2020-11-12T15:29:00.730Z,1605194940.730 [Supervisor](DEBUG): Initializing supervisor.
2020-11-12T15:29:00.733Z,1605194940.733 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-11-12T15:29:00.733Z,1605194940.733 [SyncHandler](INFO): Protected caller Thread ID is 8171
2020-11-12T15:29:00.734Z,1605194940.734 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-11-12T15:29:00.735Z,1605194940.735 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-11-12T15:29:00.735Z,1605194940.735 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8172
2020-11-12T15:29:00.738Z,1605194940.738 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-11-12T15:29:00.755Z,1605194940.755 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-11-12T15:29:00.756Z,1605194940.756 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-11-12T15:29:00.757Z,1605194940.757 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8173
2020-11-12T15:29:00.757Z,1605194940.757 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-11-12T15:29:00.758Z,1605194940.758 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-11-12T15:29:00.759Z,1605194940.759 [logger ThreadHandler](INFO): Protected caller Thread ID is 8174
2020-11-12T15:29:00.761Z,1605194940.761 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-11-12T15:29:00.761Z,1605194940.761 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-11-12T15:29:00.766Z,1605194940.766 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-11-12T15:29:01.278Z,1605194941.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-11-12T15:29:01.280Z,1605194941.280 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-11-12T15:29:01.378Z,1605194941.378 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-11-12T15:29:01.380Z,1605194941.380 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-11-12T15:29:01.702Z,1605194941.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-11-12T15:29:01.704Z,1605194941.704 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-11-12T15:29:01.845Z,1605194941.845 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-11-12T15:29:01.847Z,1605194941.847 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-11-12T15:29:02.043Z,1605194942.043 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-11-12T15:29:02.043Z,1605194942.043 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-11-12T15:29:02.567Z,1605194942.567 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-11-12T15:29:02.569Z,1605194942.569 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-11-12T15:29:02.785Z,1605194942.785 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-11-12T15:29:02.786Z,1605194942.786 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-11-12T15:29:02.933Z,1605194942.933 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-11-12T15:29:02.934Z,1605194942.934 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-11-12T15:29:03.130Z,1605194943.130 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-11-12T15:29:03.131Z,1605194943.131 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-11-12T15:29:03.229Z,1605194943.229 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-11-12T15:29:03.231Z,1605194943.231 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2020-11-12T15:29:03.437Z,1605194943.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2020-11-12T15:29:03.438Z,1605194943.438 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-11-12T15:29:03.758Z,1605194943.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-11-12T15:29:03.759Z,1605194943.759 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-11-12T15:29:03.842Z,1605194943.842 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-11-12T15:29:03.951Z,1605194943.951 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-11-12T15:29:03.952Z,1605194943.952 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-11-12T15:29:04.633Z,1605194944.633 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-11-12T15:29:04.634Z,1605194944.634 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-11-12T15:29:05.563Z,1605194945.563 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-11-12T15:29:05.565Z,1605194945.565 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2020-11-12T15:29:05.567Z,1605194945.567 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2020-11-12T15:29:05.775Z,1605194945.775 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2020-11-12T15:29:05.877Z,1605194945.877 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2020-11-12T15:29:05.977Z,1605194945.977 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2020-11-12T15:29:06.235Z,1605194946.235 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-11-12T15:29:06.236Z,1605194946.236 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2020-11-12T15:29:06.323Z,1605194946.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2020-11-12T15:29:06.421Z,1605194946.421 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2020-11-12T15:29:06.537Z,1605194946.537 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2020-11-12T15:29:06.623Z,1605194946.623 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Dock.cfg
2020-11-12T15:29:06.711Z,1605194946.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2020-11-12T15:29:06.822Z,1605194946.822 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2020-11-12T15:29:06.918Z,1605194946.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2020-11-12T15:29:07.108Z,1605194947.108 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2020-11-12T15:29:07.248Z,1605194947.248 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-11-12T15:29:07.256Z,1605194947.256 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-11-12T15:29:07.699Z,1605194947.699 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-11-12T15:29:07.702Z,1605194947.702 [AHRS_M2](INFO): created writer for : platform_orientation
2020-11-12T15:29:07.703Z,1605194947.703 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-11-12T15:29:07.706Z,1605194947.706 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-11-12T15:29:07.707Z,1605194947.707 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-11-12T15:29:07.710Z,1605194947.710 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-11-12T15:29:07.710Z,1605194947.710 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-11-12T15:29:07.713Z,1605194947.713 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-11-12T15:29:07.750Z,1605194947.750 [AHRS_M2] Loaded
2020-11-12T15:29:07.750Z,1605194947.750 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-11-12T15:29:07.820Z,1605194947.820 [DataOverHttps] Loaded
2020-11-12T15:29:07.820Z,1605194947.820 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-11-12T15:29:07.821Z,1605194947.821 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4077A4E0
2020-11-12T15:29:07.821Z,1605194947.821 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8262
2020-11-12T15:29:07.838Z,1605194947.838 [Depth_Keller] Loaded
2020-11-12T15:29:07.838Z,1605194947.838 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-11-12T15:29:07.841Z,1605194947.841 [DropWeight] Loaded
2020-11-12T15:29:07.841Z,1605194947.841 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-11-12T15:29:07.881Z,1605194947.881 [DUSBL_Hydroid] Loaded
2020-11-12T15:29:07.881Z,1605194947.881 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2020-11-12T15:29:07.914Z,1605194947.914 [Micromodem] Loaded
2020-11-12T15:29:07.914Z,1605194947.914 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2020-11-12T15:29:07.969Z,1605194947.969 [NAL9602] Loaded
2020-11-12T15:29:07.969Z,1605194947.969 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-11-12T15:29:07.994Z,1605194947.994 [Onboard] Loaded
2020-11-12T15:29:07.994Z,1605194947.994 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2020-11-12T15:29:07.995Z,1605194947.995 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407AA4E0
2020-11-12T15:29:07.996Z,1605194947.996 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 8263
2020-11-12T15:29:07.999Z,1605194947.999 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2020-11-12T15:29:08.009Z,1605194948.009 [PowerOnly] Loaded
2020-11-12T15:29:08.010Z,1605194948.010 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2020-11-12T15:29:08.021Z,1605194948.021 [Radio_Surface] Loaded
2020-11-12T15:29:08.021Z,1605194948.021 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-11-12T15:29:08.022Z,1605194948.022 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407DA4E0
2020-11-12T15:29:08.022Z,1605194948.022 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8264
2020-11-12T15:29:08.049Z,1605194948.049 [RDI_Pathfinder] Loaded
2020-11-12T15:29:08.050Z,1605194948.050 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-11-12T15:29:08.072Z,1605194948.072 [RDI_PathfinderUp] Loaded
2020-11-12T15:29:08.072Z,1605194948.072 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2020-11-12T15:29:08.841Z,1605194948.841 [BPC1] Loaded
2020-11-12T15:29:08.842Z,1605194948.842 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-11-12T15:29:08.842Z,1605194948.842 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-11-12T15:29:08.843Z,1605194948.843 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-11-12T15:29:08.870Z,1605194948.870 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-11-12T15:29:08.870Z,1605194948.870 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-11-12T15:29:08.964Z,1605194948.964 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-11-12T15:29:08.964Z,1605194948.964 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-11-12T15:29:08.975Z,1605194948.975 [NavChart] Loaded
2020-11-12T15:29:08.976Z,1605194948.976 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-11-12T15:29:08.979Z,1605194948.979 [UniversalFixResidualReporter] Loaded
2020-11-12T15:29:08.980Z,1605194948.980 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-11-12T15:29:08.988Z,1605194948.988 [WorkSite] Loaded
2020-11-12T15:29:08.989Z,1605194948.989 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2020-11-12T15:29:08.989Z,1605194948.989 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-11-12T15:29:08.990Z,1605194948.990 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2020-11-12T15:29:09.085Z,1605194949.085 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2020-11-12T15:29:09.086Z,1605194949.086 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-11-12T15:29:09.217Z,1605194949.217 [BuoyancyServo] Loaded
2020-11-12T15:29:09.217Z,1605194949.217 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-11-12T15:29:09.236Z,1605194949.236 [ElevatorServo] Loaded
2020-11-12T15:29:09.236Z,1605194949.236 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-11-12T15:29:09.254Z,1605194949.254 [MassServo] Loaded
2020-11-12T15:29:09.255Z,1605194949.255 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-11-12T15:29:09.272Z,1605194949.272 [RudderServo] Loaded
2020-11-12T15:29:09.273Z,1605194949.273 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-11-12T15:29:09.289Z,1605194949.289 [ThrusterServo] Loaded
2020-11-12T15:29:09.290Z,1605194949.290 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-11-12T15:29:09.290Z,1605194949.290 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-11-12T15:29:09.290Z,1605194949.290 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-11-12T15:29:09.550Z,1605194949.550 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_density
2020-11-12T15:29:09.553Z,1605194949.553 [CTD_Seabird](INFO): created writer for : sea_water_density
2020-11-12T15:29:09.553Z,1605194949.553 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): depth
2020-11-12T15:29:09.556Z,1605194949.556 [CTD_Seabird](INFO): created writer for : depth
2020-11-12T15:29:09.556Z,1605194949.556 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_pressure
2020-11-12T15:29:09.559Z,1605194949.559 [CTD_Seabird](INFO): created writer for : sea_water_pressure
2020-11-12T15:29:09.559Z,1605194949.559 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_salinity
2020-11-12T15:29:09.562Z,1605194949.562 [CTD_Seabird](INFO): created writer for : sea_water_salinity
2020-11-12T15:29:09.563Z,1605194949.563 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_temperature
2020-11-12T15:29:09.566Z,1605194949.566 [CTD_Seabird](INFO): created writer for : sea_water_temperature
2020-11-12T15:29:09.567Z,1605194949.567 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_electrical_conductivity
2020-11-12T15:29:09.570Z,1605194949.570 [CTD_Seabird](INFO): created writer for : sea_water_electrical_conductivity
2020-11-12T15:29:09.570Z,1605194949.570 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): speed_of_sound_in_sea_water
2020-11-12T15:29:09.573Z,1605194949.573 [CTD_Seabird](INFO): created writer for : speed_of_sound_in_sea_water
2020-11-12T15:29:09.573Z,1605194949.573 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): mass_concentration_of_oxygen_in_sea_water
2020-11-12T15:29:09.576Z,1605194949.576 [CTD_Seabird](INFO): created writer for : mass_concentration_of_oxygen_in_sea_water
2020-11-12T15:29:09.577Z,1605194949.577 [CTD_Seabird](DEBUG): LcmSlateWriter::add(DAtaURI): CTD_Seabird.sea_water_dissolved_oxygen_freq
2020-11-12T15:29:09.577Z,1605194949.577 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): dataName: sea_water_dissolved_oxygen_freq
2020-11-12T15:29:09.594Z,1605194949.594 [CTD_Seabird] Loaded
2020-11-12T15:29:09.594Z,1605194949.594 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2020-11-12T15:29:09.595Z,1605194949.595 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409614E0
2020-11-12T15:29:09.595Z,1605194949.595 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8265
2020-11-12T15:29:09.613Z,1605194949.613 [PAR_Licor] Loaded
2020-11-12T15:29:09.613Z,1605194949.613 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-11-12T15:29:09.643Z,1605194949.643 [WetLabsSeaOWL_UV_A] Loaded
2020-11-12T15:29:09.644Z,1605194949.644 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2020-11-12T15:29:09.645Z,1605194949.645 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409914E0
2020-11-12T15:29:09.645Z,1605194949.645 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 8266
2020-11-12T15:29:09.646Z,1605194949.646 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-11-12T15:29:09.646Z,1605194949.646 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-11-12T15:29:10.497Z,1605194950.497 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-11-12T15:29:10.498Z,1605194950.498 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-11-12T15:29:10.547Z,1605194950.547 [DepthRateCalculator] Loaded
2020-11-12T15:29:10.547Z,1605194950.547 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-11-12T15:29:10.551Z,1605194950.551 [PitchRateCalculator] Loaded
2020-11-12T15:29:10.551Z,1605194950.551 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-11-12T15:29:10.558Z,1605194950.558 [SpeedCalculator] Loaded
2020-11-12T15:29:10.559Z,1605194950.559 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-11-12T15:29:10.570Z,1605194950.570 [TempGradientCalculator] Loaded
2020-11-12T15:29:10.570Z,1605194950.570 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-11-12T15:29:10.574Z,1605194950.574 [YawRateCalculator] Loaded
2020-11-12T15:29:10.574Z,1605194950.574 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-11-12T15:29:10.592Z,1605194950.592 [ElevatorOffsetCalculator] Loaded
2020-11-12T15:29:10.593Z,1605194950.593 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-11-12T15:29:10.593Z,1605194950.593 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-11-12T15:29:10.594Z,1605194950.594 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-11-12T15:29:10.752Z,1605194950.752 [SBIT](DEBUG): Construct Startup Built In Test.
2020-11-12T15:29:10.764Z,1605194950.764 [SBIT] Loaded
2020-11-12T15:29:10.764Z,1605194950.764 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-11-12T15:29:10.765Z,1605194950.765 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-11-12T15:29:10.778Z,1605194950.778 [IBIT] Loaded
2020-11-12T15:29:10.778Z,1605194950.778 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-11-12T15:29:10.781Z,1605194950.781 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-11-12T15:29:10.881Z,1605194950.881 [CBIT] Loaded
2020-11-12T15:29:10.881Z,1605194950.881 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-11-12T15:29:10.881Z,1605194950.881 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-11-12T15:29:10.882Z,1605194950.882 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-11-12T15:29:11.003Z,1605194951.003 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-11-12T15:29:11.003Z,1605194951.003 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-11-12T15:29:11.126Z,1605194951.126 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-11-12T15:29:11.126Z,1605194951.126 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-11-12T15:29:11.185Z,1605194951.185 [VerticalControl](DEBUG): Construct VerticalControl.
2020-11-12T15:29:11.237Z,1605194951.237 [VerticalControl] Loaded
2020-11-12T15:29:11.237Z,1605194951.237 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-11-12T15:29:11.238Z,1605194951.238 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-11-12T15:29:11.273Z,1605194951.273 [HorizontalControl] Loaded
2020-11-12T15:29:11.273Z,1605194951.273 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-11-12T15:29:11.274Z,1605194951.274 [SpeedControl](DEBUG): Construct SpeedControl.
2020-11-12T15:29:11.275Z,1605194951.275 [SpeedControl] Loaded
2020-11-12T15:29:11.276Z,1605194951.276 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-11-12T15:29:11.276Z,1605194951.276 [LoopControl](DEBUG): Construct LoopControl.
2020-11-12T15:29:11.277Z,1605194951.277 [LoopControl] Loaded
2020-11-12T15:29:11.277Z,1605194951.277 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-11-12T15:29:11.277Z,1605194951.277 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-11-12T15:29:11.278Z,1605194951.278 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-11-12T15:29:11.309Z,1605194951.309 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-11-12T15:29:11.313Z,1605194951.313 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-11-12T15:29:11.314Z,1605194951.314 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-11-12T15:29:11.323Z,1605194951.323 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-11-12T15:29:11.324Z,1605194951.324 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B674E0
2020-11-12T15:29:11.324Z,1605194951.324 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8267
2020-11-12T15:29:11.329Z,1605194951.329 [Supervisor](INFO): Main Thread ID is 821
2020-11-12T15:29:11.329Z,1605194951.329 [Supervisor](DEBUG): Running supervisor.
2020-11-12T15:29:11.329Z,1605194951.329 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8268
2020-11-12T15:29:11.331Z,1605194951.331 [controlThread ThreadHandler](INFO): Handler Thread ID is 8269
2020-11-12T15:29:11.332Z,1605194951.332 [controlThread](DEBUG): Initializing ControlThread
2020-11-12T15:29:11.339Z,1605194951.339 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-11-12T15:29:11.339Z,1605194951.339 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-11-12T15:29:11.339Z,1605194951.339 [WorkSite](DEBUG): Initializing WorkSite component.
2020-11-12T15:29:11.344Z,1605194951.344 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-11-12T15:29:11.345Z,1605194951.345 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-11-12T15:29:11.345Z,1605194951.345 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-11-12T15:29:11.345Z,1605194951.345 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-11-12T15:29:11.346Z,1605194951.346 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-11-12T15:29:11.346Z,1605194951.346 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-11-12T15:29:11.347Z,1605194951.347 [SBIT](INFO): Initialize SBIT Component.
2020-11-12T15:29:11.347Z,1605194951.347 [SBIT](IMPORTANT): git: 2020-11-06
2020-11-12T15:29:11.347Z,1605194951.347 [SBIT](INFO): git hash: 159c5b66861882d5f99dda1b1932a945ab78dfb6
2020-11-12T15:29:11.348Z,1605194951.348 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-11-12T15:29:11.349Z,1605194951.349 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2020-11-12T15:29:11.350Z,1605194951.350 [SBIT](INFO): Beginning SBIT in 21.000000 seconds.
2020-11-12T15:29:11.350Z,1605194951.350 [IBIT](INFO): Initialize IBIT Component.
2020-11-12T15:29:11.351Z,1605194951.351 [CBIT](DEBUG): Initialize CBIT Component.
2020-11-12T15:29:11.352Z,1605194951.352 [logger ThreadHandler](INFO): Handler Thread ID is 8270
2020-11-12T15:29:11.364Z,1605194951.364 [CBIT](DEBUG): Initialized mux pins.
2020-11-12T15:29:11.364Z,1605194951.364 [CBIT](DEBUG): Initializing the watchdog timer.
2020-11-12T15:29:11.372Z,1605194951.372 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8271
2020-11-12T15:29:11.373Z,1605194951.373 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2020-11-12T15:29:11.384Z,1605194951.384 [Onboard ThreadHandler](INFO): Handler Thread ID is 8272
2020-11-12T15:29:11.388Z,1605194951.388 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-11-12T15:29:11.389Z,1605194951.389 [CBIT](DEBUG): Initializing heartbeat.
2020-11-12T15:29:11.402Z,1605194951.402 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8273
2020-11-12T15:29:11.416Z,1605194951.416 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8274
2020-11-12T15:29:11.417Z,1605194951.417 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2020-11-12T15:29:11.421Z,1605194951.421 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 8276
2020-11-12T15:29:11.422Z,1605194951.422 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-11-12T15:29:11.436Z,1605194951.436 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8277
2020-11-12T15:29:11.445Z,1605194951.445 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-11-12T15:29:11.445Z,1605194951.445 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-11-12T15:29:11.445Z,1605194951.445 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-11-12T15:29:11.445Z,1605194951.445 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-11-12T15:29:11.445Z,1605194951.445 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-11-12T15:29:11.446Z,1605194951.446 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-11-12T15:29:11.447Z,1605194951.447 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-11-12T15:29:11.447Z,1605194951.447 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-11-12T15:29:11.447Z,1605194951.447 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-11-12T15:29:11.447Z,1605194951.447 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-11-12T15:29:11.460Z,1605194951.460 [CBIT](DEBUG): Deactivating GF circuits.
2020-11-12T15:29:11.460Z,1605194951.460 [CBIT](DEBUG): Deactivating emergency mode.
2020-11-12T15:29:11.496Z,1605194951.496 [CBIT](DEBUG): Backplane powered.
2020-11-12T15:29:11.496Z,1605194951.496 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-11-12T15:29:11.498Z,1605194951.498 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-11-12T15:29:11.499Z,1605194951.499 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-11-12T15:29:11.499Z,1605194951.499 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-11-12T15:29:11.500Z,1605194951.500 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-11-12T15:29:11.514Z,1605194951.514 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-11-12T15:29:11.541Z,1605194951.541 [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>


