CBIT](DEBUG): Initializing heartbeat.
2019-10-09T18:08:17.013Z,1570644497.013 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5974
2019-10-09T18:08:17.014Z,1570644497.014 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-10-09T18:08:17.041Z,1570644497.041 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5975
2019-10-09T18:08:17.044Z,1570644497.044 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-10-09T18:08:17.045Z,1570644497.045 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-10-09T18:08:17.045Z,1570644497.045 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-10-09T18:08:17.046Z,1570644497.046 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-10-09T18:08:17.046Z,1570644497.046 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-10-09T18:08:17.046Z,1570644497.046 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-10-09T18:08:17.046Z,1570644497.046 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-10-09T18:08:17.046Z,1570644497.046 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-10-09T18:08:17.047Z,1570644497.047 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-10-09T18:08:17.047Z,1570644497.047 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-10-09T18:08:17.047Z,1570644497.047 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-10-09T18:08:17.047Z,1570644497.047 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-10-09T18:08:17.047Z,1570644497.047 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-10-09T18:08:17.047Z,1570644497.047 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-10-09T18:08:17.048Z,1570644497.048 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-10-09T18:08:17.048Z,1570644497.048 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-10-09T18:08:17.077Z,1570644497.077 [CBIT](DEBUG): Deactivating GF circuits.
2019-10-09T18:08:17.077Z,1570644497.077 [CBIT](DEBUG): Deactivating emergency mode.
2019-10-09T18:08:17.113Z,1570644497.113 [CBIT](DEBUG): Backplane powered.
2019-10-09T18:08:17.113Z,1570644497.113 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-10-09T18:08:17.115Z,1570644497.115 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-10-09T18:08:17.116Z,1570644497.116 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-10-09T18:08:17.116Z,1570644497.116 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-10-09T18:08:17.117Z,1570644497.117 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-10-09T18:08:17.129Z,1570644497.129 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T18:08:17.148Z,1570644497.148 [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>


2019-10-09T18:08:17.148Z,1570644497.148 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-10-09T18:08:17.225Z,1570644497.225 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-10-09T18:08:17.226Z,1570644497.226 [Default:A.Wait](DEBUG): Construct Wait.
2019-10-09T18:08:17.228Z,1570644497.228 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T18:08:17.270Z,1570644497.270 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-10-09T18:08:17.289Z,1570644497.289 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-10-09T18:08:17.314Z,1570644497.314 [Default:E.Execute](DEBUG): Construct Execute.
2019-10-09T18:08:17.318Z,1570644497.318 [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>


2019-10-09T18:08:17.322Z,1570644497.322 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,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,Reporter,LogSplitter,
2019-10-09T18:08:17.341Z,1570644497.341 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-10-09T18:08:17.405Z,1570644497.405 [Radio_Surface](INFO): Powering up
2019-10-09T18:08:17.574Z,1570644497.574 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-10-09T18:08:17.581Z,1570644497.581 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-10-09T18:08:17.582Z,1570644497.582 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-10-09T18:08:17.589Z,1570644497.589 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-10-09T18:08:17.590Z,1570644497.590 [MassServo](DEBUG): Initializing EZServoServo.
2019-10-09T18:08:17.597Z,1570644497.597 [MassServo](DEBUG): Initializing MassServo.
2019-10-09T18:08:17.598Z,1570644497.598 [RudderServo](DEBUG): Initializing EZServoServo.
2019-10-09T18:08:17.605Z,1570644497.605 [RudderServo](DEBUG): Initializing RudderServo.
2019-10-09T18:08:17.606Z,1570644497.606 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-10-09T18:08:17.613Z,1570644497.613 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-10-09T18:08:17.746Z,1570644497.746 [Micromodem](INFO): Powering up
2019-10-09T18:08:17.747Z,1570644497.747 [Micromodem](DEBUG): Initializing Micromodem.
2019-10-09T18:08:18.497Z,1570644498.497 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-10-09T18:08:18.497Z,1570644498.497 [RudderServo](FAULT): Rudder failed to initialize
2019-10-09T18:08:18.497Z,1570644498.497 [RudderServo] Communications Fault, FailCount= 1
2019-10-09T18:08:18.497Z,1570644498.497 [RudderServo](ERROR): Communications Fault
2019-10-09T18:08:18.608Z,1570644498.608 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-10-09T18:08:18.818Z,1570644498.818 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-10-09T18:08:18.818Z,1570644498.818 [RudderServo](INFO): Powering down
2019-10-09T18:08:19.479Z,1570644499.479 [RudderServo](DEBUG): Initializing EZServoServo.
2019-10-09T18:08:19.598Z,1570644499.598 [RudderServo](DEBUG): Initializing RudderServo.
2019-10-09T18:08:19.602Z,1570644499.602 [CBIT](INFO): Clearing failed state for component RudderServo
2019-10-09T18:08:19.602Z,1570644499.602 [RudderServo] No Fault, FailCount= 1
2019-10-09T18:08:22.695Z,1570644502.695 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-10-09T18:08:25.607Z,1570644505.607 [Micromodem](INFO): Nmea in: $CATMG,2019-10-09T18:08:24.108505Z,RTC,RTC*5C

2019-10-09T18:08:25.607Z,1570644505.607 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-10-09T18:08:24.108505Z,RTC,RTC*5C

2019-10-09T18:08:30.864Z,1570644510.864 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-10-09T18:08:34.079Z,1570644514.079 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-10-09T18:08:34.878Z,1570644514.878 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-10-09T18:08:34.879Z,1570644514.879 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-10-09T18:08:35.282Z,1570644515.282 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-10-09T18:08:35.283Z,1570644515.283 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-10-09T18:08:35.687Z,1570644515.687 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-10-09T18:08:35.687Z,1570644515.687 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-10-09T18:08:36.091Z,1570644516.091 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-10-09T18:08:36.091Z,1570644516.091 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-10-09T18:08:36.494Z,1570644516.494 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-10-09T18:08:36.495Z,1570644516.495 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-10-09T18:08:36.898Z,1570644516.898 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-10-09T18:08:36.899Z,1570644516.899 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-10-09T18:08:37.298Z,1570644517.298 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-10-09T18:08:37.299Z,1570644517.299 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-10-09T18:08:37.718Z,1570644517.718 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-10-09T18:08:37.719Z,1570644517.719 [Micromodem](INFO): Nmea out: $CCCLK,2019,10,09,18,08,38*4C

