2018-09-24T20:33:03.120Z,1537821183.120 [Supervisor](DEBUG): Initializing supervisor.
2018-09-24T20:33:03.123Z,1537821183.123 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2018-09-24T20:33:03.124Z,1537821183.124 [SyncHandler](INFO): Protected caller Thread ID is 3080
2018-09-24T20:33:03.124Z,1537821183.124 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2018-09-24T20:33:03.128Z,1537821183.128 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2018-09-24T20:33:03.128Z,1537821183.128 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 3081
2018-09-24T20:33:03.135Z,1537821183.135 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2018-09-24T20:33:03.147Z,1537821183.147 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2018-09-24T20:33:03.148Z,1537821183.148 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2018-09-24T20:33:03.148Z,1537821183.148 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 3082
2018-09-24T20:33:03.149Z,1537821183.149 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2018-09-24T20:33:03.150Z,1537821183.150 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2018-09-24T20:33:03.150Z,1537821183.150 [logger ThreadHandler](INFO): Protected caller Thread ID is 3083
2018-09-24T20:33:03.152Z,1537821183.152 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2018-09-24T20:33:03.153Z,1537821183.153 [Supervisor](INFO): Looking for Config files in directory: Config/
2018-09-24T20:33:03.154Z,1537821183.154 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2018-09-24T20:33:03.343Z,1537821183.343 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2018-09-24T20:33:03.343Z,1537821183.343 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2018-09-24T20:33:03.487Z,1537821183.487 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2018-09-24T20:33:03.488Z,1537821183.488 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2018-09-24T20:33:03.834Z,1537821183.834 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2018-09-24T20:33:03.835Z,1537821183.835 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2018-09-24T20:33:03.974Z,1537821183.974 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2018-09-24T20:33:03.974Z,1537821183.974 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2018-09-24T20:33:04.055Z,1537821184.055 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2018-09-24T20:33:04.257Z,1537821184.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2018-09-24T20:33:04.258Z,1537821184.258 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2018-09-24T20:33:04.356Z,1537821184.356 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2018-09-24T20:33:04.357Z,1537821184.357 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2018-09-24T20:33:04.704Z,1537821184.704 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2018-09-24T20:33:04.704Z,1537821184.704 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2018-09-24T20:33:05.162Z,1537821185.162 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2018-09-24T20:33:05.162Z,1537821185.162 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2018-09-24T20:33:05.477Z,1537821185.477 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2018-09-24T20:33:05.478Z,1537821185.478 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2018-09-24T20:33:05.000Z,1537821186.000 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2018-09-24T20:33:06.000Z,1537821186.000 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2018-09-24T20:33:06.208Z,1537821186.208 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2018-09-24T20:33:06.208Z,1537821186.208 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2018-09-24T20:33:06.307Z,1537821186.307 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2018-09-24T20:33:06.307Z,1537821186.307 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2018-09-24T20:33:06.800Z,1537821186.800 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2018-09-24T20:33:06.800Z,1537821186.800 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2018-09-24T20:33:06.908Z,1537821186.908 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2018-09-24T20:33:06.909Z,1537821186.909 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2018-09-24T20:33:06.910Z,1537821186.910 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2018-09-24T20:33:07.140Z,1537821187.140 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2018-09-24T20:33:07.140Z,1537821187.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2018-09-24T20:33:07.239Z,1537821187.239 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2018-09-24T20:33:07.332Z,1537821187.332 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2018-09-24T20:33:07.437Z,1537821187.437 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2018-09-24T20:33:07.524Z,1537821187.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2018-09-24T20:33:07.658Z,1537821187.658 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2018-09-24T20:33:07.827Z,1537821187.827 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2018-09-24T20:33:07.937Z,1537821187.937 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2018-09-24T20:33:08.023Z,1537821188.023 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2018-09-24T20:33:08.123Z,1537821188.123 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2018-09-24T20:33:08.323Z,1537821188.323 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2018-09-24T20:33:08.339Z,1537821188.339 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2018-09-24T20:33:08.467Z,1537821188.467 [SBIT](DEBUG): Construct Startup Built In Test.
2018-09-24T20:33:08.497Z,1537821188.497 [SBIT] Loaded
2018-09-24T20:33:08.497Z,1537821188.497 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2018-09-24T20:33:08.498Z,1537821188.498 [IBIT](DEBUG): Construct Initiated Built In Test.
2018-09-24T20:33:08.526Z,1537821188.526 [IBIT] Loaded
2018-09-24T20:33:08.526Z,1537821188.526 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2018-09-24T20:33:08.529Z,1537821188.529 [CBIT](DEBUG): Construct Continuous Built In Test.
2018-09-24T20:33:08.685Z,1537821188.685 [CBIT] Loaded
2018-09-24T20:33:08.686Z,1537821188.686 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2018-09-24T20:33:08.686Z,1537821188.686 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2018-09-24T20:33:08.687Z,1537821188.687 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2018-09-24T20:33:08.795Z,1537821188.795 [VerticalControl](DEBUG): Construct VerticalControl.
2018-09-24T20:33:08.895Z,1537821188.895 [VerticalControl] Loaded
2018-09-24T20:33:08.896Z,1537821188.896 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2018-09-24T20:33:08.897Z,1537821188.897 [HorizontalControl](DEBUG): Construct HorizontalControl.
2018-09-24T20:33:08.957Z,1537821188.957 [HorizontalControl] Loaded
2018-09-24T20:33:08.958Z,1537821188.958 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2018-09-24T20:33:08.958Z,1537821188.958 [SpeedControl](DEBUG): Construct SpeedControl.
2018-09-24T20:33:08.964Z,1537821188.964 [SpeedControl] Loaded
2018-09-24T20:33:08.964Z,1537821188.964 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2018-09-24T20:33:08.965Z,1537821188.965 [LoopControl](DEBUG): Construct LoopControl.
2018-09-24T20:33:08.965Z,1537821188.965 [LoopControl] Loaded
2018-09-24T20:33:08.966Z,1537821188.966 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2018-09-24T20:33:08.966Z,1537821188.966 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2018-09-24T20:33:08.967Z,1537821188.967 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2018-09-24T20:33:09.007Z,1537821189.007 [DepthRateCalculator] Loaded
2018-09-24T20:33:09.008Z,1537821189.008 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2018-09-24T20:33:09.013Z,1537821189.013 [PitchRateCalculator] Loaded
2018-09-24T20:33:09.013Z,1537821189.013 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2018-09-24T20:33:09.041Z,1537821189.041 [SpeedCalculator] Loaded
2018-09-24T20:33:09.042Z,1537821189.042 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2018-09-24T20:33:09.090Z,1537821189.090 [TempGradientCalculator] Loaded
2018-09-24T20:33:09.091Z,1537821189.091 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2018-09-24T20:33:09.107Z,1537821189.107 [YawRateCalculator] Loaded
2018-09-24T20:33:09.107Z,1537821189.107 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2018-09-24T20:33:09.170Z,1537821189.170 [ElevatorOffsetCalculator] Loaded
2018-09-24T20:33:09.170Z,1537821189.170 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2018-09-24T20:33:09.170Z,1537821189.170 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2018-09-24T20:33:09.171Z,1537821189.171 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2018-09-24T20:33:09.266Z,1537821189.266 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2018-09-24T20:33:09.267Z,1537821189.267 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2018-09-24T20:33:09.510Z,1537821189.510 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2018-09-24T20:33:09.510Z,1537821189.510 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2018-09-24T20:33:09.607Z,1537821189.607 [DeadReckonUsingMultipleVelocitySources] Loaded
2018-09-24T20:33:09.607Z,1537821189.607 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2018-09-24T20:33:09.662Z,1537821189.662 [DeadReckonUsingSpeedCalculator] Loaded
2018-09-24T20:33:09.662Z,1537821189.662 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2018-09-24T20:33:09.678Z,1537821189.678 [NavChart] Loaded
2018-09-24T20:33:09.679Z,1537821189.679 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2018-09-24T20:33:09.683Z,1537821189.683 [UniversalFixResidualReporter] Loaded
2018-09-24T20:33:09.683Z,1537821189.683 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2018-09-24T20:33:09.684Z,1537821189.684 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2018-09-24T20:33:09.684Z,1537821189.684 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2018-09-24T20:33:09.697Z,1537821189.697 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2018-09-24T20:33:09.698Z,1537821189.698 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2018-09-24T20:33:09.927Z,1537821189.927 [CTD_NeilBrown] Loaded
2018-09-24T20:33:09.927Z,1537821189.927 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2018-09-24T20:33:09.928Z,1537821189.928 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 406DB4E0