2020-11-12T15:29:11.541Z,1605194951.541 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2020-11-12T15:29:11.683Z,1605194951.683 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2020-11-12T15:29:11.704Z,1605194951.704 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2020-11-12T15:29:11.724Z,1605194951.724 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2020-11-12T15:29:11.727Z,1605194951.727 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2020-11-12T15:29:11.747Z,1605194951.747 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2020-11-12T15:29:11.750Z,1605194951.750 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2020-11-12T15:29:11.751Z,1605194951.751 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2020-11-12T15:29:11.808Z,1605194951.808 [Radio_Surface](INFO): Powering up
2020-11-12T15:29:11.875Z,1605194951.875 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2020-11-12T15:29:11.900Z,1605194951.900 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-11-12T15:29:11.927Z,1605194951.927 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-11-12T15:29:11.974Z,1605194951.974 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-11-12T15:29:11.976Z,1605194951.976 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-11-12T15:29:11.994Z,1605194951.994 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2020-11-12T15:29:12.014Z,1605194952.014 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

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

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time duration for the vehicle to detach form the dock.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Dock transponder address.
    </Description><Dock:Dock.transponderCode/></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        Time duration between acoustic range queries while the
        mission is detaching from the dock.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DetachModeDDM"><Description>
        DDM DETACH mode enumeration (whiskers retracted, latch open).
    </Description><Units:count/><Value>2</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>30</Value></Setting>
    </Guidance:Wait>

    <Aggregate Id="LeaveDock">
        <Sequence/>

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>
        </Timeout>

        <!-- Acoustic tracking directives -->
        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

        <!-- Leave the dock -->
        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>


    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

            <While>
                <Universal:depth/>
                <Gt><Control:VerticalControl.surfaceThreshold/></Gt>
            </While>

            <!-- Power the DDM -->
            <ReadData>
                <Sensor:DDM.DDMMode/>
            </ReadData>

            <!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->
            <Assign><Parallel/><Sensor:DDM.DDMModeCmd/><Arg Name="DetachModeDDM"/></Assign>

        </Aggregate>

        <!-- This mission assumes open water so from here on it's the same old default that's always used -->
        <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>

    </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>


2020-11-12T15:29:12.019Z,1605194952.019 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,RDI_Pathfinder,RDI_PathfinderUp,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-11-12T15:29:12.040Z,1605194952.040 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-11-12T15:29:12.178Z,1605194952.178 [DUSBL_Hydroid](INFO): Powering up
2020-11-12T15:29:12.178Z,1605194952.178 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2020-11-12T15:29:12.366Z,1605194952.366 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-11-12T15:29:12.372Z,1605194952.372 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-11-12T15:29:12.373Z,1605194952.373 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-11-12T15:29:12.380Z,1605194952.380 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-11-12T15:29:12.381Z,1605194952.381 [MassServo](DEBUG): Initializing EZServoServo.
2020-11-12T15:29:12.388Z,1605194952.388 [MassServo](DEBUG): Initializing MassServo.
2020-11-12T15:29:12.389Z,1605194952.389 [RudderServo](DEBUG): Initializing EZServoServo.
2020-11-12T15:29:12.396Z,1605194952.396 [RudderServo](DEBUG): Initializing RudderServo.
2020-11-12T15:29:12.397Z,1605194952.397 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-11-12T15:29:12.404Z,1605194952.404 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-11-12T15:29:12.452Z,1605194952.452 [Micromodem](INFO): Powering up
2020-11-12T15:29:12.453Z,1605194952.453 [Micromodem](DEBUG): Initializing Micromodem.
2020-11-12T15:29:17.314Z,1605194957.314 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-11-12T15:29:19.339Z,1605194959.339 [Micromodem](INFO): Nmea in: $CATMG,2020-11-12T15:29:18.808152Z,RTC,RTC*53

2020-11-12T15:29:19.339Z,1605194959.339 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-11-12T15:29:18.808152Z,RTC,RTC*53

2020-11-12T15:29:28.594Z,1605194968.594 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-11-12T15:29:28.998Z,1605194968.998 [Micromodem](INFO): Nmea in: $CAERR,152929,NI  ,12,Unknown command*48

2020-11-12T15:29:28.999Z,1605194968.999 [Micromodem](ERROR): Got error from modem: $CAERR,152929,NI  ,12,Unknown command*48