2019-10-09T18:08:38.111Z,1570644518.111 [Micromodem](INFO): Nmea in: $CACLK,2019,10,9,18,8,38*4E

2019-10-09T18:08:38.931Z,1570644518.931 [Micromodem](INFO): Nmea in: $CATMS,0,2019-10-09T18:08:39Z*7F

2019-10-09T18:08:38.966Z,1570644518.966 [Micromodem](INFO): Nmea in: $CATMG,2019-10-09T18:08:39.028605Z,USER_CMD,RTC*11

2019-10-09T18:08:43.359Z,1570644523.359 [NAL9602](INFO): Powering up NAL9602
2019-10-09T18:08:45.427Z,1570644525.427 [SBIT](IMPORTANT): Beginning Startup BIT
2019-10-09T18:08:45.435Z,1570644525.435 [CBIT](IMPORTANT): Beginning ground fault scan
2019-10-09T18:08:54.379Z,1570644534.379 [NAL9602](INFO): NAL9602 initialized
2019-10-09T18:08:55.195Z,1570644535.195 [NAL9602](DEBUG): Fix Requested
2019-10-09T18:08:56.506Z,1570644536.506 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.004550
CHAN A1 (24V): -0.021290
CHAN A2 (12V): -0.004263
CHAN A3 (5V): -0.001769
CHAN B0 (3.3V): -0.000152
CHAN B1 (3.15aV): 0.000210
CHAN B2 (3.15bV): 0.000296
CHAN B3 (GND): 0.001197
OPEN: 0.006694
Full Scale Calc: 4.765 mA, -1.589 mA
2019-10-09T18:09:38.784Z,1570644578.784 [SBIT](IMPORTANT): SBIT PASSED
2019-10-09T18:09:38.826Z,1570644578.826 [CommandLine](IMPORTANT): got command configSet list
2019-10-09T18:09:38.826Z,1570644578.826 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-10-09T18:09:38.827Z,1570644578.827 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-10-09T18:09:38.827Z,1570644578.827 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2019-10-09T18:09:38.827Z,1570644578.827 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-10-09T18:09:39.151Z,1570644579.151 [MissionManager](IMPORTANT): Started mission Startup
2019-10-09T18:09:39.151Z,1570644579.151 [Startup] Running Loop=1
2019-10-09T18:09:39.151Z,1570644579.151 [Startup](DEBUG): Aggregate::initialize Startup
2019-10-09T18:09:39.152Z,1570644579.152 [Startup:A.GoToSurface] Running Loop=1
2019-10-09T18:09:39.152Z,1570644579.152 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T18:09:39.152Z,1570644579.152 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T18:09:39.153Z,1570644579.153 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T18:09:39.153Z,1570644579.153 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T18:09:39.154Z,1570644579.154 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T18:09:39.154Z,1570644579.154 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T18:09:39.155Z,1570644579.155 [Startup:StartupSatComms] Running Loop=1
2019-10-09T18:09:39.156Z,1570644579.156 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-10-09T18:09:39.156Z,1570644579.156 [Startup:StartupSatComms:A] Running Loop=1
2019-10-09T18:09:39.568Z,1570644579.568 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-10-09T18:10:39.320Z,1570644639.320 [Startup:StartupSatComms:A](INFO): Timed out from 2019-10-09T18:09:39.2Z
2019-10-09T18:10:39.320Z,1570644639.320 [Startup:StartupSatComms:A] Stopped
2019-10-09T18:10:39.321Z,1570644639.321 [Startup:StartupSatComms:B] Running Loop=1
2019-10-09T18:10:39.744Z,1570644639.744 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T18:10:43.733Z,1570644643.733 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 7B159E5D1C0000005D00000400370000000000000000151D80030C5669C08C36EC101CC717135D1B0B402A3CA2547BDEA2985EFB5B0D5078AE929053DB78DC11
2019-10-09T18:10:43.734Z,1570644643.734 [Micromodem](INFO): Outgoing frame #2, 6 bytes: FEAEBB457BD5
2019-10-09T18:10:43.734Z,1570644643.734 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T18:10:43.961Z,1570644643.961 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T18:10:44.323Z,1570644644.323 [Micromodem](INFO): Nmea in: $CADRQ,181044,1,9,0,64,1*46

2019-10-09T18:10:44.323Z,1570644644.323 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,7B159E5D1C0000005D00000400370000000000000000151D80030C5669C08C36EC101CC717135D1B0B402A3CA2547BDEA2985EFB5B0D5078AE929053DB78DC11*73

2019-10-09T18:10:44.722Z,1570644644.722 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T18:10:45.135Z,1570644645.135 [Micromodem](INFO): Nmea in: $CADRQ,181044,1,9,0,64,2*45

2019-10-09T18:10:45.135Z,1570644645.135 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,FEAEBB457BD5*73

2019-10-09T18:10:45.531Z,1570644645.531 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2019-10-09T18:10:45.930Z,1570644645.930 [Micromodem](INFO): Nmea in: $CATXP,70*75

2019-10-09T18:10:48.241Z,1570644648.241 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.006302
2019-10-09T18:10:48.359Z,1570644648.359 [Micromodem](INFO): Nmea in: $CATXF,70*63

2019-10-09T18:10:49.575Z,1570644649.575 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,181045.540793,3,0,200,4000,10000,1,1,9,1,2,2,3,70*7A