2018-09-24T20:33:09.929Z,1537821189.929 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 3162
2018-09-24T20:33:09.980Z,1537821189.980 [CTD_Seabird] Loaded
2018-09-24T20:33:09.980Z,1537821189.980 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2018-09-24T20:33:09.981Z,1537821189.981 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 4070B4E0
2018-09-24T20:33:09.982Z,1537821189.982 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 3163
2018-09-24T20:33:10.027Z,1537821190.027 [WetLabsSeaOWL_UV_A] Loaded
2018-09-24T20:33:10.028Z,1537821190.028 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2018-09-24T20:33:10.029Z,1537821190.029 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 4073B4E0
2018-09-24T20:33:10.029Z,1537821190.029 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 3164
2018-09-24T20:33:10.030Z,1537821190.030 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2018-09-24T20:33:10.030Z,1537821190.030 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2018-09-24T20:33:10.333Z,1537821190.333 [AHRS_M2] Loaded
2018-09-24T20:33:10.333Z,1537821190.333 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2018-09-24T20:33:10.404Z,1537821190.404 [DataOverHttps] Loaded
2018-09-24T20:33:10.405Z,1537821190.405 [ComponentRegistry](DEBUG): SyncComponent "DataOverHttps" handled in the control thread.
2018-09-24T20:33:10.418Z,1537821190.418 [Depth_Keller] Loaded
2018-09-24T20:33:10.419Z,1537821190.419 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2018-09-24T20:33:10.423Z,1537821190.423 [DropWeight] Loaded
2018-09-24T20:33:10.424Z,1537821190.424 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2018-09-24T20:33:10.516Z,1537821190.516 [NAL9602] Loaded
2018-09-24T20:33:10.516Z,1537821190.516 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2018-09-24T20:33:10.521Z,1537821190.521 [Onboard] Loaded
2018-09-24T20:33:10.522Z,1537821190.522 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2018-09-24T20:33:10.528Z,1537821190.528 [Radio_Surface] Loaded
2018-09-24T20:33:10.529Z,1537821190.529 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2018-09-24T20:33:10.530Z,1537821190.530 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4099C4E0
2018-09-24T20:33:10.530Z,1537821190.530 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 3165
2018-09-24T20:33:10.559Z,1537821190.559 [RDI_Pathfinder] Loaded
2018-09-24T20:33:10.559Z,1537821190.559 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2018-09-24T20:33:10.566Z,1537821190.566 [SCPI] Loaded
2018-09-24T20:33:10.566Z,1537821190.566 [ComponentRegistry](DEBUG): SyncComponent "SCPI" handled in the control thread.
2018-09-24T20:33:12.399Z,1537821192.399 [BPC1] Loaded
2018-09-24T20:33:12.400Z,1537821192.400 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2018-09-24T20:33:12.400Z,1537821192.400 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2018-09-24T20:33:12.401Z,1537821192.401 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2018-09-24T20:33:12.499Z,1537821192.499 [BuoyancyServo] Loaded
2018-09-24T20:33:12.500Z,1537821192.500 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2018-09-24T20:33:12.511Z,1537821192.511 [ElevatorServo] Loaded
2018-09-24T20:33:12.512Z,1537821192.512 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2018-09-24T20:33:12.523Z,1537821192.523 [MassServo] Loaded
2018-09-24T20:33:12.523Z,1537821192.523 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2018-09-24T20:33:12.534Z,1537821192.534 [RudderServo] Loaded
2018-09-24T20:33:12.535Z,1537821192.535 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2018-09-24T20:33:12.546Z,1537821192.546 [ThrusterServo] Loaded
2018-09-24T20:33:12.546Z,1537821192.546 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2018-09-24T20:33:12.546Z,1537821192.546 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2018-09-24T20:33:12.547Z,1537821192.547 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2018-09-24T20:33:12.649Z,1537821192.649 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2018-09-24T20:33:12.649Z,1537821192.649 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2018-09-24T20:33:12.674Z,1537821192.674 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2018-09-24T20:33:12.678Z,1537821192.678 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2018-09-24T20:33:12.679Z,1537821192.679 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2018-09-24T20:33:12.685Z,1537821192.685 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2018-09-24T20:33:12.686Z,1537821192.686 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A454E0
2018-09-24T20:33:12.687Z,1537821192.687 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 3166
2018-09-24T20:33:12.691Z,1537821192.691 [Supervisor](INFO): Main Thread ID is 795
2018-09-24T20:33:12.691Z,1537821192.691 [Supervisor](DEBUG): Running supervisor.
2018-09-24T20:33:12.692Z,1537821192.692 [CommandLine ThreadHandler](INFO): Handler Thread ID is 3167
2018-09-24T20:33:12.694Z,1537821192.694 [controlThread ThreadHandler](INFO): Handler Thread ID is 3168
2018-09-24T20:33:12.695Z,1537821192.695 [controlThread](DEBUG): Initializing ControlThread
2018-09-24T20:33:12.695Z,1537821192.695 [SBIT](INFO): Initialize SBIT Component.
2018-09-24T20:33:12.696Z,1537821192.696 [SBIT](IMPORTANT): git: 2018-09-20
2018-09-24T20:33:12.696Z,1537821192.696 [SBIT](INFO): git hash: cc82e4f04ca47b19cdcc10b5d3e1760510b3ba6f
2018-09-24T20:33:12.697Z,1537821192.697 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2018-09-24T20:33:12.697Z,1537821192.697 [SBIT](IMPORTANT): Kernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2018-09-24T20:33:12.698Z,1537821192.698 [SBIT](INFO): Beginning SBIT in 20.000000 seconds.
2018-09-24T20:33:12.699Z,1537821192.699 [IBIT](INFO): Initialize IBIT Component.
2018-09-24T20:33:12.700Z,1537821192.700 [CBIT](DEBUG): Initialize CBIT Component.
2018-09-24T20:33:12.700Z,1537821192.700 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2018-09-24T20:33:12.701Z,1537821192.701 [logger ThreadHandler](INFO): Handler Thread ID is 3169
2018-09-24T20:33:12.729Z,1537821192.729 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 3170
2018-09-24T20:33:12.745Z,1537821192.745 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 3171
2018-09-24T20:33:12.746Z,1537821192.746 [CTD_Seabird](INFO): Initializing
2018-09-24T20:33:12.746Z,1537821192.746 [CTD_Seabird](INFO): Checking LCM
2018-09-24T20:33:12.805Z,1537821192.805 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2018-09-24T20:33:12.807Z,1537821192.807 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2018-09-24T20:33:12.808Z,1537821192.808 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2018-09-24T20:33:12.808Z,1537821192.808 [LoopControl](DEBUG): Initialize LoopControlComponent.
2018-09-24T20:33:12.808Z,1537821192.808 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2018-09-24T20:33:12.809Z,1537821192.809 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2018-09-24T20:33:12.809Z,1537821192.809 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2018-09-24T20:33:12.810Z,1537821192.810 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2018-09-24T20:33:12.810Z,1537821192.810 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2018-09-24T20:33:12.810Z,1537821192.810 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2018-09-24T20:33:12.811Z,1537821192.811 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2018-09-24T20:33:12.812Z,1537821192.812 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2018-09-24T20:33:12.812Z,1537821192.812 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2018-09-24T20:33:12.813Z,1537821192.813 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2018-09-24T20:33:12.813Z,1537821192.813 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2018-09-24T20:33:12.814Z,1537821192.814 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2018-09-24T20:33:12.814Z,1537821192.814 [NavChart](DEBUG): Initialize NavChart Navigation.
2018-09-24T20:33:12.814Z,1537821192.814 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2018-09-24T20:33:12.819Z,1537821192.819 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 3172
2018-09-24T20:33:12.820Z,1537821192.820 [WetLabsSeaOWL_UV_A](INFO): Powering down
2018-09-24T20:33:12.856Z,1537821192.856 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2018-09-24T20:33:12.865Z,1537821192.865 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 3173
2018-09-24T20:33:12.871Z,1537821192.871 [Radio_Surface](INFO): Powering up
2018-09-24T20:33:12.989Z,1537821192.989 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 3174
2018-09-24T20:33:12.992Z,1537821192.992 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2018-09-24T20:33:12.992Z,1537821192.992 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2018-09-24T20:33:12.993Z,1537821192.993 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2018-09-24T20:33:12.993Z,1537821192.993 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2018-09-24T20:33:12.993Z,1537821192.993 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2018-09-24T20:33:12.993Z,1537821192.993 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2018-09-24T20:33:12.993Z,1537821192.993 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2018-09-24T20:33:12.994Z,1537821192.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2018-09-24T20:33:12.994Z,1537821192.994 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2018-09-24T20:33:12.994Z,1537821192.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2018-09-24T20:33:12.994Z,1537821192.994 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2018-09-24T20:33:12.994Z,1537821192.994 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2018-09-24T20:33:12.995Z,1537821192.995 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2018-09-24T20:33:12.995Z,1537821192.995 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2018-09-24T20:33:12.995Z,1537821192.995 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2018-09-24T20:33:12.995Z,1537821192.995 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2018-09-24T20:33:13.015Z,1537821193.015 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2018-09-24T20:33:13.038Z,1537821193.038 [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>