2020-11-12T15:29:30.213Z,1605194970.213 [DUSBL_Hydroid](INFO): DUSBL Version:O
2020-11-12T15:29:33.081Z,1605194973.081 [SBIT](IMPORTANT): Beginning Startup BIT
2020-11-12T15:29:33.085Z,1605194973.085 [CBIT](IMPORTANT): Beginning ground fault scan
2020-11-12T15:29:38.308Z,1605194978.308 [NAL9602](INFO): Powering up NAL9602
2020-11-12T15:29:39.908Z,1605194979.908 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2020-11-12T15:29:40.310Z,1605194980.310 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-11-12T15:29:40.310Z,1605194980.310 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-11-12T15:29:40.718Z,1605194980.718 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-11-12T15:29:40.718Z,1605194980.718 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-11-12T15:29:41.132Z,1605194981.132 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-11-12T15:29:41.132Z,1605194981.132 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-11-12T15:29:41.518Z,1605194981.518 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-11-12T15:29:41.518Z,1605194981.518 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-11-12T15:29:41.934Z,1605194981.934 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-11-12T15:29:41.934Z,1605194981.934 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2020-11-12T15:29:42.330Z,1605194982.330 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2020-11-12T15:29:42.330Z,1605194982.330 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-11-12T15:29:42.734Z,1605194982.734 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-11-12T15:29:42.734Z,1605194982.734 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-11-12T15:29:43.146Z,1605194983.146 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-11-12T15:29:43.147Z,1605194983.147 [Micromodem](INFO): Nmea out: $CCCLK,2020,11,12,15,29,44*48

2020-11-12T15:29:43.550Z,1605194983.550 [Micromodem](INFO): Nmea in: $CACLK,2020,11,12,15,29,44*4A

2020-11-12T15:29:43.942Z,1605194983.942 [Micromodem](INFO): Nmea in: $CATMS,0,2020-11-12T15:29:45Z*7B

2020-11-12T15:29:43.943Z,1605194983.943 [Micromodem](INFO): Nmea in: $CATMG,2020-11-12T15:29:45.027856Z,USER_CMD,RTC*12

2020-11-12T15:29:44.052Z,1605194984.052 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008786
CHAN A1 (24V): -0.024397
CHAN A2 (12V): -0.005838
CHAN A3 (5V): -0.001713
CHAN B0 (3.3V): 0.000378
CHAN B1 (3.15aV): -0.000095
CHAN B2 (3.15bV): -0.000034
CHAN B3 (GND): 0.001862
OPEN: 0.006321
Full Scale Calc: 4.765 mA, -1.589 mA
2020-11-12T15:29:49.211Z,1605194989.211 [NAL9602](INFO): NAL9602 initialized
2020-11-12T15:30:04.956Z,1605195004.956 [NAL9602](INFO): SBD MO Status=0, MOMSN=12058, MT Status=0, MTMSN=0
2020-11-12T15:30:04.956Z,1605195004.956 [NAL9602](INFO): No messages in MT queue
2020-11-12T15:30:23.546Z,1605195023.546 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153021.00,A,4133.14873,N,07042.54375,W,0.253,0.00,121120,,,A*70
2020-11-12T15:30:23.549Z,1605195023.549 [NAL9602](INFO): GPS fix at 20201112T153021: (41.552479, -70.709063)
2020-11-12T15:30:27.197Z,1605195027.197 [SBIT](IMPORTANT): SBIT PASSED
2020-11-12T15:30:27.197Z,1605195027.197 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-11-12T15:30:27.198Z,1605195027.198 [SBIT](IMPORTANT): DDM.currentLimit=99 count;

2020-11-12T15:30:27.198Z,1605195027.198 [SBIT](IMPORTANT): DDM.loadAtStartup=0 bool;

2020-11-12T15:30:27.198Z,1605195027.198 [SBIT](IMPORTANT): DDM.verbosity=2 count;

2020-11-12T15:30:27.198Z,1605195027.198 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=137.539083 cubic_centimeter;

2020-11-12T15:30:27.198Z,1605195027.198 [SBIT](IMPORTANT): VerticalControl.massDefault=-0.459784 millimeter;

2020-11-12T15:30:27.618Z,1605195027.618 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2020-11-12T15:30:27.622Z,1605195027.622 [MissionManager](IMPORTANT): Started mission Startup
2020-11-12T15:30:27.622Z,1605195027.622 [Startup] Running Loop=1
2020-11-12T15:30:27.622Z,1605195027.622 [Startup](DEBUG): Aggregate::initialize Startup
2020-11-12T15:30:27.622Z,1605195027.622 [Startup:A.GoToSurface] Running Loop=1
2020-11-12T15:30:27.622Z,1605195027.622 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-12T15:30:27.623Z,1605195027.623 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-12T15:30:27.623Z,1605195027.623 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-12T15:30:27.624Z,1605195027.624 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-12T15:30:27.624Z,1605195027.624 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-12T15:30:27.625Z,1605195027.625 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-12T15:30:27.628Z,1605195027.628 [Startup:StartupSatComms] Running Loop=1
2020-11-12T15:30:27.629Z,1605195027.629 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-11-12T15:30:27.629Z,1605195027.629 [Startup:StartupSatComms:A] Running Loop=1
2020-11-12T15:30:28.016Z,1605195028.016 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-11-12T15:30:29.602Z,1605195029.602 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153027.00,A,4133.15097,N,07042.54425,W,0.525,0.00,121120,,,A*71
2020-11-12T15:30:29.604Z,1605195029.604 [NAL9602](INFO): GPS fix at 20201112T153027: (41.552516, -70.709071)
2020-11-12T15:30:29.662Z,1605195029.662 [Startup:StartupSatComms:A] Stopped
2020-11-12T15:30:29.662Z,1605195029.662 [Startup:StartupSatComms:B] Running Loop=1
2020-11-12T15:30:30.047Z,1605195030.047 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-12T15:30:49.095Z,1605195049.095 [NAL9602](INFO): SBD MO Status=1, MOMSN=12059, MT Status=0, MTMSN=0
2020-11-12T15:30:49.144Z,1605195049.144 [NAL9602](INFO): Sent 52 bytes from file Logs/20201112T015438/Courier0063.lzma
2020-11-12T15:30:49.144Z,1605195049.144 [NAL9602](INFO): Packets left to send: 0
2020-11-12T15:31:02.139Z,1605195062.139 [NAL9602](INFO): SBD MO Status=1, MOMSN=12060, MT Status=0, MTMSN=0
2020-11-12T15:31:02.193Z,1605195062.193 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Courier0000.lzma
2020-11-12T15:31:02.193Z,1605195062.193 [NAL9602](INFO): Packets left to send: 1
2020-11-12T15:31:12.315Z,1605195072.315 [NAL9602](INFO): SBD MO Status=1, MOMSN=12061, MT Status=0, MTMSN=0
2020-11-12T15:31:12.373Z,1605195072.373 [NAL9602](INFO): Sent 71 bytes from file Logs/20201112T152900/Courier0000.lzma
2020-11-12T15:31:12.374Z,1605195072.374 [NAL9602](INFO): Packets left to send: 0
2020-11-12T15:31:22.237Z,1605195082.237 [NAL9602](INFO): SBD MO Status=1, MOMSN=12062, MT Status=0, MTMSN=0
2020-11-12T15:31:22.288Z,1605195082.288 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T015438/Express0064.lzma
2020-11-12T15:31:22.288Z,1605195082.288 [NAL9602](INFO): Packets left to send: 1
2020-11-12T15:31:29.675Z,1605195089.675 [Startup:StartupSatComms:B](INFO): Timed out from 2020-11-12T15:30:29.7Z
2020-11-12T15:31:29.675Z,1605195089.675 [Startup:StartupSatComms:B] Stopped
2020-11-12T15:31:29.675Z,1605195089.675 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-11-12T15:31:29.675Z,1605195089.675 [Startup:StartupSatComms] Stopped
2020-11-12T15:31:29.675Z,1605195089.675 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-11-12T15:31:29.676Z,1605195089.676 [Startup](INFO): Completed Startup
2020-11-12T15:31:29.676Z,1605195089.676 [MissionManager](INFO): Startup is completed.
2020-11-12T15:31:29.677Z,1605195089.677 [MissionManager](INFO): Uninitializing Mission Startup
2020-11-12T15:31:29.677Z,1605195089.677 [Startup] Stopped
2020-11-12T15:31:29.677Z,1605195089.677 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-11-12T15:31:29.677Z,1605195089.677 [Startup:A.GoToSurface] Stopped
2020-11-12T15:31:29.677Z,1605195089.677 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-12T15:31:30.044Z,1605195090.044 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-11-12T15:31:30.044Z,1605195090.044 [DefaultWithUndock] Running Loop=1
2020-11-12T15:31:30.044Z,1605195090.044 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-11-12T15:31:30.045Z,1605195090.045 [DefaultWithUndock:A.Wait] Running Loop=1
2020-11-12T15:31:30.045Z,1605195090.045 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-11-12T15:31:32.839Z,1605195092.839 [NAL9602](INFO): SBD MO Status=1, MOMSN=12063, MT Status=0, MTMSN=0
2020-11-12T15:31:32.888Z,1605195092.888 [NAL9602](INFO): Sent 33 bytes from file Logs/20201112T015438/Express0064.lzma
2020-11-12T15:31:32.888Z,1605195092.888 [NAL9602](INFO): Packets left to send: 0
2020-11-12T15:32:00.442Z,1605195120.442 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-11-12T15:32:00.442Z,1605195120.442 [DefaultWithUndock:A.Wait] Stopped
2020-11-12T15:32:00.442Z,1605195120.442 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T15:32:00.442Z,1605195120.442 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-11-12T15:32:00.443Z,1605195120.443 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-11-12T15:32:00.443Z,1605195120.443 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-11-12T15:32:00.443Z,1605195120.443 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-11-12T15:32:00.443Z,1605195120.443 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-11-12T15:32:00.443Z,1605195120.443 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-11-12T15:32:00.443Z,1605195120.443 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-11-12T15:32:00.724Z,1605195120.724 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T15:32:00.724Z,1605195120.724 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-11-12T15:32:01.127Z,1605195121.127 [PowerOnly](INFO): Powering up loadControl
2020-11-12T15:32:01.159Z,1605195121.159 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T15:32:01.535Z,1605195121.535 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:32:01.551Z,1605195121.551 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:32:01.570Z,1605195121.570 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T15:32:01.941Z,1605195121.941 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T15:32:01.941Z,1605195121.941 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-11-12T15:32:02.348Z,1605195122.348 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-11-12T15:32:03.166Z,1605195123.166 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T15:32:03.551Z,1605195123.551 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T15:32:03.947Z,1605195123.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T15:32:04.369Z,1605195124.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T15:32:05.177Z,1605195125.177 [Micromodem](INFO): Nmea in: $SNTTA,0.033846,,,,153205.43*4D

2020-11-12T15:32:07.622Z,1605195127.622 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T15:32:08.389Z,1605195128.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T15:32:08.796Z,1605195128.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T15:32:09.617Z,1605195129.617 [Micromodem](INFO): Nmea in: $SNTTA,0.033841,,,,153209.88*41

2020-11-12T15:32:12.045Z,1605195132.045 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T15:32:12.838Z,1605195132.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T15:32:13.242Z,1605195133.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T15:32:14.073Z,1605195134.073 [Micromodem](INFO): Nmea in: $SNTTA,0.033575,,,,153214.33*47

2020-11-12T15:32:16.507Z,1605195136.507 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T15:32:17.282Z,1605195137.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T15:32:17.683Z,1605195137.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T15:32:18.509Z,1605195138.509 [Micromodem](INFO): Nmea in: $SNTTA,0.033601,,0.034764,,153218.77*57

2020-11-12T15:32:20.924Z,1605195140.924 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T15:32:21.726Z,1605195141.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T15:32:22.132Z,1605195142.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T15:32:22.595Z,1605195142.595 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 50.46 m. Transitioning DDM to standby.
2020-11-12T15:32:22.957Z,1605195142.957 [Micromodem](INFO): Nmea in: $SNTTA,0.033499,,,0.068580,153223.21*5E