2019-10-09T18:10:57.764Z,1570644657.764 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191009T171435/Courier0028.lzma
2019-10-09T18:11:00.622Z,1570644660.622 [DataOverHttps](INFO): Moved sent file to Logs/20191009T171435/Courier0028.lzma.bak
2019-10-09T18:11:00.623Z,1570644660.623 [DataOverHttps](INFO): SBD MOMSN=11864705
2019-10-09T18:11:17.078Z,1570644677.078 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-10-09T18:11:17.078Z,1570644677.078 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-10-09T18:11:17.096Z,1570644677.096 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-10-09T18:11:17.522Z,1570644677.522 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-10-09T18:11:17.522Z,1570644677.522 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-10-09T18:11:19.958Z,1570644679.958 [DataOverHttps](INFO): Sending 193 bytes from file Logs/20191009T171435/Express0029.lzma
2019-10-09T18:11:21.942Z,1570644681.942 [DataOverHttps](INFO): Moved sent file to Logs/20191009T171435/Express0029.lzma.bak
2019-10-09T18:11:21.943Z,1570644681.943 [DataOverHttps](INFO): SBD MOMSN=11864752
2019-10-09T18:11:39.452Z,1570644699.452 [Startup:StartupSatComms:B](INFO): Timed out from 2019-10-09T18:10:39.3Z
2019-10-09T18:11:39.452Z,1570644699.452 [Startup:StartupSatComms:B] Stopped
2019-10-09T18:11:39.452Z,1570644699.452 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-10-09T18:11:39.452Z,1570644699.452 [Startup:StartupSatComms] Stopped
2019-10-09T18:11:39.457Z,1570644699.457 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-10-09T18:11:39.458Z,1570644699.458 [Startup](INFO): Completed Startup
2019-10-09T18:11:39.458Z,1570644699.458 [MissionManager](INFO): Startup is completed.
2019-10-09T18:11:39.458Z,1570644699.458 [MissionManager](INFO): Uninitializing Mission Startup
2019-10-09T18:11:39.458Z,1570644699.458 [Startup] Stopped
2019-10-09T18:11:39.458Z,1570644699.458 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-10-09T18:11:39.458Z,1570644699.458 [Startup:A.GoToSurface] Stopped
2019-10-09T18:11:39.458Z,1570644699.458 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T18:11:39.774Z,1570644699.774 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T18:11:39.774Z,1570644699.774 [Default] Running Loop=1
2019-10-09T18:11:39.774Z,1570644699.774 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T18:11:39.774Z,1570644699.774 [Default:B.GoToSurface] Running Loop=1
2019-10-09T18:11:39.775Z,1570644699.774 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T18:11:39.775Z,1570644699.775 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T18:11:39.775Z,1570644699.775 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T18:11:39.775Z,1570644699.775 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T18:11:39.776Z,1570644699.776 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T18:11:39.776Z,1570644699.776 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T18:11:39.776Z,1570644699.776 [Default:A.Wait] Running Loop=1
2019-10-09T18:11:39.776Z,1570644699.776 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T18:11:43.624Z,1570644703.624 [DataOverHttps](INFO): Sending 100 bytes from file Logs/20191009T171435/Express0032.lzma
2019-10-09T18:11:45.630Z,1570644705.630 [DataOverHttps](INFO): Moved sent file to Logs/20191009T171435/Express0032.lzma.bak
2019-10-09T18:11:45.630Z,1570644705.630 [DataOverHttps](INFO): SBD MOMSN=11864756
2019-10-09T18:11:53.094Z,1570644713.094 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T18:11:53.094Z,1570644713.094 [Default:A.Wait] Stopped
2019-10-09T18:11:53.094Z,1570644713.094 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T18:11:53.429Z,1570644713.429 [Default:CheckIn] Running Loop=1
2019-10-09T18:11:53.429Z,1570644713.429 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T18:11:53.429Z,1570644713.429 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T18:11:53.852Z,1570644713.852 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T18:12:33.799Z,1570644753.799 [CommandLine](IMPORTANT): got command show variable sea_water_temp
2019-10-09T18:12:33.848Z,1570644753.848 [CommandLine](IMPORTANT): upward_derivative_of_sea_water_temperature (unknown)
2019-10-09T18:12:34.082Z,1570644754.082 [CommandLine](IMPORTANT): TempGradientCalculator.upward_derivative_of_sea_water_temperature (celsius_per_meter)
2019-10-09T18:12:38.799Z,1570644758.799 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Science.xml
2019-10-09T18:12:38.799Z,1570644758.799 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Science.xml
2019-10-09T18:12:38.976Z,1570644758.976 [MissionManager](INFO): DefineArg Science.SampleISUS = 0 bool
2019-10-09T18:12:38.979Z,1570644758.979 [MissionManager](INFO): DefineArg Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-10-09T18:12:38.982Z,1570644758.982 [MissionManager](INFO): DefineArg Science.SampleISUSminPitch = -60.000000 arcdeg
2019-10-09T18:12:38.985Z,1570644758.985 [MissionManager](INFO): DefineArg Science.PeakDetectChlActive = 0 bool
2019-10-09T18:12:38.988Z,1570644758.988 [MissionManager](INFO): DefineArg Science.TimeWindowPeakReport = nan min
2019-10-09T18:12:38.991Z,1570644758.991 [MissionManager](INFO): DefineArg Science.HighestChlPeakReportActive = 0 bool
2019-10-09T18:12:38.995Z,1570644758.995 [MissionManager](INFO): DefineArg Science.PatchTracking = 0 bool
2019-10-09T18:12:38.999Z,1570644758.999 [MissionManager](INFO): DefineArg Science.FilterWidthHorizontal = 3.000000 count
2019-10-09T18:12:39.003Z,1570644759.003 [MissionManager](INFO): DefineArg Science.NumProfilesSlidingwindow = 100.000000 count