2018-09-24T20:33:13.039Z,1537821193.039 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2018-09-24T20:33:13.200Z,1537821193.200 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2018-09-24T20:33:13.201Z,1537821193.201 [Default:A.Wait](DEBUG): Construct Wait.
2018-09-24T20:33:13.203Z,1537821193.203 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2018-09-24T20:33:13.268Z,1537821193.268 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2018-09-24T20:33:13.270Z,1537821193.270 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2018-09-24T20:33:13.308Z,1537821193.308 [Default:E.Execute](DEBUG): Construct Execute.
2018-09-24T20:33:13.374Z,1537821193.374 [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>


2018-09-24T20:33:13.379Z,1537821193.379 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DataOverHttps,Depth_Keller,DropWeight,NAL9602,Onboard,RDI_Pathfinder,SCPI,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2018-09-24T20:33:13.403Z,1537821193.403 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2018-09-24T20:33:13.487Z,1537821193.487 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2018-09-24T20:33:13.528Z,1537821193.528 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2018-09-24T20:33:13.680Z,1537821193.680 [CTD_Seabird](INFO): LCM OK
2018-09-24T20:33:13.741Z,1537821193.741 [DepthRateCalculator](ERROR): Depth measurement is not active
2018-09-24T20:33:13.816Z,1537821193.816 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:13.840Z,1537821193.840 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:13.958Z,1537821193.958 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2018-09-24T20:33:13.965Z,1537821193.965 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2018-09-24T20:33:13.987Z,1537821193.987 [ElevatorServo](DEBUG): Initializing EZServoServo.
2018-09-24T20:33:13.993Z,1537821193.993 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2018-09-24T20:33:13.999Z,1537821193.999 [MassServo](DEBUG): Initializing EZServoServo.
2018-09-24T20:33:14.005Z,1537821194.005 [MassServo](DEBUG): Initializing MassServo.
2018-09-24T20:33:14.011Z,1537821194.011 [RudderServo](DEBUG): Initializing EZServoServo.
2018-09-24T20:33:14.017Z,1537821194.017 [RudderServo](DEBUG): Initializing RudderServo.
2018-09-24T20:33:14.023Z,1537821194.023 [ThrusterServo](DEBUG): Initializing EZServoServo.
2018-09-24T20:33:14.029Z,1537821194.029 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2018-09-24T20:33:14.341Z,1537821194.341 [DepthRateCalculator](ERROR): Depth measurement is not active
2018-09-24T20:33:14.344Z,1537821194.344 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:14.353Z,1537821194.353 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:14.383Z,1537821194.383 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:33:14.493Z,1537821194.493 [CTD_Seabird](INFO): Started Seabird LCM interface with command:nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyC6 -b 9600 >& /dev/null &
2018-09-24T20:33:14.592Z,1537821194.592 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:14.594Z,1537821194.594 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:14.828Z,1537821194.828 [CTD_Seabird](INFO): LCM subscribed to channel:seabird_gpctd_t.seabird-gpctd
2018-09-24T20:33:15.026Z,1537821195.026 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:15.027Z,1537821195.027 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:15.185Z,1537821195.185 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:33:15.396Z,1537821195.396 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:15.397Z,1537821195.397 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:15.797Z,1537821195.797 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:15.798Z,1537821195.798 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:16.196Z,1537821196.196 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:16.197Z,1537821196.197 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:16.636Z,1537821196.636 [DeadReckonUsingMultipleVelocitySources](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:16.637Z,1537821196.637 [DeadReckonUsingSpeedCalculator](DEBUG): Starting up and don't have orientation data yet.
2018-09-24T20:33:27.182Z,1537821207.182 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2018-09-24T20:33:33.244Z,1537821213.244 [SBIT](IMPORTANT): Beginning Startup BIT
2018-09-24T20:33:33.256Z,1537821213.256 [CBIT](IMPORTANT): Beginning ground fault scan
2018-09-24T20:33:40.895Z,1537821220.895 [NAL9602](INFO): Powering up NAL9602
2018-09-24T20:33:44.214Z,1537821224.214 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.025124
CHAN A1 (24V): -0.027508
CHAN A2 (12V): -0.007420
CHAN A3 (5V): -0.001892
CHAN B0 (3.3V): 0.000319
CHAN B1 (3.15aV): 0.000066
CHAN B2 (3.15bV): 0.000227
CHAN B3 (GND): 0.002257
OPEN: 0.005221
Full Scale Calc: 4.765 mA, -1.589 mA
2018-09-24T20:33:51.886Z,1537821231.886 [NAL9602](INFO): NAL9602 initialized
2018-09-24T20:34:11.072Z,1537821251.072 [NAL9602](INFO): SBD MO Status=0, MOMSN=1614, MT Status=0, MTMSN=0
2018-09-24T20:34:11.072Z,1537821251.072 [NAL9602](INFO): No messages in MT queue
2018-09-24T20:34:27.308Z,1537821267.308 [SBIT](IMPORTANT): SBIT PASSED
2018-09-24T20:34:27.350Z,1537821267.350 [CommandLine](IMPORTANT): got command configSet list
2018-09-24T20:34:27.350Z,1537821267.350 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2018-09-24T20:34:27.351Z,1537821267.351 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2018-09-24T20:34:27.351Z,1537821267.351 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=1 hour;

2018-09-24T20:34:27.351Z,1537821267.351 [CommandLine](IMPORTANT): BuoyancyServo.accel=400 none;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): BuoyancyServo.fastPumpCoefficient=1 none;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): BuoyancyServo.velocity=300 none;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=1 bool;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): CTD_NeilBrown.simulateHardware=1 bool;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=1 bool;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): CTD_Seabird.simulateHardware=1 bool;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 5.000000 meter;

2018-09-24T20:34:27.352Z,1537821267.352 [CommandLine](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water 0.500000 microgram_per_liter;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): IBIT.batteryVoltageThreshold=13.7 volt;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): RDI_PathfinderUp.loadAtStartup=0 bool;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=205 cubic_centimeter;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): VerticalControl.massDefault=0 millimeter;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2018-09-24T20:34:27.353Z,1537821267.353 [CommandLine](IMPORTANT): WetLabsBB2FL.simulateHardware=0 bool;