2020-11-12T15:32:22.987Z,1605195142.987 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T15:32:22.987Z,1605195142.987 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:LeaveDock] Stopped
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-11-12T15:32:23.483Z,1605195143.483 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-12T15:32:23.484Z,1605195143.484 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-12T15:32:23.485Z,1605195143.485 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-12T15:32:23.485Z,1605195143.485 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-12T15:32:23.485Z,1605195143.485 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-12T15:32:23.486Z,1605195143.486 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T15:32:23.769Z,1605195143.769 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T15:32:24.184Z,1605195144.184 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-11-12T15:32:25.770Z,1605195145.770 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153223.00,A,4133.15610,N,07042.54242,W,0.389,21.61,121120,,,D*48
2020-11-12T15:32:25.772Z,1605195145.772 [NAL9602](INFO): GPS fix at 20201112T153223: (41.552602, -70.709040)
2020-11-12T15:32:25.783Z,1605195145.783 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-11-12T15:32:25.783Z,1605195145.783 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-11-12T15:32:26.202Z,1605195146.202 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-12T15:32:42.469Z,1605195162.469 [NAL9602](INFO): SBD MO Status=1, MOMSN=12064, MT Status=0, MTMSN=0
2020-11-12T15:32:42.520Z,1605195162.520 [NAL9602](INFO): Sent 80 bytes from file Logs/20201112T152900/Courier0004.lzma
2020-11-12T15:32:42.520Z,1605195162.520 [NAL9602](INFO): Packets left to send: 0
2020-11-12T15:32:46.258Z,1605195166.258 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004542
2020-11-12T15:32:50.284Z,1605195170.284 [DataOverHttps](INFO): Sending 756 bytes from file Logs/20201112T152900/Express0001.lzma
2020-11-12T15:32:51.282Z,1605195171.282 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0001.lzma.bak
2020-11-12T15:32:51.282Z,1605195171.282 [DataOverHttps](INFO): SBD MOMSN=57913
2020-11-12T15:32:55.895Z,1605195175.895 [NAL9602](INFO): SBD MO Status=2, MOMSN=12065, MT Status=2, MTMSN=0
2020-11-12T15:32:55.895Z,1605195175.895 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T15:33:00.325Z,1605195180.325 [DataOverHttps](INFO): Sending 282 bytes from file Logs/20201112T152900/Express0005.lzma
2020-11-12T15:33:01.325Z,1605195181.325 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0005.lzma.bak
2020-11-12T15:33:01.325Z,1605195181.325 [DataOverHttps](INFO): SBD MOMSN=57933
2020-11-12T15:33:02.810Z,1605195182.810 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-11-12T15:33:02.810Z,1605195182.810 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-11-12T15:33:02.810Z,1605195182.810 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-11-12T15:33:26.638Z,1605195206.638 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T15:33:32.682Z,1605195212.682 [PowerOnly](INFO): Powering down loadControl
2020-11-12T15:36:08.647Z,1605195368.647 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:36:35.702Z,1605195395.702 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:36:36.920Z,1605195396.920 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-11-12T15:36:36.923Z,1605195396.923 [BPC1](INFO): Received data from all battery sticks.
2020-11-12T15:37:13.406Z,1605195433.406 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T153712
2020-11-12T15:37:17.424Z,1605195437.424 [DataOverHttps](INFO): Received command:sched asap "load Science/profile_station.xml;set profile_station.MissionTimeout 1 hour;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree;set profile_station.Radius 200 meter" 41ndd 1 3
2020-11-12T15:37:17.505Z,1605195437.505 [CommandLine](IMPORTANT): got command schedule asap "load Science/profile_station.xml;set profile_station.MissionTimeout 1 hour;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree;set profile_station.Radius 200 meter" 41ndd 1 3.000000
2020-11-12T15:37:17.505Z,1605195437.505 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=41ndd
2020-11-12T15:37:17.506Z,1605195437.506 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 3 with id='41ndd'): "load Science/profile_station.xml;set profile_station.MissionTimeout 1 hour;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree;set profile_station.Radius 200 meter" ASAP
2020-11-12T15:37:18.426Z,1605195438.426 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T153716
2020-11-12T15:37:22.444Z,1605195442.444 [DataOverHttps](INFO): Received command:sched asap "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 meter" 41ndd 2 3
2020-11-12T15:37:22.454Z,1605195442.454 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 meter" 41ndd 2 3.000000
2020-11-12T15:37:22.454Z,1605195442.454 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=41ndd
2020-11-12T15:37:22.455Z,1605195442.455 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 3 with id='41ndd'): "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 meter" ASAP
2020-11-12T15:37:23.445Z,1605195443.445 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T153721
2020-11-12T15:37:27.463Z,1605195447.463 [DataOverHttps](INFO): Received command:sched asap "set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" 41ndd 3 3
2020-11-12T15:37:27.504Z,1605195447.504 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" 41ndd 3 3.000000
2020-11-12T15:37:27.505Z,1605195447.505 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=41ndd
2020-11-12T15:37:27.506Z,1605195447.506 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 3 with id='41ndd'): "set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" ASAP
2020-11-12T15:37:27.666Z,1605195447.666 [CommandLine](IMPORTANT): got command load ./Missions/Science/profile_station.xml
2020-11-12T15:37:27.667Z,1605195447.667 [MissionManager](INFO): Loading Mission: ./Missions/Science/profile_station.xml
2020-11-12T15:37:27.748Z,1605195447.748 [MissionManager](INFO): DefineArg profile_station.MissionTimeout = 4.000000 h
2020-11-12T15:37:27.751Z,1605195447.751 [MissionManager](INFO): DefineArg profile_station.NeedCommsTime = 60.000000 min
2020-11-12T15:37:27.774Z,1605195447.774 [MissionManager](INFO): DefineArg profile_station.Lat = 36.806966 arcdeg
2020-11-12T15:37:27.778Z,1605195447.778 [MissionManager](INFO): DefineArg profile_station.Lon = -121.824326 arcdeg
2020-11-12T15:37:27.789Z,1605195447.789 [MissionManager](INFO): DefineArg profile_station.Radius = 300.000000 m
2020-11-12T15:37:27.796Z,1605195447.796 [MissionManager](INFO): DefineArg profile_station.YoYoMinDepth = 2.000000 m
2020-11-12T15:37:27.834Z,1605195447.834 [MissionManager](INFO): DefineArg profile_station.YoYoMaxDepth = 200.000000 m
2020-11-12T15:37:27.851Z,1605195447.851 [MissionManager](INFO): DefineArg profile_station.YoYoMinAltitude = 7.000000 m
2020-11-12T15:37:27.862Z,1605195447.862 [MissionManager](INFO): DefineArg profile_station.YoYoPitch = 20.000000 arcdeg
2020-11-12T15:37:27.870Z,1605195447.870 [MissionManager](INFO): DefineArg profile_station.Speed = 1.000000 m/s
2020-11-12T15:37:27.881Z,1605195447.881 [MissionManager](INFO): DefineArg profile_station.CircleMaxError = 100.000000 m
2020-11-12T15:37:27.883Z,1605195447.883 [MissionManager](INFO): DefineArg profile_station.CircleTurnToPort = 0 bool
2020-11-12T15:37:27.894Z,1605195447.894 [MissionManager](INFO): DefineArg profile_station.KwpHeading = 0.010000 rad/m
2020-11-12T15:37:27.897Z,1605195447.897 [MissionManager](INFO): DefineArg profile_station.MinAltitude = 5.000000 m
2020-11-12T15:37:27.904Z,1605195447.904 [MissionManager](INFO): DefineArg profile_station.MaxDepth = 205.000000 m
2020-11-12T15:37:27.907Z,1605195447.907 [MissionManager](INFO): DefineArg profile_station.MinOffshore = 2.000000 km
2020-11-12T15:37:27.912Z,1605195447.912 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-11-12T15:37:28.185Z,1605195448.185 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectChlActive = 0 bool
2020-11-12T15:37:28.188Z,1605195448.188 [MissionManager](INFO): DefineArg profile_station:Science.TimeWindowPeakReport = nan min
2020-11-12T15:37:28.191Z,1605195448.191 [MissionManager](INFO): DefineArg profile_station:Science.HighestChlPeakReportActive = 0 bool
2020-11-12T15:37:28.194Z,1605195448.194 [MissionManager](INFO): DefineArg profile_station:Science.PatchTracking = 0 bool
2020-11-12T15:37:28.197Z,1605195448.197 [MissionManager](INFO): DefineArg profile_station:Science.FilterWidthHorizontal = 3.000000 count
2020-11-12T15:37:28.249Z,1605195448.249 [MissionManager](INFO): DefineArg profile_station:Science.NumProfilesSlidingwindow = 100.000000 count
2020-11-12T15:37:28.251Z,1605195448.251 [MissionManager](INFO): DefineArg profile_station:Science.OffPeakFractionHorizontal = 80.000000 %
2020-11-12T15:37:28.254Z,1605195448.254 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectNO3Active = 0 bool
2020-11-12T15:37:28.261Z,1605195448.261 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectOilActive = 0 bool
2020-11-12T15:37:28.276Z,1605195448.276 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectFDOMActive = 0 bool
2020-11-12T15:37:28.279Z,1605195448.279 [MissionManager](INFO): DefineArg profile_station:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-11-12T15:37:28.309Z,1605195448.309 [MissionManager](INFO): DefineArg profile_station:Science.EnabledAanderaaO2 = 0.000000 bool
2020-11-12T15:37:28.346Z,1605195448.346 [MissionManager](INFO): DefineArg profile_station:Science.EnabledNeilBrown = 0.000000 bool
2020-11-12T15:37:28.359Z,1605195448.359 [MissionManager](INFO): DefineArg profile_station:Science.EnabledSeabird = 1.000000 bool
2020-11-12T15:37:28.376Z,1605195448.376 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-11-12T15:37:28.379Z,1605195448.379 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-11-12T15:37:28.387Z,1605195448.387 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-11-12T15:37:28.399Z,1605195448.399 [MissionManager](INFO): DefineArg profile_station:Science.LowPassWindowLength = 20.000000 count
2020-11-12T15:37:28.402Z,1605195448.402 [MissionManager](INFO): DefineArg profile_station:Science.MedianFilterLen = 5.000000 count
2020-11-12T15:37:28.405Z,1605195448.405 [MissionManager](INFO): DefineArg profile_station:Science.PeakChlShallowBound = nan m
2020-11-12T15:37:28.416Z,1605195448.416 [MissionManager](INFO): DefineArg profile_station:Science.PeakChlDeepBound = nan m
2020-11-12T15:37:28.419Z,1605195448.419 [MissionManager](INFO): DefineArg profile_station:Science.PeakShallowBound = nan m
2020-11-12T15:37:28.426Z,1605195448.426 [MissionManager](INFO): DefineArg profile_station:Science.PeakDeepBound = nan m
2020-11-12T15:37:28.433Z,1605195448.433 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChl = 0.000000 ug/l
2020-11-12T15:37:28.440Z,1605195448.440 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlDepth = 0.000000 m
2020-11-12T15:37:28.443Z,1605195448.443 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlTemperature = 0.000000 degC
2020-11-12T15:37:28.454Z,1605195448.454 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLatitude = nan arcdeg
2020-11-12T15:37:28.458Z,1605195448.458 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLongitude = nan arcdeg
2020-11-12T15:37:28.462Z,1605195448.462 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3 = 0.000000 umol/l
2020-11-12T15:37:28.478Z,1605195448.478 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Depth = 0.000000 m
2020-11-12T15:37:28.485Z,1605195448.485 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Latitude = nan arcdeg
2020-11-12T15:37:28.492Z,1605195448.492 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Longitude = nan arcdeg
2020-11-12T15:37:28.498Z,1605195448.498 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChl = 0.000000 m
2020-11-12T15:37:28.502Z,1605195448.502 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDepth = 0.000000 m
2020-11-12T15:37:28.509Z,1605195448.509 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLatitude = nan arcdeg
2020-11-12T15:37:28.516Z,1605195448.516 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLongitude = nan arcdeg
2020-11-12T15:37:28.519Z,1605195448.519 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDistance = nan m
2020-11-12T15:37:28.527Z,1605195448.527 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOil = 0.000000 kg/m3
2020-11-12T15:37:28.538Z,1605195448.538 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilDepth = 0.000000 m
2020-11-12T15:37:28.542Z,1605195448.542 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLatitude = nan arcdeg
2020-11-12T15:37:28.552Z,1605195448.552 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLongitude = nan arcdeg
2020-11-12T15:37:28.555Z,1605195448.555 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOM = 0.000000 ppb
2020-11-12T15:37:28.558Z,1605195448.558 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMDepth = 0.000000 m
2020-11-12T15:37:28.565Z,1605195448.565 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLatitude = nan arcdeg
2020-11-12T15:37:28.569Z,1605195448.569 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLongitude = nan arcdeg
2020-11-12T15:37:28.571Z,1605195448.571 [MissionManager](INFO): DefineOutput profile_station:Science.PatchFDOMDistance = nan m
2020-11-12T15:37:28.700Z,1605195448.700 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T15:37:28.724Z,1605195448.724 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-11-12T15:37:28.750Z,1605195448.750 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T15:37:28.786Z,1605195448.786 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T15:37:28.818Z,1605195448.818 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T15:37:28.842Z,1605195448.842 [MissionManager](INFO): RedefineArg profile_station:Science.PeakDetectChlActive = value:1 bool
2020-11-12T15:37:28.842Z,1605195448.842 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-11-12T15:37:28.926Z,1605195448.926 [MissionManager](INFO): DefineArg profile_station:NeedComms.DiveInterval = 3.000000 h
2020-11-12T15:37:28.930Z,1605195448.930 [MissionManager](INFO): DefineArg profile_station:NeedComms.WaitForPitchUp = 10.000000 min
2020-11-12T15:37:28.941Z,1605195448.941 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-11-12T15:37:28.949Z,1605195448.949 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceDepthRate = nan m/s
2020-11-12T15:37:28.951Z,1605195448.951 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-11-12T15:37:28.962Z,1605195448.962 [MissionManager](INFO): DefineArg profile_station:NeedComms.GPSTimeout = 7.000000 min
2020-11-12T15:37:28.973Z,1605195448.973 [MissionManager](INFO): DefineArg profile_station:NeedComms.CommsTimeout = 30.000000 min
2020-11-12T15:37:28.983Z,1605195448.983 [profile_station:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-11-12T15:37:29.049Z,1605195449.049 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-11-12T15:37:29.098Z,1605195449.098 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinAltitude = 5.000000 m
2020-11-12T15:37:29.113Z,1605195449.113 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MaxDepth = 200.000000 m
2020-11-12T15:37:29.121Z,1605195449.121 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-11-12T15:37:29.122Z,1605195449.122 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-11-12T15:37:29.139Z,1605195449.139 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-11-12T15:37:29.164Z,1605195449.164 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-11-12T15:37:29.189Z,1605195449.189 [profile_station:I.Pitch](DEBUG): Construct.
2020-11-12T15:37:29.209Z,1605195449.209 [profile_station:J.Buoyancy](DEBUG): Construct Buoyancy.
2020-11-12T15:37:29.225Z,1605195449.225 [profile_station:K.SetSpeed](DEBUG): Construct.
2020-11-12T15:37:29.228Z,1605195449.228 [profile_station:L.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-11-12T15:37:29.247Z,1605195449.247 [profile_station:M.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-11-12T15:37:29.254Z,1605195449.254 [profile_station:N.YoYo](DEBUG): Construct YoYo.
2020-11-12T15:37:29.306Z,1605195449.306 [profile_station:CircleWrapper:B.Circle](DEBUG): Construct.
2020-11-12T15:37:29.415Z,1605195449.415 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station">