2019-10-09T18:12:39.006Z,1570644759.006 [MissionManager](INFO): DefineArg Science.OffPeakFractionHorizontal = 80.000000 %
2019-10-09T18:12:39.010Z,1570644759.010 [MissionManager](INFO): DefineArg Science.PeakDetectNO3Active = 0 bool
2019-10-09T18:12:39.013Z,1570644759.013 [MissionManager](INFO): DefineArg Science.PeakDetectOilActive = 0 bool
2019-10-09T18:12:39.016Z,1570644759.016 [MissionManager](INFO): DefineArg Science.PeakDetectFDOMActive = 0 bool
2019-10-09T18:12:39.019Z,1570644759.019 [MissionManager](INFO): DefineArg Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-10-09T18:12:39.034Z,1570644759.034 [MissionManager](INFO): DefineArg Science.EnabledAanderaaO2 = 0.000000 bool
2019-10-09T18:12:39.039Z,1570644759.039 [MissionManager](INFO): DefineArg Science.EnabledNeilBrown = 0.000000 bool
2019-10-09T18:12:39.089Z,1570644759.089 [MissionManager](INFO): DefineArg Science.EnabledSeabird = 0.000000 bool
2019-10-09T18:12:39.097Z,1570644759.097 [MissionManager](INFO): DefineArg Science.EnabledTurbulence_NPS = 0.000000 bool
2019-10-09T18:12:39.113Z,1570644759.113 [MissionManager](INFO): DefineArg Science.EnabledWetLabsBB2FL = 0.000000 bool
2019-10-09T18:12:39.120Z,1570644759.120 [MissionManager](INFO): DefineArg Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2019-10-09T18:12:39.123Z,1570644759.123 [MissionManager](INFO): DefineArg Science.EnabledWetLabsUBAT = 0.000000 bool
2019-10-09T18:12:39.140Z,1570644759.140 [MissionManager](INFO): DefineArg Science.EnabledISUS = 0.000000 bool
2019-10-09T18:12:39.162Z,1570644759.162 [MissionManager](INFO): DefineArg Science.LowPassWindowLength = 20.000000 count
2019-10-09T18:12:39.164Z,1570644759.164 [MissionManager](INFO): DefineArg Science.MedianFilterLen = 5.000000 count
2019-10-09T18:12:39.182Z,1570644759.182 [MissionManager](INFO): DefineArg Science.PeakChlShallowBound = nan m
2019-10-09T18:12:39.188Z,1570644759.188 [MissionManager](INFO): DefineArg Science.PeakChlDeepBound = nan m
2019-10-09T18:12:39.203Z,1570644759.203 [MissionManager](INFO): DefineArg Science.PeakShallowBound = nan m
2019-10-09T18:12:39.208Z,1570644759.208 [MissionManager](INFO): DefineArg Science.PeakDeepBound = nan m
2019-10-09T18:12:39.224Z,1570644759.224 [MissionManager](INFO): DefineOutput Science.PeakChl = 0.000000 ug/l
2019-10-09T18:12:39.227Z,1570644759.227 [MissionManager](INFO): DefineOutput Science.PeakChlDepth = 0.000000 m
2019-10-09T18:12:39.242Z,1570644759.242 [MissionManager](INFO): DefineOutput Science.PeakChlTemperature = 0.000000 degC
2019-10-09T18:12:39.246Z,1570644759.246 [MissionManager](INFO): DefineOutput Science.PeakChlLatitude = nan arcdeg
2019-10-09T18:12:39.264Z,1570644759.264 [MissionManager](INFO): DefineOutput Science.PeakChlLongitude = nan arcdeg
2019-10-09T18:12:39.276Z,1570644759.276 [MissionManager](INFO): DefineOutput Science.PeakNO3 = 0.000000 umol/l
2019-10-09T18:12:39.280Z,1570644759.280 [MissionManager](INFO): DefineOutput Science.PeakNO3Depth = 0.000000 m
2019-10-09T18:12:39.291Z,1570644759.291 [MissionManager](INFO): DefineOutput Science.PeakNO3Latitude = nan arcdeg
2019-10-09T18:12:39.303Z,1570644759.303 [MissionManager](INFO): DefineOutput Science.PeakNO3Longitude = nan arcdeg
2019-10-09T18:12:39.311Z,1570644759.311 [MissionManager](INFO): DefineOutput Science.PatchChl = 0.000000 m
2019-10-09T18:12:39.318Z,1570644759.318 [MissionManager](INFO): DefineOutput Science.PatchChlDepth = 0.000000 m
2019-10-09T18:12:39.337Z,1570644759.337 [MissionManager](INFO): DefineOutput Science.PatchChlLatitude = nan arcdeg
2019-10-09T18:12:39.341Z,1570644759.341 [MissionManager](INFO): DefineOutput Science.PatchChlLongitude = nan arcdeg
2019-10-09T18:12:39.344Z,1570644759.344 [MissionManager](INFO): DefineOutput Science.PatchChlDistance = nan m
2019-10-09T18:12:39.356Z,1570644759.356 [MissionManager](INFO): DefineOutput Science.PeakOil = 0.000000 kg/m3
2019-10-09T18:12:39.364Z,1570644759.364 [MissionManager](INFO): DefineOutput Science.PeakOilDepth = 0.000000 m
2019-10-09T18:12:39.367Z,1570644759.367 [MissionManager](INFO): DefineOutput Science.PeakOilLatitude = nan arcdeg
2019-10-09T18:12:39.382Z,1570644759.382 [MissionManager](INFO): DefineOutput Science.PeakOilLongitude = nan arcdeg
2019-10-09T18:12:39.389Z,1570644759.389 [MissionManager](INFO): DefineOutput Science.PeakFDOM = 0.000000 ppb
2019-10-09T18:12:39.397Z,1570644759.397 [MissionManager](INFO): DefineOutput Science.PeakFDOMDepth = 0.000000 m
2019-10-09T18:12:39.409Z,1570644759.409 [MissionManager](INFO): DefineOutput Science.PeakFDOMLatitude = nan arcdeg
2019-10-09T18:12:39.417Z,1570644759.417 [MissionManager](INFO): DefineOutput Science.PeakFDOMLongitude = nan arcdeg
2019-10-09T18:12:39.420Z,1570644759.420 [MissionManager](INFO): DefineOutput Science.PatchFDOMDistance = nan m
2019-10-09T18:12:39.510Z,1570644759.510 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-10-09T18:12:39.559Z,1570644759.559 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-10-09T18:12:39.594Z,1570644759.594 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-10-09T18:12:39.612Z,1570644759.612 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-10-09T18:12:39.632Z,1570644759.632 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-10-09T18:12:39.713Z,1570644759.713 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Science="Tethys/Science"
           xmlns:Universal="Tethys/Universal"
           xmlns:Trigger="Tethys/Trigger"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd
                               Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd"
       Id="Science">