2018-09-24T20:34:27.684Z,1537821267.684 [MissionManager](IMPORTANT): Started mission Startup
2018-09-24T20:34:27.684Z,1537821267.684 [Startup] Running Loop=1
2018-09-24T20:34:27.684Z,1537821267.684 [Startup](DEBUG): Aggregate::initialize Startup
2018-09-24T20:34:27.685Z,1537821267.685 [Startup:A.GoToSurface] Running Loop=1
2018-09-24T20:34:27.693Z,1537821267.693 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2018-09-24T20:34:27.694Z,1537821267.694 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2018-09-24T20:34:27.694Z,1537821267.694 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2018-09-24T20:34:27.694Z,1537821267.694 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2018-09-24T20:34:27.695Z,1537821267.695 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2018-09-24T20:34:27.695Z,1537821267.695 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2018-09-24T20:34:27.706Z,1537821267.706 [Startup:StartupSatComms] Running Loop=1
2018-09-24T20:34:27.706Z,1537821267.706 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2018-09-24T20:34:27.706Z,1537821267.706 [Startup:StartupSatComms:A] Running Loop=1
2018-09-24T20:34:28.107Z,1537821268.107 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2018-09-24T20:35:27.709Z,1537821327.709 [Startup:StartupSatComms:A](INFO): Timed out from 2018-09-24T20:34:27.7Z
2018-09-24T20:35:27.709Z,1537821327.709 [Startup:StartupSatComms:A] Stopped
2018-09-24T20:35:27.709Z,1537821327.709 [Startup:StartupSatComms:B] Running Loop=1
2018-09-24T20:35:28.126Z,1537821328.126 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2018-09-24T20:35:48.978Z,1537821348.978 [NAL9602](INFO): SBD MO Status=1, MOMSN=1615, MT Status=0, MTMSN=0
2018-09-24T20:35:49.034Z,1537821349.034 [NAL9602](INFO): Sent 25 bytes from file Logs/20180924T201931/Courier0010.lzma
2018-09-24T20:35:49.035Z,1537821349.035 [NAL9602](INFO): Packets left to send: 0
2018-09-24T20:35:49.036Z,1537821349.036 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180924T201931/Courier0010.lzma.parts/0000.sbd
2018-09-24T20:35:49.036Z,1537821349.036 [NAL9602](DEBUG): Completed sending Logs/20180924T201931/Courier0010.lzma
2018-09-24T20:36:07.940Z,1537821367.940 [NAL9602](INFO): SBD MO Status=1, MOMSN=1616, MT Status=0, MTMSN=0
2018-09-24T20:36:07.989Z,1537821367.989 [NAL9602](INFO): Sent 25 bytes from file Logs/20180924T201931/Courier0013.lzma
2018-09-24T20:36:07.989Z,1537821367.989 [NAL9602](INFO): Packets left to send: 0
2018-09-24T20:36:07.991Z,1537821367.991 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180924T201931/Courier0013.lzma.parts/0000.sbd
2018-09-24T20:36:07.991Z,1537821367.991 [NAL9602](DEBUG): Completed sending Logs/20180924T201931/Courier0013.lzma
2018-09-24T20:36:12.917Z,1537821372.917 [DeadReckonUsingMultipleVelocitySources](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2018-09-24T20:36:12.917Z,1537821372.917 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2018-09-24T20:36:12.917Z,1537821372.917 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2018-09-24T20:36:12.919Z,1537821372.919 [DeadReckonUsingSpeedCalculator](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2018-09-24T20:36:12.919Z,1537821372.919 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2018-09-24T20:36:12.919Z,1537821372.919 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2018-09-24T20:36:12.942Z,1537821372.942 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2018-09-24T20:36:12.942Z,1537821372.942 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2018-09-24T20:36:13.318Z,1537821373.318 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2018-09-24T20:36:13.318Z,1537821373.318 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2018-09-24T20:36:13.319Z,1537821373.319 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2018-09-24T20:36:13.319Z,1537821373.319 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2018-09-24T20:36:13.690Z,1537821373.690 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2018-09-24T20:36:13.690Z,1537821373.690 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2018-09-24T20:36:13.690Z,1537821373.690 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2018-09-24T20:36:13.691Z,1537821373.691 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2018-09-24T20:36:13.691Z,1537821373.691 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2018-09-24T20:36:13.692Z,1537821373.692 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2018-09-24T20:36:24.853Z,1537821384.853 [NAL9602](INFO): SBD MO Status=1, MOMSN=1617, MT Status=0, MTMSN=0
2018-09-24T20:36:24.901Z,1537821384.901 [NAL9602](INFO): Sent 269 bytes from file Logs/20180924T201931/Express0011.lzma
2018-09-24T20:36:24.902Z,1537821384.902 [NAL9602](INFO): Packets left to send: 0
2018-09-24T20:36:24.903Z,1537821384.903 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180924T201931/Express0011.lzma.parts/0000.sbd
2018-09-24T20:36:24.903Z,1537821384.903 [NAL9602](DEBUG): Completed sending Logs/20180924T201931/Express0011.lzma
2018-09-24T20:36:27.717Z,1537821387.717 [Startup:StartupSatComms:B](INFO): Timed out from 2018-09-24T20:35:27.7Z
2018-09-24T20:36:27.717Z,1537821387.717 [Startup:StartupSatComms:B] Stopped
2018-09-24T20:36:27.717Z,1537821387.717 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2018-09-24T20:36:27.717Z,1537821387.717 [Startup:StartupSatComms] Stopped
2018-09-24T20:36:27.717Z,1537821387.717 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2018-09-24T20:36:27.718Z,1537821387.718 [Startup](INFO): Completed Startup
2018-09-24T20:36:27.719Z,1537821387.719 [MissionManager](INFO): Startup is completed.
2018-09-24T20:36:27.719Z,1537821387.719 [MissionManager](INFO): Uninitializing Mission Startup
2018-09-24T20:36:27.719Z,1537821387.719 [Startup] Stopped
2018-09-24T20:36:27.719Z,1537821387.719 [Startup](DEBUG): Aggregate::uninitialize Startup
2018-09-24T20:36:27.719Z,1537821387.719 [Startup:A.GoToSurface] Stopped
2018-09-24T20:36:27.719Z,1537821387.719 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2018-09-24T20:36:27.859Z,1537821387.859 [MissionManager](IMPORTANT): Started mission Default
2018-09-24T20:36:27.860Z,1537821387.860 [Default] Running Loop=1
2018-09-24T20:36:27.869Z,1537821387.869 [Default](DEBUG): Aggregate::initialize Default
2018-09-24T20:36:27.869Z,1537821387.869 [Default:B.GoToSurface] Running Loop=1
2018-09-24T20:36:27.869Z,1537821387.869 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2018-09-24T20:36:27.870Z,1537821387.870 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2018-09-24T20:36:27.870Z,1537821387.870 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2018-09-24T20:36:27.870Z,1537821387.870 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2018-09-24T20:36:27.871Z,1537821387.871 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2018-09-24T20:36:27.871Z,1537821387.871 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2018-09-24T20:36:27.871Z,1537821387.871 [Default:A.Wait] Running Loop=1
2018-09-24T20:36:27.871Z,1537821387.871 [Default:A.Wait](DEBUG): Initialize Wait Component.
2018-09-24T20:36:41.142Z,1537821401.142 [Default:A.Wait](INFO): Done Waiting.
2018-09-24T20:36:41.142Z,1537821401.142 [Default:A.Wait] Stopped
2018-09-24T20:36:41.142Z,1537821401.142 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2018-09-24T20:36:41.532Z,1537821401.532 [Default:CheckIn] Running Loop=1
2018-09-24T20:36:41.532Z,1537821401.532 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2018-09-24T20:36:41.532Z,1537821401.532 [Default:CheckIn:Read_GPS] Running Loop=1
2018-09-24T20:36:41.948Z,1537821401.948 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2018-09-24T20:36:43.083Z,1537821403.083 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004126
2018-09-24T20:36:54.688Z,1537821414.688 [NAL9602](INFO): SBD MO Status=1, MOMSN=1618, MT Status=0, MTMSN=0
2018-09-24T20:36:54.742Z,1537821414.742 [NAL9602](INFO): Sent 107 bytes from file Logs/20180924T201931/Express0014.lzma
2018-09-24T20:36:54.743Z,1537821414.743 [NAL9602](INFO): Packets left to send: 0
2018-09-24T20:36:54.744Z,1537821414.744 [NAL9602](DEBUG): Stored copy of sent data in Logs/20180924T201931/Express0014.lzma.parts/0000.sbd
2018-09-24T20:36:54.744Z,1537821414.744 [NAL9602](DEBUG): Completed sending Logs/20180924T201931/Express0014.lzma
2018-09-24T20:38:19.588Z,1537821499.588 [CommandLine](IMPORTANT): got command show variable sea_water_temperature
2018-09-24T20:38:19.601Z,1537821499.601 [CommandLine](IMPORTANT): sea_water_temperature (unknown)
2018-09-24T20:38:19.602Z,1537821499.602 [CommandLine](IMPORTANT): upward_derivative_of_sea_water_temperature (unknown)
2018-09-24T20:38:19.856Z,1537821499.856 [CommandLine](IMPORTANT): TempGradientCalculator.upward_derivative_of_sea_water_temperature (celsius_per_meter)
2018-09-24T20:38:19.875Z,1537821499.875 [CommandLine](IMPORTANT): CTD_NeilBrown.sea_water_temperature (celsius)
2018-09-24T20:38:19.876Z,1537821499.876 [CommandLine](IMPORTANT): CTD_NeilBrown.bin_median_sea_water_temperature (celsius)
2018-09-24T20:38:19.877Z,1537821499.877 [CommandLine](IMPORTANT): CTD_NeilBrown.bin_mean_sea_water_temperature (celsius)
2018-09-24T20:38:19.878Z,1537821499.878 [CommandLine](IMPORTANT): CTD_NeilBrown.bin_standard_deviation_sea_water_temperature (celsius)
2018-09-24T20:38:19.879Z,1537821499.879 [CommandLine](IMPORTANT): CTD_Seabird.sea_water_temperature (celsius)
2018-09-24T20:38:19.880Z,1537821499.880 [CommandLine](IMPORTANT): CTD_Seabird.bin_median_sea_water_temperature (celsius)