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

<!-- Mission-wide settings -->

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

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

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

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

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

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

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

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

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>200</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Aggregate Id="CircleWrapper">

        <Sequence Repeat="4096"/>

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

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

    </Aggregate>

</Mission>


2020-11-12T15:37:29.464Z,1605195449.464 [CommandLine](IMPORTANT): Loaded ./Missions/Science/profile_station.xml
2020-11-12T15:37:42.711Z,1605195462.711 [CommandLine](IMPORTANT): got command set profile_station.MissionTimeout 1.000000 hour
2020-11-12T15:37:42.718Z,1605195462.718 [CommandLine](IMPORTANT): got command set profile_station.Lat 41.552319 degree
2020-11-12T15:37:42.719Z,1605195462.719 [CommandLine](IMPORTANT): got command set profile_station.Lon -70.708603 degree
2020-11-12T15:37:42.720Z,1605195462.720 [CommandLine](IMPORTANT): got command set profile_station.Radius 200.000000 meter
2020-11-12T15:37:47.362Z,1605195467.362 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:38:03.127Z,1605195483.127 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinDepth 3.000000 meter
2020-11-12T15:38:03.128Z,1605195483.128 [CommandLine](IMPORTANT): got command set profile_station.YoYoMaxDepth 7.000000 meter
2020-11-12T15:38:03.129Z,1605195483.129 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinAltitude 3.000000 meter
2020-11-12T15:38:03.130Z,1605195483.130 [CommandLine](IMPORTANT): got command set profile_station.YoYoPitch 15.000000 degree
2020-11-12T15:38:03.131Z,1605195483.131 [CommandLine](IMPORTANT): got command set profile_station.MinAltitude 3.000000 meter
2020-11-12T15:38:03.836Z,1605195483.836 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-11-12T15:38:03.836Z,1605195483.836 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-11-12T15:38:03.836Z,1605195483.836 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T15:38:03.836Z,1605195483.836 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-11-12T15:38:04.069Z,1605195484.069 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-11-12T15:38:04.069Z,1605195484.069 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-11-12T15:38:04.510Z,1605195484.510 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.567069 min 
2020-11-12T15:38:04.510Z,1605195484.510 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-11-12T15:38:04.510Z,1605195484.510 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T15:38:04.510Z,1605195484.510 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-11-12T15:38:04.511Z,1605195484.511 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T15:38:04.511Z,1605195484.511 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2020-11-12T15:38:04.511Z,1605195484.511 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2020-11-12T15:38:04.511Z,1605195484.511 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T15:38:04.511Z,1605195484.511 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-11-12T15:38:06.492Z,1605195486.492 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153805.00,A,4133.15550,N,07042.53433,W,0.136,21.56,121120,,,D*44
2020-11-12T15:38:06.494Z,1605195486.494 [NAL9602](INFO): GPS fix at 20201112T153805: (41.552592, -70.708906)
2020-11-12T15:38:06.603Z,1605195486.603 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-11-12T15:38:06.603Z,1605195486.603 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-11-12T15:38:11.109Z,1605195491.109 [CommandLine](IMPORTANT): got command set profile_station.MaxDepth 9.000000 meter
2020-11-12T15:38:11.110Z,1605195491.110 [CommandLine](IMPORTANT): got command set profile_station.MinOffshore 500.000000 meter
2020-11-12T15:38:11.111Z,1605195491.111 [CommandLine](IMPORTANT): got command run
2020-11-12T15:38:11.113Z,1605195491.113 [CommandLine](IMPORTANT): Running 
2020-11-12T15:38:11.207Z,1605195491.207 [DefaultWithUndock] Stopped
2020-11-12T15:38:11.207Z,1605195491.207 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-11-12T15:38:11.207Z,1605195491.207 [DefaultWithUndock:SurfaceDefault] Stopped
2020-11-12T15:38:11.208Z,1605195491.208 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-11-12T15:38:11.208Z,1605195491.208 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-11-12T15:38:11.208Z,1605195491.208 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-12T15:38:11.208Z,1605195491.208 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-11-12T15:38:11.208Z,1605195491.208 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T15:38:11.208Z,1605195491.208 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-11-12T15:38:11.208Z,1605195491.208 [MissionManager](IMPORTANT): Started mission profile_station
2020-11-12T15:38:11.208Z,1605195491.208 [profile_station] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station](DEBUG): Aggregate::initialize profile_station
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science](DEBUG): Aggregate::initialize profile_station:Science
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:A] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:B] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:C] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:D] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:E] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:F] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:Read_Oil] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:PeakDetectChl] Running Loop=1
2020-11-12T15:38:11.209Z,1605195491.209 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectChl
2020-11-12T15:38:11.210Z,1605195491.210 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T15:38:11.210Z,1605195491.210 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T15:38:11.211Z,1605195491.211 [profile_station:Science:HighestChlPeakReport] Running Loop=1
2020-11-12T15:38:11.212Z,1605195491.212 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestChlPeakReport
2020-11-12T15:38:11.212Z,1605195491.212 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-11-12T15:38:11.213Z,1605195491.213 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-11-12T15:38:11.213Z,1605195491.213 [profile_station:Science:PeakDetectNO3] Running Loop=1
2020-11-12T15:38:11.213Z,1605195491.213 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectNO3
2020-11-12T15:38:11.213Z,1605195491.213 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T15:38:11.213Z,1605195491.213 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T15:38:11.215Z,1605195491.215 [profile_station:Science:PeakDetectOil] Running Loop=1
2020-11-12T15:38:11.215Z,1605195491.215 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectOil
2020-11-12T15:38:11.216Z,1605195491.216 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T15:38:11.216Z,1605195491.216 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T15:38:11.218Z,1605195491.218 [profile_station:Science:PeakDetectFDOM] Running Loop=1
2020-11-12T15:38:11.218Z,1605195491.218 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectFDOM
2020-11-12T15:38:11.218Z,1605195491.218 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T15:38:11.218Z,1605195491.218 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:Science:OceanCurrent] Running Loop=1
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station:Science:OceanCurrent
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:StandardEnvelopes] Running Loop=1
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station:StandardEnvelopes
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-11-12T15:38:11.220Z,1605195491.220 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-11-12T15:38:11.221Z,1605195491.221 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-11-12T15:38:11.221Z,1605195491.221 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-11-12T15:38:11.221Z,1605195491.221 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-11-12T15:38:11.221Z,1605195491.221 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-11-12T15:38:11.221Z,1605195491.221 [profile_station:I.Pitch] Running Loop=1
2020-11-12T15:38:11.221Z,1605195491.221 [profile_station:I.Pitch](DEBUG): Initialize.
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:J.Buoyancy] Running Loop=1
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:K.SetSpeed] Running Loop=1
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:K.SetSpeed](DEBUG): Initialize.
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:L.DepthEnvelope] Running Loop=1
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:L.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:M.AltitudeEnvelope] Running Loop=1
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:M.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:N.YoYo] Running Loop=1
2020-11-12T15:38:11.222Z,1605195491.222 [profile_station:N.YoYo](DEBUG): Initialize YoYoComponent.
2020-11-12T15:38:11.223Z,1605195491.223 [profile_station:C] Running Loop=1
2020-11-12T15:38:11.223Z,1605195491.223 [profile_station:N.YoYo] Running Loop=1
2020-11-12T15:38:11.226Z,1605195491.226 [profile_station:M.AltitudeEnvelope] Running Loop=1
2020-11-12T15:38:11.226Z,1605195491.226 [profile_station:L.DepthEnvelope] Running Loop=1
2020-11-12T15:38:11.228Z,1605195491.228 [profile_station:K.SetSpeed] Running Loop=1
2020-11-12T15:38:11.228Z,1605195491.228 [profile_station:J.Buoyancy] Running Loop=1
2020-11-12T15:38:11.228Z,1605195491.228 [profile_station:I.Pitch] Running Loop=1
2020-11-12T15:38:11.229Z,1605195491.229 [profile_station:StandardEnvelopes] Running Loop=1
2020-11-12T15:38:11.229Z,1605195491.229 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-11-12T15:38:11.229Z,1605195491.229 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-11-12T15:38:11.229Z,1605195491.229 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-11-12T15:38:11.230Z,1605195491.230 [profile_station:C] Stopped
2020-11-12T15:38:11.230Z,1605195491.230 [profile_station:E] Running Loop=1
2020-11-12T15:38:11.230Z,1605195491.230 [profile_station:Science] Running Loop=1
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectFDOM] Stopped
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectFDOM
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectOil] Stopped
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectOil
2020-11-12T15:38:11.231Z,1605195491.231 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-11-12T15:38:11.232Z,1605195491.232 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:PeakDetectNO3] Stopped
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectNO3
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:HighestChlPeakReport] Stopped
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestChlPeakReport
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-11-12T15:38:11.248Z,1605195491.248 [profile_station:Science:PeakDetectChl] Running Loop=1
2020-11-12T15:38:11.249Z,1605195491.249 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2020-11-12T15:38:11.250Z,1605195491.250 [profile_station:Science:Read_Oil] Running Loop=1
2020-11-12T15:38:11.251Z,1605195491.251 [profile_station:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-11-12T15:38:11.251Z,1605195491.251 [profile_station:Science:F] Stopped
2020-11-12T15:38:11.251Z,1605195491.251 [profile_station:Science:E] Running Loop=1
2020-11-12T15:38:11.251Z,1605195491.251 [profile_station:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-11-12T15:38:11.251Z,1605195491.251 [profile_station:Science:D] Stopped
2020-11-12T15:38:11.251Z,1605195491.251 [profile_station:Science:C] Running Loop=1
2020-11-12T15:38:11.253Z,1605195491.253 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-11-12T15:38:11.253Z,1605195491.253 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-11-12T15:38:11.253Z,1605195491.253 [profile_station:Science:B] Running Loop=1