    <DefineArg Name="SampleISUS"><Description>
        Set either this or PeakDetectNO3Active to True in order to sample
        Nitrate. EnabledISUS must also be true.
    </Description><False/></DefineArg>

    <DefineArg Name="SampleISUSmaxPitch"><Description>
        Maximum pitch to sample ISUS. (EnabledISUS must also be true.)
    </Description><Units:degree/><Value>60.0</Value></DefineArg>

    <DefineArg Name="SampleISUSminPitch"><Description>
        Minimum pitch to sample ISUS. (EnabledISUS must also be true.)
    </Description><Units:degree/><Value>-60.0</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

    <DefineArg Name="PeakDetectFDOMActive"><Description>
        Turns on peak detection of concentration_of_chromophoric_dissolved_organic_matter_in_sea_water from FDOM sensor.
    </Description><False/></DefineArg>
    
    <DefineArg Name="UpwardDerivativeOfTemperatureActive"><Description>
        Turns on seawater temperature derivative.
    </Description><False/></DefineArg>

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

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

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

    <DefineArg Name="EnabledTurbulence_NPS"><Description>
        Automatically set to true if the NPS Turbulence sensor is enabled. Set
        to false to disable reading from the NPS Turbulence sensor.
    </Description><Science:Turbulence_NPS.loadAtStartup/></DefineArg>

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

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

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

    <DefineArg Name="EnabledISUS"><Description>
        Automatically set to True if ISUS is enabled. Set to false to disable
        ISUS.
    </Description><Science:ISUS.loadAtStartup/></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <ReadData>
        <While>
            <Arg Name="EnabledISUS"/>
            <And><Universal:platform_pitch_angle/><Lt><Arg Name="SampleISUSmaxPitch"/></Lt><And><Universal:platform_pitch_angle/><Gt><Arg Name="SampleISUSminPitch"/></Gt><And><Arg Name="SampleISUS"/><Or><Arg Name="PeakDetectNO3Active"/></Or></And></And></And>
        </While>
        <Universal:mole_concentration_of_nitrate_in_sea_water/>
    </ReadData>

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

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

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

    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledTurbulence_NPS"/>
        </While>
        <Science:Turbulence_NPS.MicroCond/>
    </ReadData>