2018-09-24T20:38:58.667Z,1537821538.667 [CommandLine](IMPORTANT): got command failComponent
2018-09-24T20:38:58.667Z,1537821538.667 [CommandLine](IMPORTANT): Failed components:
2018-09-24T20:38:58.667Z,1537821538.667 [CommandLine](IMPORTANT): No failed Components.
2018-09-24T20:39:13.895Z,1537821553.895 [DeadReckonUsingMultipleVelocitySources](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2018-09-24T20:39:13.895Z,1537821553.895 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2018-09-24T20:39:13.895Z,1537821553.895 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2018-09-24T20:39:13.901Z,1537821553.901 [DeadReckonUsingSpeedCalculator](ERROR): Will not write estimated position: latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2018-09-24T20:39:13.901Z,1537821553.901 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2018-09-24T20:39:13.901Z,1537821553.901 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2018-09-24T20:39:13.923Z,1537821553.923 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2018-09-24T20:39:13.923Z,1537821553.923 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2018-09-24T20:39:14.315Z,1537821554.315 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2018-09-24T20:39:14.315Z,1537821554.315 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2018-09-24T20:39:14.316Z,1537821554.316 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2018-09-24T20:39:14.316Z,1537821554.316 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2018-09-24T20:39:14.748Z,1537821554.748 [DeadReckonUsingMultipleVelocitySources](DEBUG): Initializing DeadReckonUsingMultipleVelocitySources component.
2018-09-24T20:39:14.749Z,1537821554.749 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider orientation measurement stale after 120s.
2018-09-24T20:39:14.749Z,1537821554.749 [DeadReckonUsingMultipleVelocitySources](INFO): Will consider velocity measurement stale after 20s.
2018-09-24T20:39:14.750Z,1537821554.750 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2018-09-24T20:39:14.750Z,1537821554.750 [DeadReckonUsingSpeedCalculator](INFO): Will consider orientation measurement stale after 120s.
2018-09-24T20:39:14.750Z,1537821554.750 [DeadReckonUsingSpeedCalculator](INFO): Will consider velocity measurement stale after 20s.
2018-09-24T20:39:27.637Z,1537821567.637 [CommandLine](IMPORTANT): got command configSet CTD_NeilBrown.loadAtStartup 0.000000 bool persist
2018-09-24T20:39:27.637Z,1537821567.637 [CommandLine](IMPORTANT): configSet CTD_NeilBrown.loadAtStartup requires a restart to take effect.
2018-09-24T20:39:50.138Z,1537821590.138 [CommandLine](IMPORTANT): got command report touch sea_water_temperature
2018-09-24T20:39:51.488Z,1537821591.488 [NAL9602](INFO): GPS fix at 20180924T203942: (36.851238, -121.915628)
2018-09-24T20:39:51.570Z,1537821591.570 [Default:CheckIn:Read_GPS] Stopped
2018-09-24T20:39:51.570Z,1537821591.570 [Default:CheckIn:Read_Iridium] Running Loop=1
2018-09-24T20:39:51.948Z,1537821591.948 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2018-09-24T20:39:59.316Z,1537821599.316 [DataOverHttps](INFO): Sending 211 bytes from file Logs/20180924T203303/Courier0004.lzma
2018-09-24T20:40:00.914Z,1537821600.914 [DataOverHttps](INFO): Moved sent file to Logs/20180924T203303/Courier0004.lzma.bak
2018-09-24T20:40:00.914Z,1537821600.914 [DataOverHttps](INFO): SBD MOMSN=8575521
2018-09-24T20:40:08.016Z,1537821608.016 [CommandLine](IMPORTANT): got command run ./Missions/Insert/Science_yz.xml
2018-09-24T20:40:08.017Z,1537821608.017 [MissionManager](INFO): Loading Mission: ./Missions/Insert/Science_yz.xml
2018-09-24T20:40:08.363Z,1537821608.363 [MissionManager](INFO): DefineArg Science.SampleISUS = 0 bool
2018-09-24T20:40:08.367Z,1537821608.367 [MissionManager](INFO): DefineArg Science.SampleISUSmaxPitch = 60.000000 arcdeg
2018-09-24T20:40:08.382Z,1537821608.382 [MissionManager](INFO): DefineArg Science.SampleISUSminPitch = -60.000000 arcdeg
2018-09-24T20:40:08.385Z,1537821608.385 [MissionManager](INFO): DefineArg Science.PeakDetectChlActive = 0 bool
2018-09-24T20:40:08.388Z,1537821608.388 [MissionManager](INFO): DefineArg Science.HighestChlPeakReportActive = 0 bool
2018-09-24T20:40:08.450Z,1537821608.450 [MissionManager](INFO): DefineArg Science.PatchTracking = 1 bool
2018-09-24T20:40:08.462Z,1537821608.462 [MissionManager](INFO): DefineArg Science.FilterWidthHorizontal = 3.000000 count
2018-09-24T20:40:08.481Z,1537821608.481 [MissionManager](INFO): DefineArg Science.NumProfilesSlidingwindow = 100.000000 count
2018-09-24T20:40:08.506Z,1537821608.506 [MissionManager](INFO): DefineArg Science.OffPeakFractionHorizontal = 80.000000 %
2018-09-24T20:40:08.521Z,1537821608.521 [MissionManager](INFO): DefineArg Science.PeakDetectNO3Active = 0 bool
2018-09-24T20:40:08.524Z,1537821608.524 [MissionManager](INFO): DefineArg Science.PeakDetectOilActive = 0 bool
2018-09-24T20:40:08.539Z,1537821608.539 [MissionManager](INFO): DefineArg Science.UpwardDerivativeOfTemperatureActive = 0 bool
2018-09-24T20:40:08.559Z,1537821608.559 [MissionManager](INFO): DefineArg Science.EnabledAanderaaO2 = 0.000000 bool
2018-09-24T20:40:08.576Z,1537821608.576 [MissionManager](INFO): DefineArg Science.EnabledNeilBrown = 0.000000 bool
2018-09-24T20:40:08.594Z,1537821608.594 [MissionManager](INFO): DefineArg Science.EnabledSeabird = 1.000000 bool
2018-09-24T20:40:08.618Z,1537821608.618 [MissionManager](INFO): DefineArg Science.EnabledTurbulence_NPS = 0.000000 bool
2018-09-24T20:40:08.642Z,1537821608.642 [MissionManager](INFO): DefineArg Science.EnabledWetLabsBB2FL = 0.000000 bool
2018-09-24T20:40:08.646Z,1537821608.646 [MissionManager](INFO): DefineArg Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2018-09-24T20:40:08.659Z,1537821608.659 [MissionManager](INFO): DefineArg Science.EnabledISUS = 0.000000 bool
2018-09-24T20:40:08.693Z,1537821608.693 [MissionManager](INFO): DefineArg Science.LowPassWindowLength = 20.000000 count
2018-09-24T20:40:08.696Z,1537821608.696 [MissionManager](INFO): DefineArg Science.PeakChlShallowBound = 10.000000 m
2018-09-24T20:40:08.723Z,1537821608.723 [MissionManager](INFO): DefineArg Science.PeakChlDeepBound = 20.000000 m
2018-09-24T20:40:08.728Z,1537821608.728 [MissionManager](INFO): DefineOutput Science.PeakChl = 0.000000 ug/l
2018-09-24T20:40:08.735Z,1537821608.735 [MissionManager](INFO): DefineOutput Science.PeakChlDepth = 0.000000 m
2018-09-24T20:40:08.739Z,1537821608.739 [MissionManager](INFO): DefineOutput Science.PeakChlTemperature = 0.000000 degC
2018-09-24T20:40:08.776Z,1537821608.776 [MissionManager](INFO): DefineOutput Science.PeakChlLatitude = nan arcdeg
2018-09-24T20:40:08.837Z,1537821608.837 [MissionManager](INFO): DefineOutput Science.PeakChlLongitude = nan arcdeg
2018-09-24T20:40:08.840Z,1537821608.840 [MissionManager](INFO): DefineOutput Science.PeakNO3 = 0.000000 umol/l
2018-09-24T20:40:08.892Z,1537821608.892 [MissionManager](INFO): DefineOutput Science.PeakNO3Depth = 0.000000 m
2018-09-24T20:40:08.895Z,1537821608.895 [MissionManager](INFO): DefineOutput Science.PeakNO3Latitude = nan arcdeg
2018-09-24T20:40:08.939Z,1537821608.939 [MissionManager](INFO): DefineOutput Science.PeakNO3Longitude = nan arcdeg
2018-09-24T20:40:08.943Z,1537821608.943 [MissionManager](INFO): DefineOutput Science.PatchChl = 0.000000 m
2018-09-24T20:40:08.990Z,1537821608.990 [MissionManager](INFO): DefineOutput Science.PatchChlDepth = 0.000000 m
2018-09-24T20:40:08.994Z,1537821608.994 [MissionManager](INFO): DefineOutput Science.PatchChlLatitude = nan arcdeg
2018-09-24T20:40:09.028Z,1537821609.028 [MissionManager](INFO): DefineOutput Science.PatchChlLongitude = nan arcdeg
2018-09-24T20:40:09.040Z,1537821609.040 [MissionManager](INFO): DefineOutput Science.PatchChlDistance = nan m
2018-09-24T20:40:09.044Z,1537821609.044 [MissionManager](INFO): DefineOutput Science.PeakOil = 0.000000 kg/m3
2018-09-24T20:40:09.071Z,1537821609.071 [MissionManager](INFO): DefineOutput Science.PeakOilDepth = 0.000000 m
2018-09-24T20:40:09.094Z,1537821609.094 [MissionManager](INFO): DefineOutput Science.PeakOilLatitude = nan arcdeg
2018-09-24T20:40:09.098Z,1537821609.098 [MissionManager](INFO): DefineOutput Science.PeakOilLongitude = nan arcdeg
2018-09-24T20:40:09.163Z,1537821609.163 [Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2018-09-24T20:40:09.289Z,1537821609.289 [Science:HighestChlPeakReport:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2018-09-24T20:40:09.338Z,1537821609.338 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2018-09-24T20:40:09.367Z,1537821609.367 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2018-09-24T20:40:09.449Z,1537821609.449 [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="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
<!--debug
    </Description><False/></DefineArg>
-->
    </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="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="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="PeakChlShallowBound"><Description>
        Shallow depth bound for detecting chl peak on each descent or ascent
        profile.
<!--debug
    </Description><Units:meter/><Value>NaN</Value></DefineArg>
-->
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="PeakChlDeepBound"><Description>
        Deep depth bound for detecting chl peak on each descent or ascent
        profile.
<!--debug
    </Description><Units:meter/><Value>NaN</Value></DefineArg>
-->
    </Description><Units:meter/><Value>20</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>