2020-11-12T15:38:11.254Z,1605195491.254 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-11-12T15:38:11.255Z,1605195491.255 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-11-12T15:38:11.255Z,1605195491.255 [profile_station:Science:A] Stopped
2020-11-12T15:38:11.624Z,1605195491.624 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-11-12T15:38:11.651Z,1605195491.651 [profile_station:E] Stopped
2020-11-12T15:38:11.651Z,1605195491.651 [profile_station:F] Running Loop=1
2020-11-12T15:38:12.018Z,1605195492.018 [profile_station:F] Stopped
2020-11-12T15:38:12.018Z,1605195492.018 [profile_station:G] Running Loop=1
2020-11-12T15:38:12.279Z,1605195492.279 [DataOverHttps](INFO): Sending 209 bytes from file Logs/20201112T152900/Courier0007.lzma
2020-11-12T15:38:12.441Z,1605195492.441 [profile_station:G] Stopped
2020-11-12T15:38:12.441Z,1605195492.441 [profile_station:StartingMission] Running Loop=1
2020-11-12T15:38:12.441Z,1605195492.441 [profile_station:StartingMission](DEBUG): Aggregate::initialize profile_station:StartingMission
2020-11-12T15:38:12.844Z,1605195492.844 [profile_station:NeedComms] Running Loop=1
2020-11-12T15:38:12.845Z,1605195492.845 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2020-11-12T15:38:12.845Z,1605195492.845 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2020-11-12T15:38:12.845Z,1605195492.845 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-12T15:38:12.845Z,1605195492.845 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-11-12T15:38:12.845Z,1605195492.845 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-11-12T15:38:12.846Z,1605195492.846 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-11-12T15:38:12.846Z,1605195492.846 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-12T15:38:12.846Z,1605195492.846 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-12T15:38:12.847Z,1605195492.847 [profile_station:NeedComms:A] Running Loop=1
2020-11-12T15:38:12.852Z,1605195492.852 [profile_station:NeedComms:A](INFO): last time_fix was: 1605195485.000000 second since 1970/01/01T00:00:00Z 
2020-11-12T15:38:12.852Z,1605195492.852 [profile_station:NeedComms:A] Stopped
2020-11-12T15:38:13.256Z,1605195493.256 [profile_station:NeedComms:C] Running Loop=1
2020-11-12T15:38:13.283Z,1605195493.283 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Courier0007.lzma.bak
2020-11-12T15:38:13.283Z,1605195493.283 [DataOverHttps](INFO): SBD MOMSN=57941
2020-11-12T15:38:13.851Z,1605195493.851 [profile_station:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-11-12T15:38:14.865Z,1605195494.865 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-11-12T15:38:49.205Z,1605195529.205 [NAL9602](INFO): SBD MO Status=1, MOMSN=12065, MT Status=0, MTMSN=0
2020-11-12T15:38:49.205Z,1605195529.205 [NAL9602](INFO): No messages in MT queue
2020-11-12T15:38:50.424Z,1605195530.424 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153849.00,A,4133.15571,N,07042.53392,W,0.175,21.56,121120,,,D*44
2020-11-12T15:38:50.426Z,1605195530.426 [NAL9602](INFO): GPS fix at 20201112T153849: (41.552595, -70.708899)
2020-11-12T15:38:50.489Z,1605195530.489 [profile_station:NeedComms:C] Stopped
2020-11-12T15:38:50.489Z,1605195530.489 [profile_station:NeedComms:D] Running Loop=1
2020-11-12T15:38:50.868Z,1605195530.868 [profile_station:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-12T15:38:52.439Z,1605195532.439 [DataOverHttps](INFO): Sending 80 bytes from file Logs/20201112T152900/Courier0012.lzma
2020-11-12T15:38:53.442Z,1605195533.442 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Courier0012.lzma.bak
2020-11-12T15:38:53.442Z,1605195533.442 [DataOverHttps](INFO): SBD MOMSN=57944
2020-11-12T15:39:02.491Z,1605195542.491 [DataOverHttps](INFO): Sending 695 bytes from file Logs/20201112T152900/Express0008.lzma
2020-11-12T15:39:03.482Z,1605195543.482 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0008.lzma.bak
2020-11-12T15:39:03.482Z,1605195543.482 [DataOverHttps](INFO): SBD MOMSN=57948
2020-11-12T15:39:12.533Z,1605195552.533 [DataOverHttps](INFO): Sending 842 bytes from file Logs/20201112T152900/Express0014.lzma
2020-11-12T15:39:13.534Z,1605195553.534 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0014.lzma.bak
2020-11-12T15:39:13.534Z,1605195553.534 [DataOverHttps](INFO): SBD MOMSN=57974
2020-11-12T15:39:15.090Z,1605195555.090 [profile_station:NeedComms:D] Stopped
2020-11-12T15:39:15.090Z,1605195555.090 [profile_station:NeedComms:E] Running Loop=1
2020-11-12T15:39:15.511Z,1605195555.511 [profile_station:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-11-12T15:39:17.097Z,1605195557.097 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,153915.00,A,4133.15533,N,07042.53343,W,0.156,21.56,121120,,,D*47
2020-11-12T15:39:17.099Z,1605195557.099 [NAL9602](INFO): GPS fix at 20201112T153915: (41.552589, -70.708890)
2020-11-12T15:39:17.112Z,1605195557.112 [profile_station:NeedComms:E] Stopped
2020-11-12T15:39:17.113Z,1605195557.113 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2020-11-12T15:39:17.113Z,1605195557.113 [profile_station:NeedComms] Stopped
2020-11-12T15:39:17.113Z,1605195557.113 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2020-11-12T15:39:17.113Z,1605195557.113 [profile_station:NeedComms:B.GoToSurface] Stopped
2020-11-12T15:39:17.113Z,1605195557.113 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-12T15:39:17.546Z,1605195557.546 [profile_station:StartingMission](INFO): Completed profile_station:StartingMission
2020-11-12T15:39:17.546Z,1605195557.546 [profile_station:StartingMission] Stopped
2020-11-12T15:39:17.546Z,1605195557.546 [profile_station:StartingMission](DEBUG): Aggregate::uninitialize profile_station:StartingMission
2020-11-12T15:39:17.546Z,1605195557.546 [profile_station:CircleWrapper] Running Loop=1
2020-11-12T15:39:17.546Z,1605195557.546 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-11-12T15:39:17.547Z,1605195557.547 [profile_station:CircleWrapper:A] Running Loop=1
2020-11-12T15:39:17.547Z,1605195557.547 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-11-12T15:39:17.547Z,1605195557.547 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-11-12T15:39:17.935Z,1605195557.935 [profile_station:CircleWrapper:A] Running Loop=1
2020-11-12T15:39:49.110Z,1605195589.110 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T15:40:04.883Z,1605195604.883 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-11-12T15:40:24.724Z,1605195624.724 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2020-11-12T15:40:24.724Z,1605195624.724 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-11-12T15:40:24.724Z,1605195624.724 [RDI_Pathfinder](ERROR): Communications Fault
2020-11-12T15:40:24.998Z,1605195624.998 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-11-12T15:40:25.152Z,1605195625.152 [RDI_Pathfinder](INFO): Powering down
2020-11-12T15:40:26.042Z,1605195626.042 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-11-12T15:40:26.042Z,1605195626.042 [RDI_Pathfinder] No Fault, FailCount= 1
2020-11-12T15:42:05.730Z,1605195725.730 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position -0.46 mm (1 active estimators).
2020-11-12T15:42:12.578Z,1605195732.578 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-11-12T15:42:18.226Z,1605195738.226 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position -0.46 mm (2 active estimators).
2020-11-12T15:42:40.417Z,1605195760.417 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.247276
2020-11-12T15:43:06.112Z,1605195786.112 [Radio_Surface](INFO): Powering down
2020-11-12T15:43:16.560Z,1605195796.560 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T15:43:17.564Z,1605195797.564 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-11-12T15:44:13.402Z,1605195853.402 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:44:17.441Z,1605195857.441 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:44:22.263Z,1605195862.263 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:47:37.404Z,1605196057.404 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-11-12T15:47:42.637Z,1605196062.637 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-11-12T15:47:57.598Z,1605196077.598 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-11-12T15:48:07.685Z,1605196087.685 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:48:08.361Z,1605196088.361 [CTD_Seabird](ERROR): Failed to parse device response: ,13.5172,3.85633,5618.47
2020-11-12T15:48:12.543Z,1605196092.543 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:48:27.495Z,1605196107.495 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:48:32.738Z,1605196112.738 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-11-12T15:49:12.738Z,1605196152.738 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-11-12T15:57:37.387Z,1605196657.387 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-11-12T15:57:50.705Z,1605196670.705 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T15:59:11.129Z,1605196751.129 [CTD_Seabird](ERROR): Failed to parse device response: .65
2020-11-12T16:02:50.037Z,1605196970.037 [CTD_Seabird](ERROR): Failed to parse device response: 3571.33
2020-11-12T16:03:33.364Z,1605197013.364 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-11-12T16:03:36.229Z,1605197016.229 [CTD_Seabird](ERROR): Failed to parse device response: 4.65,13.4654,3.854.52
2020-11-12T16:03:58.402Z,1605197038.402 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:07:08.355Z,1605197228.355 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:07:18.411Z,1605197238.411 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:07:23.644Z,1605197243.644 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-11-12T16:07:38.589Z,1605197258.589 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-11-12T16:09:03.475Z,1605197343.475 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-11-12T16:09:08.690Z,1605197348.690 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:09:17.580Z,1605197357.580 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:12:35.199Z,1605197555.199 [profile_station:CircleWrapper:B.Circle] Stopped
2020-11-12T16:12:35.199Z,1605197555.199 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper](INFO): Completed profile_station:CircleWrapper
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper] Stopped
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper:A] Stopped
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper](INFO): Running loop #2
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper] Running Loop=2
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-11-12T16:12:35.200Z,1605197555.200 [profile_station:CircleWrapper:A] Running Loop=1
2020-11-12T16:12:35.201Z,1605197555.201 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-11-12T16:12:35.201Z,1605197555.201 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-11-12T16:13:35.800Z,1605197615.800 [CTD_Seabird](ERROR): Failed to parse device response: 
6.61,13.4926,3.85675,
2020-11-12T16:15:15.532Z,1605197715.532 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:23:49.453Z,1605198229.453 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:24:19.360Z,1605198259.360 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:24:34.305Z,1605198274.305 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:24:39.205Z,1605198279.205 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-11-12T16:24:44.439Z,1605198284.439 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-11-12T16:24:54.510Z,1605198294.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:25:09.863Z,1605198309.863 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2020-11-12T16:25:09.864Z,1605198309.864 [Micromodem](INFO): Have incoming data
2020-11-12T16:25:09.869Z,1605198309.869 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T16:25:09.870Z,1605198309.870 [Micromodem](ERROR): Could not determine end of data in CARXD:$CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T16:25:10.262Z,1605198310.262 [Micromodem](INFO): Nmea in: $CACST,6,0,20201112162509.355478,06,8342,39,0288,0150,07,01,01,00,03,1,010,001,0,3,1,0,150,8.6,12.00,00,-9.00,-01,-0.16,34,14500,4000*74