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

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

<!--debug-->

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

    <Aggregate Id="PeakDetectChl">

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

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

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

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

    </Aggregate>

    <Aggregate Id="HighestChlPeakReport">

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

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

    </Aggregate>

    <Aggregate Id="PeakDetectNO3">

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

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

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

    </Aggregate>

    <Aggregate Id="PeakDetectOil">

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

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

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

    </Aggregate>

    <Aggregate Id="PeakDetectFDOM">

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

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

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

    </Aggregate>

</Aggregate>


2019-10-09T18:12:39.716Z,1570644759.716 [CommandLine](IMPORTANT): Running ./Missions/Insert/Science.xml
2019-10-09T18:12:39.930Z,1570644759.930 [Default] Stopped
2019-10-09T18:12:39.930Z,1570644759.930 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T18:12:39.931Z,1570644759.931 [Default:B.GoToSurface] Stopped
2019-10-09T18:12:39.931Z,1570644759.931 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T18:12:39.931Z,1570644759.931 [Default:CheckIn] Stopped
2019-10-09T18:12:39.931Z,1570644759.931 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T18:12:39.931Z,1570644759.931 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T18:12:39.931Z,1570644759.931 [MissionManager](IMPORTANT): Started mission Science
2019-10-09T18:12:39.931Z,1570644759.931 [Science] Running Loop=1
2019-10-09T18:12:39.931Z,1570644759.931 [Science](DEBUG): Aggregate::initialize Science
2019-10-09T18:12:39.931Z,1570644759.931 [Science:A] Running Loop=1
2019-10-09T18:12:39.931Z,1570644759.931 [Science:B] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:C] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:D] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:E] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:F] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:G] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:H] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:Read_Oil] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:PeakDetectChl] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:PeakDetectChl](DEBUG): Aggregate::initialize Science:PeakDetectChl
2019-10-09T18:12:39.932Z,1570644759.932 [Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-10-09T18:12:39.932Z,1570644759.932 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-10-09T18:12:39.939Z,1570644759.939 [Science:HighestChlPeakReport] Running Loop=1
2019-10-09T18:12:39.939Z,1570644759.939 [Science:HighestChlPeakReport](DEBUG): Aggregate::initialize Science:HighestChlPeakReport
2019-10-09T18:12:39.939Z,1570644759.939 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-10-09T18:12:39.939Z,1570644759.939 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-10-09T18:12:39.940Z,1570644759.940 [Science:PeakDetectNO3] Running Loop=1
2019-10-09T18:12:39.940Z,1570644759.940 [Science:PeakDetectNO3](DEBUG): Aggregate::initialize Science:PeakDetectNO3
2019-10-09T18:12:39.940Z,1570644759.940 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-10-09T18:12:39.940Z,1570644759.940 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-10-09T18:12:39.946Z,1570644759.946 [Science:PeakDetectOil] Running Loop=1
2019-10-09T18:12:39.946Z,1570644759.946 [Science:PeakDetectOil](DEBUG): Aggregate::initialize Science:PeakDetectOil
2019-10-09T18:12:39.947Z,1570644759.947 [Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-10-09T18:12:39.947Z,1570644759.947 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-10-09T18:12:39.948Z,1570644759.948 [Science:PeakDetectFDOM] Running Loop=1
2019-10-09T18:12:39.948Z,1570644759.948 [Science:PeakDetectFDOM](DEBUG): Aggregate::initialize Science:PeakDetectFDOM
2019-10-09T18:12:39.948Z,1570644759.948 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-10-09T18:12:39.949Z,1570644759.949 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-10-09T18:12:39.955Z,1570644759.955 [Science:PeakDetectFDOM] Stopped
2019-10-09T18:12:39.955Z,1570644759.955 [Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize Science:PeakDetectFDOM
2019-10-09T18:12:39.955Z,1570644759.955 [Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-10-09T18:12:39.955Z,1570644759.955 [Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-10-09T18:12:39.955Z,1570644759.955 [Science:PeakDetectOil] Stopped
2019-10-09T18:12:39.955Z,1570644759.955 [Science:PeakDetectOil](DEBUG): Aggregate::uninitialize Science:PeakDetectOil
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectNO3] Stopped
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize Science:PeakDetectNO3
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-10-09T18:12:39.956Z,1570644759.956 [Science:HighestChlPeakReport] Stopped
2019-10-09T18:12:39.956Z,1570644759.956 [Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize Science:HighestChlPeakReport
2019-10-09T18:12:39.956Z,1570644759.956 [Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-10-09T18:12:39.956Z,1570644759.956 [Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectChl] Stopped
2019-10-09T18:12:39.956Z,1570644759.956 [Science:PeakDetectChl](DEBUG): Aggregate::uninitialize Science:PeakDetectChl
2019-10-09T18:12:39.973Z,1570644759.973 [Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-10-09T18:12:39.973Z,1570644759.973 [Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-10-09T18:12:39.973Z,1570644759.973 [Science:Read_Oil] Running Loop=1
2019-10-09T18:12:39.974Z,1570644759.974 [Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-10-09T18:12:39.974Z,1570644759.974 [Science:H] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:G] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:F] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:E] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:D] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:C] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:B] Stopped
2019-10-09T18:12:39.974Z,1570644759.974 [Science:A] Stopped
2019-10-09T18:12:40.072Z,1570644760.072 [WetLabsSeaOWL_UV_A](INFO): Opening uart, block timeout 10ths=4
2019-10-09T18:12:40.072Z,1570644760.072 [WetLabsSeaOWL_UV_A](INFO): Powering up
2019-10-09T18:12:45.830Z,1570644765.830 [CommandLine](IMPORTANT): got command show variable sea_water_temperature
2019-10-09T18:12:45.841Z,1570644765.841 [CommandLine](IMPORTANT): upward_derivative_of_sea_water_temperature (unknown)
2019-10-09T18:12:46.028Z,1570644766.028 [CommandLine](IMPORTANT): TempGradientCalculator.upward_derivative_of_sea_water_temperature (celsius_per_meter)
2019-10-09T18:12:52.623Z,1570644772.623 [CommandLine](IMPORTANT): got command show variable temperature
2019-10-09T18:12:52.631Z,1570644772.631 [CommandLine](IMPORTANT): platform_temperature (unknown)
2019-10-09T18:12:52.635Z,1570644772.635 [CommandLine](IMPORTANT): sea_water_potential_temperature (unknown)
2019-10-09T18:12:52.636Z,1570644772.636 [CommandLine](IMPORTANT): upward_derivative_of_sea_water_temperature (unknown)
2019-10-09T18:12:52.733Z,1570644772.733 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.loadAtStartup (bool)
2019-10-09T18:12:52.734Z,1570644772.734 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth1 (meter)
2019-10-09T18:12:52.734Z,1570644772.734 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth2 (meter)
2019-10-09T18:12:52.734Z,1570644772.734 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth3 (meter)
2019-10-09T18:12:52.735Z,1570644772.735 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth4 (meter)
2019-10-09T18:12:52.735Z,1570644772.735 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depthWindow (meter)
2019-10-09T18:12:52.735Z,1570644772.735 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.verbosity (count)
2019-10-09T18:12:52.908Z,1570644772.908 [CommandLine](IMPORTANT): AHRS_M2.temperature (celsius)
2019-10-09T18:12:52.915Z,1570644772.915 [CommandLine](IMPORTANT): Onboard.Temperature (celsius)
2019-10-09T18:12:52.964Z,1570644772.964 [CommandLine](IMPORTANT): TempGradientCalculator.upward_derivative_of_sea_water_temperature (celsius_per_meter)
2019-10-09T18:12:52.979Z,1570644772.979 [CommandLine](IMPORTANT): Science.UpwardDerivativeOfTemperatureActive (bool)
2019-10-09T18:12:52.980Z,1570644772.980 [CommandLine](IMPORTANT): Science.PeakChlTemperature (celsius)
2019-10-09T18:13:03.770Z,1570644783.770 [CommandLine](IMPORTANT): got command stop
2019-10-09T18:13:03.770Z,1570644783.770 [CommandLine](IMPORTANT): Scheduling is paused
2019-10-09T18:13:03.770Z,1570644783.770 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T18:13:04.151Z,1570644784.151 [MissionManager](INFO): MissionManager is completed.
2019-10-09T18:13:04.151Z,1570644784.151 [MissionManager](INFO): Uninitializing Mission Science
2019-10-09T18:13:04.151Z,1570644784.151 [Science] Stopped
2019-10-09T18:13:04.151Z,1570644784.151 [Science](DEBUG): Aggregate::uninitialize Science
2019-10-09T18:13:04.151Z,1570644784.151 [Science:Read_Oil] Stopped
2019-10-09T18:13:04.514Z,1570644784.514 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-10-09T18:13:04.574Z,1570644784.574 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T18:13:04.574Z,1570644784.574 [Default] Running Loop=1
2019-10-09T18:13:04.574Z,1570644784.574 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T18:13:04.574Z,1570644784.574 [Default:B.GoToSurface] Running Loop=1
2019-10-09T18:13:04.575Z,1570644784.575 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T18:13:04.575Z,1570644784.575 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T18:13:04.575Z,1570644784.575 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T18:13:04.575Z,1570644784.575 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T18:13:04.576Z,1570644784.576 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T18:13:04.576Z,1570644784.576 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T18:13:04.576Z,1570644784.576 [Default:A.Wait] Running Loop=1
2019-10-09T18:13:04.576Z,1570644784.576 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T18:13:17.875Z,1570644797.875 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T18:13:17.875Z,1570644797.875 [Default:A.Wait] Stopped
2019-10-09T18:13:17.875Z,1570644797.875 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T18:13:18.282Z,1570644798.282 [Default:CheckIn] Running Loop=1
2019-10-09T18:13:18.282Z,1570644798.282 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T18:13:18.282Z,1570644798.282 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T18:13:57.028Z,1570644837.028 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-10-09T18:13:57.845Z,1570644837.845 [NAL9602](DEBUG): Fix Requested
2019-10-09T18:14:01.481Z,1570644841.481 [NAL9602](DEBUG): Fix Requested
2019-10-09T18:14:01.880Z,1570644841.880 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180803.00,A,3648.15676,N,12147.28182,W,0.350,0.00,091019,,,D*77
2019-10-09T18:14:01.888Z,1570644841.888 [NAL9602](INFO): GPS fix at 20191009T180803: (36.802613, -121.788030)
2019-10-09T18:14:01.935Z,1570644841.935 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T18:14:01.936Z,1570644841.936 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T18:14:02.329Z,1570644842.329 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T18:14:02.741Z,1570644842.741 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T18:14:07.315Z,1570644847.315 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 07229E5D040001005D00000400DB0100000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567
2019-10-09T18:14:07.316Z,1570644847.316 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 266CC0E6F1A517638CB0C0B8BE359732025778846B1B1DD556B74B6732466F22D9CBEEA9E78FD41022F213D68814FF1E280BED0DDDE48266819DA18636AA9387
2019-10-09T18:14:07.316Z,1570644847.316 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 0070C458087D85F77A9470B93035E996D9F3F6525447296FB19312BE2CA39167F376D0DD9A2FC8D0E42073447EE216256A050B0838EB7C9DE2D56267FE2ADDA5
2019-10-09T18:14:07.321Z,1570644847.321 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2019-10-09T18:14:07.709Z,1570644847.709 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2019-10-09T18:14:08.102Z,1570644848.102 [Micromodem](INFO): Nmea in: $CADRQ,181407,1,9,0,64,1*45