    <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>

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

    <Aggregate Id="PeakDetectChl">

        <While>
            <Arg Name="PeakDetectChlActive"/>
        </While>
        
        <Syslog Severity="Important">Calling peak detect vs depth</Syslog>

        <Trigger:PeakDetectVsDepth>
            <Sequence/>
            <Setting><Trigger:PeakDetectVsDepth.detect/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
            <Setting><Trigger:PeakDetectVsDepth.windowLength/><Arg Name="LowPassWindowLength"/></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>

        <Syslog Severity="Important">Calling peak detect horizontal</Syslog>        

        <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>
            <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.windowLength/><Arg Name="LowPassWindowLength"/></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>


2018-09-24T20:40:09.452Z,1537821609.452 [CommandLine](IMPORTANT): Running ./Missions/Insert/Science_yz.xml
2018-09-24T20:40:09.652Z,1537821609.652 [Default] Stopped
2018-09-24T20:40:09.652Z,1537821609.652 [Default](DEBUG): Aggregate::uninitialize Default
2018-09-24T20:40:09.652Z,1537821609.652 [Default:B.GoToSurface] Stopped
2018-09-24T20:40:09.661Z,1537821609.661 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2018-09-24T20:40:09.661Z,1537821609.661 [Default:CheckIn] Stopped
2018-09-24T20:40:09.661Z,1537821609.661 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2018-09-24T20:40:09.661Z,1537821609.661 [Default:CheckIn:Read_Iridium] Stopped
2018-09-24T20:40:09.661Z,1537821609.661 [MissionManager](IMPORTANT): Started mission Science
2018-09-24T20:40:09.662Z,1537821609.662 [Science] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science](DEBUG): Aggregate::initialize Science
2018-09-24T20:40:09.662Z,1537821609.662 [Science:A] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:B] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:C] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:D] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:E] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:F] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:G] Running Loop=1
2018-09-24T20:40:09.662Z,1537821609.662 [Science:Read_Oil] Running Loop=1
2018-09-24T20:40:09.663Z,1537821609.663 [Science:PeakDetectChl] Running Loop=1
2018-09-24T20:40:09.663Z,1537821609.663 [Science:PeakDetectChl](DEBUG): Aggregate::initialize Science:PeakDetectChl
2018-09-24T20:40:09.663Z,1537821609.663 [Science:PeakDetectChl:A] Running Loop=1
2018-09-24T20:40:09.663Z,1537821609.663 [Science:HighestChlPeakReport] Running Loop=1
2018-09-24T20:40:09.663Z,1537821609.663 [Science:HighestChlPeakReport](DEBUG): Aggregate::initialize Science:HighestChlPeakReport
2018-09-24T20:40:09.663Z,1537821609.663 [Science:HighestChlPeakReport:A] Running Loop=1
2018-09-24T20:40:09.663Z,1537821609.663 [Science:PeakDetectNO3] Running Loop=1
2018-09-24T20:40:09.663Z,1537821609.663 [Science:PeakDetectNO3](DEBUG): Aggregate::initialize Science:PeakDetectNO3
2018-09-24T20:40:09.664Z,1537821609.664 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2018-09-24T20:40:09.664Z,1537821609.664 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2018-09-24T20:40:09.670Z,1537821609.670 [Science:PeakDetectOil] Running Loop=1
2018-09-24T20:40:09.670Z,1537821609.670 [Science:PeakDetectOil](DEBUG): Aggregate::initialize Science:PeakDetectOil
2018-09-24T20:40:09.670Z,1537821609.670 [Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2018-09-24T20:40:09.670Z,1537821609.670 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2018-09-24T20:40:09.673Z,1537821609.673 [Science:PeakDetectOil] Stopped
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectOil](DEBUG): Aggregate::uninitialize Science:PeakDetectOil
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectNO3] Stopped
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize Science:PeakDetectNO3
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2018-09-24T20:40:09.685Z,1537821609.685 [Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2018-09-24T20:40:09.686Z,1537821609.686 [Science:HighestChlPeakReport] Stopped
2018-09-24T20:40:09.686Z,1537821609.686 [Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize Science:HighestChlPeakReport
2018-09-24T20:40:09.686Z,1537821609.686 [Science:HighestChlPeakReport:A] Stopped
2018-09-24T20:40:09.686Z,1537821609.686 [Science:PeakDetectChl] Stopped
2018-09-24T20:40:09.686Z,1537821609.686 [Science:PeakDetectChl](DEBUG): Aggregate::uninitialize Science:PeakDetectChl
2018-09-24T20:40:09.686Z,1537821609.686 [Science:PeakDetectChl:A] Stopped
2018-09-24T20:40:09.686Z,1537821609.686 [Science:Read_Oil] Running Loop=1
2018-09-24T20:40:09.687Z,1537821609.687 [Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2018-09-24T20:40:09.689Z,1537821609.689 [Science:G] Stopped
2018-09-24T20:40:09.693Z,1537821609.693 [Science:F] Stopped
2018-09-24T20:40:09.693Z,1537821609.693 [Science:E] Stopped
2018-09-24T20:40:09.693Z,1537821609.693 [Science:D] Running Loop=1
2018-09-24T20:40:09.700Z,1537821609.700 [Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2018-09-24T20:40:09.713Z,1537821609.713 [Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2018-09-24T20:40:09.715Z,1537821609.715 [Science:C] Running Loop=1
2018-09-24T20:40:09.715Z,1537821609.715 [Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2018-09-24T20:40:09.716Z,1537821609.716 [Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2018-09-24T20:40:09.718Z,1537821609.718 [Science:B] Stopped
2018-09-24T20:40:09.718Z,1537821609.718 [Science:A] Stopped
2018-09-24T20:40:09.729Z,1537821609.729 [CTD_NeilBrown](DEBUG): Initializing CTD_NeilBrown.
2018-09-24T20:40:09.894Z,1537821609.894 [CTD_Seabird](INFO): Initializing
2018-09-24T20:40:09.894Z,1537821609.894 [CTD_Seabird](INFO): Checking LCM
2018-09-24T20:40:09.894Z,1537821609.894 [CTD_Seabird](INFO): LCM OK
2018-09-24T20:40:10.013Z,1537821610.013 [WetLabsSeaOWL_UV_A](INFO): Opening uart, block timeout 10ths=4
2018-09-24T20:40:10.013Z,1537821610.013 [WetLabsSeaOWL_UV_A](INFO): Powering up
2018-09-24T20:40:10.483Z,1537821610.483 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:40:10.603Z,1537821610.603 [CTD_Seabird](INFO): Started Seabird LCM interface with command:nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyC6 -b 9600 >& /dev/null &
2018-09-24T20:40:10.604Z,1537821610.604 [CTD_Seabird](INFO): LCM subscribed to channel:seabird_gpctd_t.seabird-gpctd
2018-09-24T20:40:16.909Z,1537821616.909 [CTD_NeilBrown](FAULT): No CTD communication! Re-initializing
2018-09-24T20:40:16.910Z,1537821616.910 [CTD_NeilBrown] Communications Fault, FailCount= 1
2018-09-24T20:40:16.910Z,1537821616.910 [CTD_NeilBrown](ERROR): Communications Fault
2018-09-24T20:40:17.066Z,1537821617.066 [CBIT](ERROR): Communications Fault in component: CTD_NeilBrown
2018-09-24T20:40:17.066Z,1537821617.066 [CBIT](FAULT): Communications Fault in component: CTD_NeilBrown
2018-09-24T20:40:23.891Z,1537821623.891 [NAL9602](INFO): Powering down
2018-09-24T20:40:24.927Z,1537821624.927 [DataOverHttps](INFO): Sending 1086 bytes from file Logs/20180924T203303/Express0001.lzma
2018-09-24T20:40:29.713Z,1537821629.713 [DataOverHttps](INFO): Moved sent file to Logs/20180924T203303/Express0001.lzma.bak
2018-09-24T20:40:29.713Z,1537821629.713 [DataOverHttps](INFO): SBD MOMSN=8575525
2018-09-24T20:40:43.757Z,1537821643.757 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2018-09-24T20:40:45.702Z,1537821645.702 [CTD_Seabird](FAULT): Did not receive valid device response within the specified allowable sample time.
2018-09-24T20:40:45.702Z,1537821645.702 [CTD_Seabird] Communications Fault, FailCount= 1
2018-09-24T20:40:45.702Z,1537821645.702 [CTD_Seabird](ERROR): Communications Fault