2020-11-12T16:27:15.510Z,1605198435.510 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2020-11-12T16:27:20.766Z,1605198440.766 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2020-11-12T16:27:20.766Z,1605198440.766 [Micromodem](INFO): Have incoming data
2020-11-12T16:27:20.772Z,1605198440.772 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T16:27:20.774Z,1605198440.774 [Micromodem](INFO): Received command:stop
2020-11-12T16:27:20.868Z,1605198440.868 [CommandLine](IMPORTANT): got command stop
2020-11-12T16:27:20.869Z,1605198440.869 [CommandLine](IMPORTANT): Scheduling is paused
2020-11-12T16:27:20.869Z,1605198440.869 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-11-12T16:27:21.192Z,1605198441.192 [Micromodem](INFO): Nmea in: $CACST,6,0,20201112162720.211878,06,7860,38,0305,0150,37,02,02,00,04,1,010,001,0,3,1,0,150,11.7,12.00,00,-9.00,-01,-0.20,37,14500,4000*4A

2020-11-12T16:27:21.245Z,1605198441.245 [MissionManager](INFO): MissionManager is completed.
2020-11-12T16:27:21.245Z,1605198441.245 [MissionManager](INFO): Uninitializing Mission profile_station
2020-11-12T16:27:21.245Z,1605198441.245 [profile_station] Stopped
2020-11-12T16:27:21.245Z,1605198441.245 [profile_station](DEBUG): Aggregate::uninitialize profile_station
2020-11-12T16:27:21.245Z,1605198441.245 [profile_station:Science] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science](DEBUG): Aggregate::uninitialize profile_station:Science
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:B] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:C] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:E] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:Read_Oil] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:OceanCurrent] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station:Science:OceanCurrent
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:OceanCurrent:A.] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:PeakDetectChl] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectChl
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:StandardEnvelopes] Stopped
2020-11-12T16:27:21.246Z,1605198441.246 [profile_station:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station:StandardEnvelopes
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:I.Pitch] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:J.Buoyancy] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:K.SetSpeed] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:K.SetSpeed](DEBUG): Uninitialize.
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:L.DepthEnvelope] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:L.DepthEnvelope](DEBUG): Uninitialize.
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:M.AltitudeEnvelope] Stopped
2020-11-12T16:27:21.247Z,1605198441.247 [profile_station:M.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:N.YoYo] Stopped
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:N.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:CircleWrapper] Stopped
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:CircleWrapper:A] Stopped
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:CircleWrapper:B.Circle] Stopped
2020-11-12T16:27:21.252Z,1605198441.252 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-11-12T16:27:21.440Z,1605198441.440 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-11-12T16:27:21.585Z,1605198441.585 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-11-12T16:27:21.585Z,1605198441.585 [DefaultWithUndock] Running Loop=1
2020-11-12T16:27:21.586Z,1605198441.586 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-11-12T16:27:21.586Z,1605198441.586 [DefaultWithUndock:A.Wait] Running Loop=1
2020-11-12T16:27:21.586Z,1605198441.586 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:A.Wait] Stopped
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-11-12T16:27:51.872Z,1605198471.872 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-11-12T16:27:51.873Z,1605198471.873 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-11-12T16:27:51.873Z,1605198471.873 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-11-12T16:27:51.873Z,1605198471.873 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-11-12T16:27:52.285Z,1605198472.285 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T16:27:52.674Z,1605198472.674 [PowerOnly](INFO): Powering up loadControl
2020-11-12T16:27:52.731Z,1605198472.731 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T16:27:53.087Z,1605198473.087 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T16:27:53.517Z,1605198473.517 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T16:27:53.517Z,1605198473.517 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-11-12T16:27:53.893Z,1605198473.893 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-11-12T16:27:54.723Z,1605198474.723 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T16:27:55.492Z,1605198475.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T16:27:55.900Z,1605198475.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T16:27:56.715Z,1605198476.715 [Micromodem](INFO): Nmea in: $SNTTA,0.138485,,,,162756.98*43

2020-11-12T16:27:57.177Z,1605198477.177 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-11-12T16:27:57.553Z,1605198477.553 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-11-12T16:27:59.564Z,1605198479.564 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T16:28:00.344Z,1605198480.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T16:28:00.747Z,1605198480.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T16:28:01.559Z,1605198481.559 [Micromodem](INFO): Nmea in: $SNTTA,0.138478,,,,162801.83*46

2020-11-12T16:28:04.461Z,1605198484.461 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T16:28:05.191Z,1605198485.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T16:28:05.601Z,1605198485.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T16:28:06.418Z,1605198486.418 [Micromodem](INFO): Nmea in: $SNTTA,0.138417,,,,162806.68*4D

2020-11-12T16:28:09.265Z,1605198489.265 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T16:28:10.042Z,1605198490.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T16:28:10.442Z,1605198490.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T16:28:11.261Z,1605198491.261 [Micromodem](INFO): Nmea in: $SNTTA,0.138365,,,,162811.53*41

2020-11-12T16:28:14.108Z,1605198494.108 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T16:28:14.886Z,1605198494.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T16:28:15.297Z,1605198495.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T16:28:16.102Z,1605198496.102 [Micromodem](INFO): Nmea in: $SNTTA,0.138357,,,,162816.37*45

2020-11-12T16:28:17.758Z,1605198497.758 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 207.54 m. Transitioning DDM to standby.
2020-11-12T16:28:18.192Z,1605198498.192 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T16:28:18.192Z,1605198498.192 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-11-12T16:28:18.561Z,1605198498.561 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-11-12T16:28:18.561Z,1605198498.561 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:LeaveDock] Stopped
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T16:28:18.562Z,1605198498.562 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-12T16:28:18.563Z,1605198498.563 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-12T16:28:18.564Z,1605198498.564 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-12T16:28:18.564Z,1605198498.564 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-12T16:28:18.950Z,1605198498.950 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T16:28:18.950Z,1605198498.950 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T16:28:18.951Z,1605198498.951 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T16:28:18.951Z,1605198498.951 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2020-11-12T16:28:19.438Z,1605198499.438 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (3 active estimators).
2020-11-12T16:28:19.580Z,1605198499.580 [Radio_Surface](INFO): Powering up
2020-11-12T16:28:25.749Z,1605198505.749 [DataOverHttps](INFO): Radio surface powered ON.
2020-11-12T16:28:39.543Z,1605198519.543 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2020-11-12T16:28:44.504Z,1605198524.504 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2020-11-12T16:28:44.504Z,1605198524.504 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2020-11-12T16:28:44.504Z,1605198524.504 [RDI_PathfinderUp](ERROR): Communications Fault
2020-11-12T16:28:44.671Z,1605198524.671 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2020-11-12T16:28:44.872Z,1605198524.872 [RDI_PathfinderUp](INFO): Powering down
2020-11-12T16:28:45.679Z,1605198525.679 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2020-11-12T16:28:45.680Z,1605198525.680 [RDI_PathfinderUp] No Fault, FailCount= 1
2020-11-12T16:28:47.648Z,1605198527.648 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-11-12T16:28:47.648Z,1605198527.648 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:28:47.649Z,1605198527.649 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-11-12T16:28:47.649Z,1605198527.649 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T16:28:47.649Z,1605198527.649 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:28:47.649Z,1605198527.649 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T16:28:47.649Z,1605198527.649 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T16:28:55.868Z,1605198535.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T16:29:01.755Z,1605198541.755 [NAL9602](INFO): SBD MO Status=1, MOMSN=12066, MT Status=0, MTMSN=0
2020-11-12T16:29:01.755Z,1605198541.755 [NAL9602](INFO): No messages in MT queue
2020-11-12T16:29:02.962Z,1605198542.962 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162901.00,A,4133.04347,N,07042.44554,W,0.622,0.00,121120,,,A*72
2020-11-12T16:29:02.964Z,1605198542.964 [NAL9602](INFO): GPS fix at 20201112T162901: (41.550725, -70.707426)
2020-11-12T16:29:02.986Z,1605198542.986 [UniversalFixResidualReporter](INFO): Fix residual: 0.4 %DT, over the last 2052.0 m. Residual distance 7.7 m at bearing 35.8 degrees. Fix at (41.5507, -70.7074) with 240.5 m made good.
2020-11-12T16:29:02.987Z,1605198542.987 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-11-12T16:29:02.987Z,1605198542.987 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-11-12T16:29:20.239Z,1605198560.239 [NAL9602](INFO): SBD MO Status=1, MOMSN=12067, MT Status=0, MTMSN=0
2020-11-12T16:29:20.292Z,1605198560.292 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Courier0016.lzma
2020-11-12T16:29:20.292Z,1605198560.292 [NAL9602](INFO): Packets left to send: 1
2020-11-12T16:29:24.021Z,1605198564.021 [PowerOnly](INFO): Powering down loadControl
2020-11-12T16:29:27.646Z,1605198567.646 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2020-11-12T16:29:27.646Z,1605198567.646 [Micromodem](INFO): Have incoming data
2020-11-12T16:29:28.055Z,1605198568.055 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T16:29:28.056Z,1605198568.056 [Micromodem](INFO): Received command:stop
2020-11-12T16:29:28.081Z,1605198568.081 [CommandLine](IMPORTANT): got command stop
2020-11-12T16:29:28.457Z,1605198568.457 [Micromodem](INFO): Nmea in: $CACST,6,0,20201112162927.020000,06,4413,36,0305,0150,29,01,01,00,03,1,010,001,0,3,1,0,150,16.2,8.00,00,-5.00,-01,-0.06,27,14500,4000*79