2019-10-09T18:14:08.103Z,1570644848.103 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,07229E5D040001005D00000400DB0100000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567*03

2019-10-09T18:14:08.636Z,1570644848.636 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T18:14:09.012Z,1570644849.012 [Micromodem](INFO): Nmea in: $CADRQ,181408,1,9,0,64,2*49

2019-10-09T18:14:09.012Z,1570644849.012 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,266CC0E6F1A517638CB0C0B8BE359732025778846B1B1DD556B74B6732466F22D9CBEEA9E78FD41022F213D68814FF1E280BED0DDDE48266819DA18636AA9387*0C

2019-10-09T18:14:09.366Z,1570644849.366 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T18:14:09.766Z,1570644849.766 [Micromodem](INFO): Nmea in: $CADRQ,181409,1,9,0,64,3*49

2019-10-09T18:14:09.767Z,1570644849.767 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,0070C458087D85F77A9470B93035E996D9F3F6525447296FB19312BE2CA39167F376D0DD9A2FC8D0E42073447EE216256A050B0838EB7C9DE2D56267FE2ADDA5*70

2019-10-09T18:14:10.210Z,1570644850.210 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T18:14:10.589Z,1570644850.589 [Micromodem](INFO): Nmea in: $CATXP,192*48

2019-10-09T18:14:14.214Z,1570644854.214 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2019-10-09T18:14:15.423Z,1570644855.423 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,181410.248182,3,0,200,4000,10000,1,1,9,1,3,3,3,192*4A

2019-10-09T18:14:15.749Z,1570644855.749 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20191009T180807/Courier0004.lzma
2019-10-09T18:14:17.754Z,1570644857.754 [DataOverHttps](INFO): Moved sent file to Logs/20191009T180807/Courier0004.lzma.bak
2019-10-09T18:14:17.755Z,1570644857.755 [DataOverHttps](INFO): SBD MOMSN=11864761
2019-10-09T18:14:38.046Z,1570644878.046 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T18:14:41.649Z,1570644881.649 [DataOverHttps](INFO): Sending 694 bytes from file Logs/20191009T180807/Express0001.lzma
2019-10-09T18:14:43.654Z,1570644883.654 [DataOverHttps](INFO): Moved sent file to Logs/20191009T180807/Express0001.lzma.bak
2019-10-09T18:14:43.654Z,1570644883.654 [DataOverHttps](INFO): SBD MOMSN=11864765
2019-10-09T18:15:07.294Z,1570644907.294 [DataOverHttps](INFO): Sending 838 bytes from file Logs/20191009T180807/Express0005.lzma
2019-10-09T18:15:09.298Z,1570644909.298 [DataOverHttps](INFO): Moved sent file to Logs/20191009T180807/Express0005.lzma.bak
2019-10-09T18:15:09.298Z,1570644909.298 [DataOverHttps](INFO): SBD MOMSN=11864781
2019-10-09T18:15:12.386Z,1570644912.386 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T18:15:16.849Z,1570644916.849 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T18:15:16.850Z,1570644916.850 [Default:CheckIn:C.Wait] Running Loop=1
2019-10-09T18:15:16.850Z,1570644916.850 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-10-09T18:15:17.702Z,1570644917.702 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +38,   +25,   +25,   +50,A
2019-10-09T18:15:43.602Z,1570644943.602 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-10-09T18:15:43.605Z,1570644943.605 [BPC1](INFO): Received data from all battery sticks.
2019-10-09T18:18:09.171Z,1570645089.171 [CommandLine](IMPORTANT): got command show variable range
2019-10-09T18:18:09.173Z,1570645089.173 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-10-09T18:18:09.271Z,1570645089.271 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2019-10-09T18:18:09.271Z,1570645089.271 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2019-10-09T18:18:09.289Z,1570645089.289 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2019-10-09T18:18:09.290Z,1570645089.290 [CommandLine](IMPORTANT): Micromodem.range (meter)
2019-10-09T18:18:09.317Z,1570645089.317 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2019-10-09T18:18:09.317Z,1570645089.317 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2019-10-09T18:18:09.318Z,1570645089.318 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2019-10-09T18:18:09.318Z,1570645089.318 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2019-10-09T18:18:16.901Z,1570645096.901 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-10-09T18:18:23.494Z,1570645103.494 [CommandLine](IMPORTANT): got command report touch Micromodem.range
2019-10-09T18:19:44.146Z,1570645184.146 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-09T18:19:44.146Z,1570645184.146 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-09T18:19:44.183Z,1570645184.183 [MissionManager](INFO): DefineArg DUSBL.MissionTimeout = 10.000000 min
2019-10-09T18:19:44.219Z,1570645184.219 [MissionManager](INFO): DefineArg DUSBL.TransponderCode = 2.000000 count
2019-10-09T18:19:44.227Z,1570645184.227 [MissionManager](INFO): DefineArg DUSBL.TrackingUpdatePeriod = 4.000000 s
2019-10-09T18:19:44.247Z,1570645184.247 [MissionManager](INFO): DefineArg DUSBL.NumberOfPings = 1.000000 count
2019-10-09T18:19:44.255Z,1570645184.255 [MissionManager](INFO): DefineArg DUSBL.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-10-09T18:19:44.256Z,1570645184.256 [DUSBL:A.Pitch](DEBUG): Construct.
2019-10-09T18:19:44.283Z,1570645184.283 [DUSBL:B.SetSpeed](DEBUG): Construct.
2019-10-09T18:19:44.618Z,1570645184.618 [DUSBL:RequestRepeater:A.Wait](DEBUG): Construct Wait.
2019-10-09T18:19:44.637Z,1570645184.637 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<!-- ====================
     Generated by TethysL
     ==================== -->
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         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/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd"
       Id="DUSBL">