2018-09-24T20:40:45.804Z,1537821645.804 [CBIT](ERROR): Communications Fault in component: CTD_Seabird
2018-09-24T20:40:46.356Z,1537821646.356 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:40:47.795Z,1537821647.795 [CBIT](INFO): Clearing failed state for component CTD_Seabird
2018-09-24T20:40:47.795Z,1537821647.795 [CTD_Seabird] No Fault, FailCount= 1
2018-09-24T20:40:47.969Z,1537821647.969 [CTD_Seabird](INFO): Initializing
2018-09-24T20:40:47.969Z,1537821647.969 [CTD_Seabird](INFO): Checking LCM
2018-09-24T20:40:47.969Z,1537821647.969 [CTD_Seabird](INFO): LCM OK
2018-09-24T20:40:48.461Z,1537821648.461 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:40:48.624Z,1537821648.624 [CTD_Seabird](INFO): Started Seabird LCM interface with command:nohup ./lrauv-framework/onboard/bin/gpctd -ldir /mnt/mmc/LRAUV/Logs/latest/ -dev /dev/ttyC6 -b 9600 >& /dev/null &
2018-09-24T20:40:48.629Z,1537821648.629 [CTD_Seabird](INFO): LCM subscribed to channel:seabird_gpctd_t.seabird-gpctd
2018-09-24T20:40:51.546Z,1537821651.546 [CommandLine](IMPORTANT): got command stop
2018-09-24T20:40:51.546Z,1537821651.546 [CommandLine](IMPORTANT): Scheduling is paused
2018-09-24T20:40:51.546Z,1537821651.546 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2018-09-24T20:40:51.778Z,1537821651.778 [MissionManager](INFO): MissionManager is completed.
2018-09-24T20:40:51.779Z,1537821651.779 [MissionManager](INFO): Uninitializing Mission Science
2018-09-24T20:40:51.779Z,1537821651.779 [Science] Stopped
2018-09-24T20:40:51.779Z,1537821651.779 [Science](DEBUG): Aggregate::uninitialize Science
2018-09-24T20:40:51.779Z,1537821651.779 [Science:C] Stopped
2018-09-24T20:40:51.779Z,1537821651.779 [Science:D] Stopped
2018-09-24T20:40:51.779Z,1537821651.779 [Science:Read_Oil] Stopped
2018-09-24T20:40:52.117Z,1537821652.117 [WetLabsSeaOWL_UV_A](INFO): Powering down
2018-09-24T20:40:52.213Z,1537821652.213 [MissionManager](IMPORTANT): Started mission Default
2018-09-24T20:40:52.234Z,1537821652.234 [Default] Running Loop=1
2018-09-24T20:40:52.234Z,1537821652.234 [Default](DEBUG): Aggregate::initialize Default
2018-09-24T20:40:52.235Z,1537821652.235 [Default:B.GoToSurface] Running Loop=1
2018-09-24T20:40:52.235Z,1537821652.235 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2018-09-24T20:40:52.235Z,1537821652.235 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2018-09-24T20:40:52.236Z,1537821652.236 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2018-09-24T20:40:52.236Z,1537821652.236 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2018-09-24T20:40:52.241Z,1537821652.241 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2018-09-24T20:40:52.241Z,1537821652.241 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2018-09-24T20:40:52.242Z,1537821652.242 [Default:A.Wait] Running Loop=1
2018-09-24T20:40:52.242Z,1537821652.242 [Default:A.Wait](DEBUG): Initialize Wait Component.
2018-09-24T20:40:52.413Z,1537821652.413 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:41:05.384Z,1537821665.384 [Default:A.Wait](INFO): Done Waiting.
2018-09-24T20:41:05.385Z,1537821665.385 [Default:A.Wait] Stopped
2018-09-24T20:41:05.385Z,1537821665.385 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2018-09-24T20:41:05.777Z,1537821665.777 [Default:CheckIn] Running Loop=1
2018-09-24T20:41:05.778Z,1537821665.778 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2018-09-24T20:41:05.778Z,1537821665.778 [Default:CheckIn:Read_GPS] Running Loop=1
2018-09-24T20:41:06.530Z,1537821666.530 [NAL9602](INFO): Powering up
2018-09-24T20:41:17.722Z,1537821677.722 [NAL9602](INFO): NAL9602 initialized
2018-09-24T20:41:21.325Z,1537821681.325 [CommandLine](IMPORTANT): got command show variable CTD_Sea
2018-09-24T20:41:21.389Z,1537821681.389 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup (bool)
2018-09-24T20:41:21.390Z,1537821681.390 [CommandLine](IMPORTANT): CTD_Seabird.simulateHardware (bool)
2018-09-24T20:41:21.390Z,1537821681.390 [CommandLine](IMPORTANT): CTD_Seabird.maxPressBound (decibar)
2018-09-24T20:41:21.390Z,1537821681.390 [CommandLine](IMPORTANT): CTD_Seabird.minPressBound (decibar)
2018-09-24T20:41:21.391Z,1537821681.391 [CommandLine](IMPORTANT): CTD_Seabird.maxSalinityBound (practical_salinity_unit)
2018-09-24T20:41:21.391Z,1537821681.391 [CommandLine](IMPORTANT): CTD_Seabird.minSalinityBound (practical_salinity_unit)
2018-09-24T20:41:21.525Z,1537821681.525 [CommandLine](IMPORTANT): CTD_Seabird.loadControl (none)
2018-09-24T20:41:21.525Z,1537821681.525 [CommandLine](IMPORTANT): CTD_Seabird.uart (none)
2018-09-24T20:41:21.525Z,1537821681.525 [CommandLine](IMPORTANT): CTD_Seabird.baud (bit_per_second)
2018-09-24T20:41:21.526Z,1537821681.526 [CommandLine](IMPORTANT): CTD_Seabird.lcmApplication (none)
2018-09-24T20:41:21.628Z,1537821681.628 [CommandLine](IMPORTANT): CTD_Seabird.sea_water_electrical_conductivity (unspecified)
2018-09-24T20:41:21.629Z,1537821681.629 [CommandLine](IMPORTANT): CTD_Seabird.sea_water_temperature (celsius)
2018-09-24T20:41:21.629Z,1537821681.629 [CommandLine](IMPORTANT): CTD_Seabird.sea_water_salinity (practical_salinity_unit)
2018-09-24T20:41:21.630Z,1537821681.630 [CommandLine](IMPORTANT): CTD_Seabird.sea_water_density (kilogram_per_cubic_meter)
2018-09-24T20:41:21.630Z,1537821681.630 [CommandLine](IMPORTANT): CTD_Seabird.depth (meter)
2018-09-24T20:41:21.630Z,1537821681.630 [CommandLine](IMPORTANT): CTD_Seabird.sea_water_pressure (decibar)
2018-09-24T20:41:21.631Z,1537821681.631 [CommandLine](IMPORTANT): CTD_Seabird.bin_median_sea_water_electrical_conductivity (millimho_per_centimeter)
2018-09-24T20:41:21.631Z,1537821681.631 [CommandLine](IMPORTANT): CTD_Seabird.bin_median_sea_water_temperature (celsius)
2018-09-24T20:41:21.632Z,1537821681.632 [CommandLine](IMPORTANT): CTD_Seabird.bin_median_sea_water_salinity (practical_salinity_unit)
2018-09-24T20:41:21.632Z,1537821681.632 [CommandLine](IMPORTANT): CTD_Seabird.oxygen_frequency (hertz)
2018-09-24T20:41:21.796Z,1537821681.796 [CommandLine](IMPORTANT): CTD_Seabird.durationOfLastRun (second)
2018-09-24T20:41:33.665Z,1537821693.665 [CommandLine](IMPORTANT): got command configSet CTD_Seabird.loadAtStartup 0.000000 bool persist
2018-09-24T20:41:33.666Z,1537821693.666 [CommandLine](IMPORTANT): configSet CTD_Seabird.loadAtStartup requires a restart to take effect.
2018-09-24T20:41:35.548Z,1537821695.548 [NAL9602](INFO): SBD MO Status=0, MOMSN=1619, MT Status=0, MTMSN=0
2018-09-24T20:41:35.548Z,1537821695.548 [NAL9602](INFO): No messages in MT queue
2018-09-24T20:41:39.867Z,1537821699.867 [CommandLine](IMPORTANT): got command configSet list
2018-09-24T20:41:39.867Z,1537821699.867 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2018-09-24T20:41:39.868Z,1537821699.868 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2018-09-24T20:41:39.868Z,1537821699.868 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=1 hour;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): BuoyancyServo.accel=400 none;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): BuoyancyServo.fastPumpCoefficient=1 none;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): BuoyancyServo.velocity=300 none;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): CTD_NeilBrown.simulateHardware=1 bool;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2018-09-24T20:41:39.869Z,1537821699.869 [CommandLine](IMPORTANT): CTD_Seabird.simulateHardware=1 bool;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 5.000000 meter;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_chlorophyll_in_sea_water 0.500000 microgram_per_liter;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): IBIT.batteryVoltageThreshold=13.7 volt;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): RDI_PathfinderUp.loadAtStartup=0 bool;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=205 cubic_centimeter;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): VerticalControl.massDefault=0 millimeter;

2018-09-24T20:41:39.870Z,1537821699.870 [CommandLine](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2018-09-24T20:41:39.871Z,1537821699.871 [CommandLine](IMPORTANT): WetLabsBB2FL.simulateHardware=0 bool;

2018-09-24T20:41:51.636Z,1537821711.636 [CommandLine](IMPORTANT): got command restart application
2018-09-24T20:41:52.644Z,1537821712.644 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:52.645Z,1537821712.645 [CommandLine ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:52.789Z,1537821712.789 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2018-09-24T20:41:52.789Z,1537821712.789 [CommandLine ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:52.790Z,1537821712.790 [CommandLine](INFO): Join timeout helper Thread ID is 3226
2018-09-24T20:41:52.813Z,1537821712.813 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2018-09-24T20:41:52.813Z,1537821712.813 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:52.814Z,1537821712.814 [NavChartDb](INFO): Join timeout helper Thread ID is 3227
2018-09-24T20:41:52.997Z,1537821712.997 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:52.997Z,1537821712.997 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.001Z,1537821713.001 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2018-09-24T20:41:53.001Z,1537821713.001 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.001Z,1537821713.001 [Radio_Surface](INFO): Join timeout helper Thread ID is 3228
2018-09-24T20:41:53.121Z,1537821713.121 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:53.121Z,1537821713.121 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.122Z,1537821713.122 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2018-09-24T20:41:53.122Z,1537821713.122 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.123Z,1537821713.123 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 3229
2018-09-24T20:41:53.154Z,1537821713.154 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:53.154Z,1537821713.154 [WetLabsSeaOWL_UV_A](INFO): Powering down
2018-09-24T20:41:53.155Z,1537821713.155 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.173Z,1537821713.173 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2018-09-24T20:41:53.174Z,1537821713.174 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.174Z,1537821713.174 [CTD_Seabird](INFO): Join timeout helper Thread ID is 3230
2018-09-24T20:41:53.445Z,1537821713.445 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:53.633Z,1537821713.633 [CTD_Seabird](INFO): Stopping potential previous instance(s) of CTD_Seabird LCM interface
2018-09-24T20:41:53.634Z,1537821713.634 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.642Z,1537821713.642 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2018-09-24T20:41:53.642Z,1537821713.642 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.643Z,1537821713.643 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 3232
2018-09-24T20:41:53.713Z,1537821713.713 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:53.713Z,1537821713.713 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.730Z,1537821713.730 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2018-09-24T20:41:53.730Z,1537821713.730 [logger ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.730Z,1537821713.730 [logger](INFO): Join timeout helper Thread ID is 3233
2018-09-24T20:41:53.733Z,1537821713.733 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:53.733Z,1537821713.733 [logger ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.750Z,1537821713.750 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2018-09-24T20:41:53.750Z,1537821713.750 [CommandLine ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.750Z,1537821713.750 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2018-09-24T20:41:53.750Z,1537821713.750 [controlThread ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:53.750Z,1537821713.750 [controlThread](INFO): Join timeout helper Thread ID is 3234
2018-09-24T20:41:53.921Z,1537821713.921 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2018-09-24T20:41:53.922Z,1537821713.922 [controlThread](DEBUG): Uninitializing ControlThread
2018-09-24T20:41:53.923Z,1537821713.923 [AHRS_M2](INFO): Powering down
2018-09-24T20:41:53.994Z,1537821713.994 [NAL9602](INFO): Powering down
2018-09-24T20:41:54.065Z,1537821714.065 [RDI_Pathfinder](INFO): Powering down
2018-09-24T20:41:54.067Z,1537821714.067 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2018-09-24T20:41:54.068Z,1537821714.068 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2018-09-24T20:41:54.068Z,1537821714.068 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2018-09-24T20:41:54.069Z,1537821714.069 [MissionManager](INFO): Uninitializing Mission Default
2018-09-24T20:41:54.069Z,1537821714.069 [Default] Stopped
2018-09-24T20:41:54.070Z,1537821714.070 [Default](DEBUG): Aggregate::uninitialize Default
2018-09-24T20:41:54.070Z,1537821714.070 [Default:B.GoToSurface] Stopped
2018-09-24T20:41:54.070Z,1537821714.070 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2018-09-24T20:41:54.070Z,1537821714.070 [Default:CheckIn] Stopped
2018-09-24T20:41:54.070Z,1537821714.070 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2018-09-24T20:41:54.070Z,1537821714.070 [Default:CheckIn:Read_GPS] Stopped
2018-09-24T20:41:54.074Z,1537821714.074 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2018-09-24T20:41:54.074Z,1537821714.074 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2018-09-24T20:41:54.074Z,1537821714.074 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2018-09-24T20:41:54.075Z,1537821714.075 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2018-09-24T20:41:54.075Z,1537821714.075 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2018-09-24T20:41:54.075Z,1537821714.075 [BuoyancyServo](INFO): Powering down
2018-09-24T20:41:54.089Z,1537821714.089 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2018-09-24T20:41:54.089Z,1537821714.089 [ElevatorServo](INFO): Powering down
2018-09-24T20:41:54.090Z,1537821714.090 [MassServo](DEBUG): Uninitialize Mass Servo.
2018-09-24T20:41:54.090Z,1537821714.090 [MassServo](INFO): Powering down
2018-09-24T20:41:54.091Z,1537821714.091 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2018-09-24T20:41:54.092Z,1537821714.092 [RudderServo](INFO): Powering down
2018-09-24T20:41:54.093Z,1537821714.093 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2018-09-24T20:41:54.093Z,1537821714.093 [ThrusterServo](INFO): Powering down
2018-09-24T20:41:54.094Z,1537821714.094 [SBIT](DEBUG): Uninitialize SBIT Component.
2018-09-24T20:41:54.094Z,1537821714.094 [IBIT](DEBUG): Uninitialize IBIT Component.
2018-09-24T20:41:54.095Z,1537821714.095 [CBIT](DEBUG): Uninitialize CBIT Component.
2018-09-24T20:41:54.096Z,1537821714.096 [controlThread ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:54.172Z,1537821714.172 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:54.175Z,1537821714.175 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:54.178Z,1537821714.178 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:54.242Z,1537821714.242 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:54.287Z,1537821714.287 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2018-09-24T20:41:54.360Z,1537821714.360 [logger ThreadHandler](INFO): Thread cancelled.