    <Description>
        This mission is requests a DUSBL arming.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        How long to let the mission run.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>
    
    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>4</Value></DefineArg>
    
    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>
    
    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to disable
        reading from the DUSBL.
    </Description><Sensor:DUSBL_Hydroid.loadAtStartup/></DefineArg>    

    <Timeout Duration="MissionTimeout"/>

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

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

    
    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>
    
      <Aggregate Id="RequestRepeater">

        <Sequence/>
        
          <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>            
          </Guidance:Wait>
      </Aggregate>

</Mission>


2019-10-09T18:19:44.639Z,1570645184.639 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/DUSBL_Tracking.xml
2019-10-09T18:19:44.797Z,1570645184.797 [Default] Stopped
2019-10-09T18:19:44.797Z,1570645184.797 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T18:19:44.797Z,1570645184.797 [Default:B.GoToSurface] Stopped
2019-10-09T18:19:44.797Z,1570645184.797 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T18:19:44.797Z,1570645184.797 [Default:CheckIn] Stopped
2019-10-09T18:19:44.797Z,1570645184.797 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T18:19:44.797Z,1570645184.797 [Default:CheckIn:C.Wait] Stopped
2019-10-09T18:19:44.797Z,1570645184.797 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T18:19:44.798Z,1570645184.798 [MissionManager](IMPORTANT): Started mission DUSBL
2019-10-09T18:19:44.798Z,1570645184.798 [DUSBL] Running Loop=1
2019-10-09T18:19:44.798Z,1570645184.798 [DUSBL](DEBUG): Aggregate::initialize DUSBL
2019-10-09T18:19:44.798Z,1570645184.798 [DUSBL:A.Pitch] Running Loop=1
2019-10-09T18:19:44.798Z,1570645184.798 [DUSBL:A.Pitch](DEBUG): Initialize.
2019-10-09T18:19:44.798Z,1570645184.798 [DUSBL:B.SetSpeed] Running Loop=1
2019-10-09T18:19:44.798Z,1570645184.798 [DUSBL:B.SetSpeed](DEBUG): Initialize.
2019-10-09T18:19:44.799Z,1570645184.799 [DUSBL:C.] Running Loop=1
2019-10-09T18:19:44.799Z,1570645184.799 [DUSBL:C.](INFO): Initializing TrackAcousticContact.
2019-10-09T18:19:44.799Z,1570645184.799 [DUSBL:RequestRepeater] Running Loop=1
2019-10-09T18:19:44.799Z,1570645184.799 [DUSBL:RequestRepeater](DEBUG): Aggregate::initialize DUSBL:RequestRepeater
2019-10-09T18:19:44.799Z,1570645184.799 [DUSBL:RequestRepeater:A.Wait] Running Loop=1
2019-10-09T18:19:44.799Z,1570645184.799 [DUSBL:RequestRepeater:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T18:19:44.800Z,1570645184.800 [DUSBL:C.] Running Loop=1
2019-10-09T18:19:44.800Z,1570645184.800 [DUSBL:B.SetSpeed] Running Loop=1
2019-10-09T18:19:44.800Z,1570645184.800 [DUSBL:A.Pitch] Running Loop=1
2019-10-09T18:19:48.002Z,1570645188.002 [CommandLine](IMPORTANT): got command get depth
2019-10-09T18:19:48.002Z,1570645188.002 [CommandLine](IMPORTANT): depth 0.207699 m
2019-10-09T18:19:48.815Z,1570645188.815 [DUSBL:C.](INFO): *** querying acoustic contact ***
2019-10-09T18:19:48.860Z,1570645188.860 [MissionManager](CRITICAL): SIGSEGV: address not mapped to object
2019-10-09T18:19:48.860Z,1570645188.860 [MissionManager](CRITICAL): Bad address: 0x0
2019-10-09T18:19:48.865Z,1570645188.865 [MissionManager](CRITICAL): Backtrace: 
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x17b6b0]
Modules/Estimation.so(_ZN20TrackAcousticContact3runEv+0x230) [0x409e2ce4]
./bin/LRAUV(_ZN9Component7executeEv+0x1f8) [0xd726c]
./bin/LRAUV(_ZN11MissionItem3runEv+0x224) [0x164978]
./bin/LRAUV(_ZN9Aggregate3runEv+0x31c) [0x1552d8]
./bin/LRAUV(_ZN9Aggregate7executeEv+0x10) [0x155dc4]
./bin/LRAUV(_ZN14MissionManager3runEv+0x260) [0x16628c]
./bin/LRAUV(_ZN9Component7executeEv+0x1f8) [0xd726c]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xc8) [0x17b230]

2019-10-09T18:19:48.866Z,1570645188.866 [MissionMana