2020-11-12T16:29:30.896Z,1605198570.896 [NAL9602](INFO): SBD MO Status=1, MOMSN=12068, MT Status=0, MTMSN=0
2020-11-12T16:29:30.948Z,1605198570.948 [NAL9602](INFO): Sent 30 bytes from file Logs/20201112T152900/Courier0016.lzma
2020-11-12T16:29:30.948Z,1605198570.948 [NAL9602](INFO): Packets left to send: 0
2020-11-12T16:29:31.030Z,1605198571.030 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T16:29:42.763Z,1605198582.763 [NAL9602](INFO): SBD MO Status=1, MOMSN=12069, MT Status=0, MTMSN=0
2020-11-12T16:29:42.812Z,1605198582.812 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:29:42.812Z,1605198582.812 [NAL9602](INFO): Packets left to send: 37
2020-11-12T16:29:58.683Z,1605198598.683 [NAL9602](INFO): SBD MO Status=2, MOMSN=12070, MT Status=2, MTMSN=0
2020-11-12T16:29:58.683Z,1605198598.683 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T16:30:06.169Z,1605198606.169 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T16:30:20.228Z,1605198620.228 [NAL9602](INFO): SBD MO Status=1, MOMSN=12070, MT Status=0, MTMSN=0
2020-11-12T16:30:20.288Z,1605198620.288 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:30:20.288Z,1605198620.288 [NAL9602](INFO): Packets left to send: 36
2020-11-12T16:30:28.844Z,1605198628.844 [NAL9602](INFO): SBD MO Status=1, MOMSN=12071, MT Status=0, MTMSN=0
2020-11-12T16:30:28.893Z,1605198628.893 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:30:28.893Z,1605198628.893 [NAL9602](INFO): Packets left to send: 35
2020-11-12T16:30:39.901Z,1605198639.901 [NAL9602](INFO): SBD MO Status=1, MOMSN=12072, MT Status=0, MTMSN=0
2020-11-12T16:30:39.952Z,1605198639.952 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:30:39.952Z,1605198639.952 [NAL9602](INFO): Packets left to send: 34
2020-11-12T16:30:41.316Z,1605198641.316 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T16:30:52.575Z,1605198652.575 [NAL9602](INFO): SBD MO Status=1, MOMSN=12073, MT Status=0, MTMSN=0
2020-11-12T16:30:52.628Z,1605198652.628 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:30:52.628Z,1605198652.628 [NAL9602](INFO): Packets left to send: 33
2020-11-12T16:31:01.587Z,1605198661.587 [NAL9602](INFO): SBD MO Status=1, MOMSN=12074, MT Status=0, MTMSN=0
2020-11-12T16:31:01.636Z,1605198661.636 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:31:01.636Z,1605198661.636 [NAL9602](INFO): Packets left to send: 32
2020-11-12T16:31:15.861Z,1605198675.861 [NAL9602](INFO): SBD MO Status=2, MOMSN=12075, MT Status=2, MTMSN=0
2020-11-12T16:31:15.861Z,1605198675.861 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T16:31:16.473Z,1605198676.473 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T16:31:35.367Z,1605198695.367 [NAL9602](INFO): SBD MO Status=1, MOMSN=12075, MT Status=0, MTMSN=0
2020-11-12T16:31:35.428Z,1605198695.428 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:31:35.428Z,1605198695.428 [NAL9602](INFO): Packets left to send: 31
2020-11-12T16:31:42.759Z,1605198702.759 [NAL9602](INFO): SBD MO Status=1, MOMSN=12076, MT Status=0, MTMSN=0
2020-11-12T16:31:42.808Z,1605198702.808 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:31:42.808Z,1605198702.808 [NAL9602](INFO): Packets left to send: 30
2020-11-12T16:31:45.593Z,1605198705.593 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003445
2020-11-12T16:31:49.619Z,1605198709.619 [DataOverHttps](INFO): Sending 6861 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:31:51.622Z,1605198711.622 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0017.lzma.bak
2020-11-12T16:31:51.622Z,1605198711.622 [DataOverHttps](INFO): SBD MOMSN=58000
2020-11-12T16:31:52.215Z,1605198712.215 [NAL9602](INFO): SBD MO Status=1, MOMSN=12077, MT Status=0, MTMSN=0
2020-11-12T16:31:52.264Z,1605198712.264 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0017.lzma
2020-11-12T16:31:52.264Z,1605198712.264 [NAL9602](INFO): Packets left to send: 29
2020-11-12T16:31:53.041Z,1605198713.041 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-11-12T16:31:53.042Z,1605198713.042 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-11-12T16:31:53.042Z,1605198713.042 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-11-12T16:32:22.918Z,1605198742.918 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T16:33:57.876Z,1605198837.876 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T16:33:57.876Z,1605198837.876 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:33:57.876Z,1605198837.876 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T16:33:57.876Z,1605198837.876 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T16:33:58.303Z,1605198838.303 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T16:33:58.303Z,1605198838.303 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:33:58.303Z,1605198838.303 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T16:33:58.303Z,1605198838.303 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T16:33:59.095Z,1605198839.095 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T16:33:59.096Z,1605198839.096 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:33:59.096Z,1605198839.096 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T16:33:59.096Z,1605198839.096 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T16:34:03.970Z,1605198843.970 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T16:34:03.970Z,1605198843.970 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:34:03.970Z,1605198843.970 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T16:34:03.970Z,1605198843.970 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T16:34:10.795Z,1605198850.795 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T16:34:10.795Z,1605198850.795 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:34:10.795Z,1605198850.795 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T16:34:10.795Z,1605198850.795 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T16:34:14.441Z,1605198854.441 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T16:34:14.441Z,1605198854.441 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:34:14.441Z,1605198854.441 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T16:34:14.441Z,1605198854.441 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T16:34:16.472Z,1605198856.472 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T16:34:16.472Z,1605198856.472 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:34:16.472Z,1605198856.472 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T16:34:16.472Z,1605198856.472 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T16:34:16.876Z,1605198856.876 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T16:34:16.877Z,1605198856.877 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T16:34:16.877Z,1605198856.877 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T16:34:16.877Z,1605198856.877 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T16:36:03.653Z,1605198963.653 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T163602
2020-11-12T16:36:07.671Z,1605198967.671 [DataOverHttps](INFO): Received command:DDM detach
2020-11-12T16:36:07.737Z,1605198967.737 [CommandLine](IMPORTANT): got command DDM detach
2020-11-12T16:36:07.738Z,1605198967.738 [CommandLine](IMPORTANT): Commanding DDM Detach
2020-11-12T16:36:53.612Z,1605199013.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-11-12T16:36:53.612Z,1605199013.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-11-12T16:36:53.612Z,1605199013.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T16:36:53.612Z,1605199013.612 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-11-12T16:36:54.025Z,1605199014.025 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-11-12T16:36:54.025Z,1605199014.025 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-11-12T16:36:54.433Z,1605199014.433 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.540660 min 
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:36:54.434Z,1605199014.434 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-11-12T16:36:56.441Z,1605199016.441 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163655.00,A,4133.02777,N,07042.47069,W,0.330,242.12,121120,,,D*70
2020-11-12T16:36:56.443Z,1605199016.443 [NAL9602](INFO): GPS fix at 20201112T163655: (41.550463, -70.707845)
2020-11-12T16:36:56.477Z,1605199016.477 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-11-12T16:36:56.477Z,1605199016.477 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-11-12T16:37:00.892Z,1605199020.892 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20201112T152900/Courier0019.lzma
2020-11-12T16:37:01.894Z,1605199021.894 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Courier0019.lzma.bak
2020-11-12T16:37:01.894Z,1605199021.894 [DataOverHttps](INFO): SBD MOMSN=58011
2020-11-12T16:37:10.939Z,1605199030.939 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20201112T152900/Courier0022.lzma
2020-11-12T16:37:11.379Z,1605199031.379 [NAL9602](INFO): SBD MO Status=0, MOMSN=12078, MT Status=0, MTMSN=0
2020-11-12T16:37:11.379Z,1605199031.379 [NAL9602](INFO): No messages in MT queue
2020-11-12T16:37:11.942Z,1605199031.942 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Courier0022.lzma.bak
2020-11-12T16:37:11.942Z,1605199031.942 [DataOverHttps](INFO): SBD MOMSN=58014
2020-11-12T16:37:20.980Z,1605199040.980 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20201112T152900/Express0020.lzma
2020-11-12T16:37:21.982Z,1605199041.982 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0020.lzma.bak
2020-11-12T16:37:21.982Z,1605199041.982 [DataOverHttps](INFO): SBD MOMSN=58016
2020-11-12T16:37:31.019Z,1605199051.019 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20201112T152900/Express0023.lzma
2020-11-12T16:37:32.022Z,1605199052.022 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0023.lzma.bak
2020-11-12T16:37:32.022Z,1605199052.022 [DataOverHttps](INFO): SBD MOMSN=58023
2020-11-12T16:37:34.201Z,1605199054.201 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-11-12T16:37:34.202Z,1605199054.202 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-11-12T16:37:34.202Z,1605199054.202 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-11-12T16:37:42.082Z,1605199062.082 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T16:39:25.118Z,1605199165.118 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-11-12T16:39:45.335Z,1605199185.335 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2020-11-12T16:42:34.629Z,1605199354.629 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2020-11-12T16:42:34.629Z,1605199354.629 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-11-12T16:42:34.629Z,1605199354.629 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T16:42:34.630Z,1605199354.630 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2020-11-12T16:42:35.046Z,1605199355.046 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2020-11-12T16:42:35.046Z,1605199355.046 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2020-11-12T16:42:35.461Z,1605199355.461 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 15.224334 min 
2020-11-12T16:42:35.461Z,1605199355.461 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:42:35.462Z,1605199355.462 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-11-12T16:42:37.449Z,1605199357.449 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164236.00,A,4133.01459,N,07042.47813,W,0.233,175.19,121120,,,A*74
2020-11-12T16:42:37.451Z,1605199357.451 [NAL9602](INFO): GPS fix at 20201112T164236: (41.550243, -70.707969)
2020-11-12T16:42:37.481Z,1605199357.481 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-11-12T16:42:37.481Z,1605199357.481 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-11-12T16:42:41.327Z,1605199361.327 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20201112T152900/Courier0025.lzma
2020-11-12T16:42:42.350Z,1605199362.350 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Courier0025.lzma.bak
2020-11-12T16:42:42.350Z,1605199362.350 [DataOverHttps](INFO): SBD MOMSN=58026
2020-11-12T16:42:51.387Z,1605199371.387 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20201112T152900/Express0026.lzma
2020-11-12T16:42:52.390Z,1605199372.390 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0026.lzma.bak
2020-11-12T16:42:52.390Z,1605199372.390 [DataOverHttps](INFO): SBD MOMSN=58029
2020-11-12T16:42:53.612Z,1605199373.612 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-11-12T16:42:53.612Z,1605199373.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-11-12T16:42:53.612Z,1605199373.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-11-12T16:42:55.623Z,1605199375.623 [NAL9602](INFO): SBD MO Status=0, MOMSN=12079, MT Status=0, MTMSN=0
2020-11-12T16:42:55.623Z,1605199375.623 [NAL9602](INFO): No messages in MT queue
2020-11-12T16:43:26.330Z,1605199406.330 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T16:43:35.226Z,1605199415.226 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:43:45.326Z,1605199425.326 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:43:57.855Z,1605199437.855 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-11-12T16:43:57.857Z,1605199437.857 [BPC1](INFO): Received data from all battery sticks.
2020-11-12T16:44:05.514Z,1605199445.514 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2020-11-12T16:44:05.515Z,1605199445.515 [RDI_Pathfinder] Communications Fault, FailCount= 1
2020-11-12T16:44:05.515Z,1605199445.515 [RDI_Pathfinder](ERROR): Communications Fault
2020-11-12T16:44:05.533Z,1605199445.533 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-11-12T16:44:05.992Z,1605199445.992 [RDI_Pathfinder](INFO): Powering down
2020-11-12T16:44:06.783Z,1605199446.783 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-11-12T16:44:06.783Z,1605199446.783 [RDI_Pathfinder] No Fault, FailCount= 1
2020-11-12T16:44:18.032Z,1605199458.032 [Micromodem](FAULT): Failed to receive CAREV within timeout
2020-11-12T16:44:18.032Z,1605199458.032 [Micromodem] Hardware Fault, FailCount= 1
2020-11-12T16:44:18.033Z,1605199458.033 [Micromodem](ERROR): Hardware Fault
2020-11-12T16:44:18.051Z,1605199458.051 [CBIT](ERROR): Hardware Fault in component: Micromodem
2020-11-12T16:44:18.437Z,1605199458.437 [Micromodem](INFO): Powering down
2020-11-12T16:44:18.852Z,1605199458.852 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2020-11-12T16:44:19.286Z,1605199459.286 [CBIT](INFO): Clearing failed state for component Micromodem
2020-11-12T16:44:19.286Z,1605199459.286 [Micromodem] No Fault, FailCount= 1
2020-11-12T16:44:22.079Z,1605199462.079 [Micromodem](INFO): Powering up
2020-11-12T16:44:22.079Z,1605199462.079 [Micromodem](DEBUG): Initializing Micromodem.
2020-11-12T16:44:26.931Z,1605199466.931 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2020-11-12T16:44:27.330Z,1605199467.330 [Micromodem](INFO): Nmea in: $CATMG,2020-11-12T16:44:27.381075Z,RTC,RTC*59

2020-11-12T16:44:27.330Z,1605199467.330 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2020-11-12T16:44:27.381075Z,RTC,RTC*59

2020-11-12T16:44:27.733Z,1605199467.733 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2020-11-12T16:44:27.734Z,1605199467.734 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2020-11-12T16:44:28.137Z,1605199468.137 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2020-11-12T16:44:28.138Z,1605199468.138 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2020-11-12T16:44:28.542Z,1605199468.542 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2020-11-12T16:44:28.542Z,1605199468.542 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2020-11-12T16:44:28.946Z,1605199468.946 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2020-11-12T16:44:28.946Z,1605199468.946 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2020-11-12T16:44:29.346Z,1605199469.346 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2020-11-12T16:44:29.346Z,1605199469.346 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2020-11-12T16:44:29.352Z,1605199469.352 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2020-11-12T16:44:29.352Z,1605199469.352 [RDI_Pathfinder] Communications Fault, FailCount= 2
2020-11-12T16:44:29.352Z,1605199469.352 [RDI_Pathfinder](ERROR): Communications Fault
2020-11-12T16:44:29.418Z,1605199469.418 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2020-11-12T16:44:29.756Z,1605199469.756 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2020-11-12T16:44:29.756Z,1605199469.756 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2020-11-12T16:44:29.836Z,1605199469.836 [RDI_Pathfinder](INFO): Powering down
2020-11-12T16:44:30.153Z,1605199470.153 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2020-11-12T16:44:30.153Z,1605199470.153 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2020-11-12T16:44:30.573Z,1605199470.573 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2020-11-12T16:44:30.574Z,1605199470.574 [Micromodem](INFO): Nmea out: $CCCLK,2020,11,12,16,44,31*42

2020-11-12T16:44:30.628Z,1605199470.628 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2020-11-12T16:44:30.628Z,1605199470.628 [RDI_Pathfinder] No Fault, FailCount= 2
2020-11-12T16:44:30.969Z,1605199470.969 [Micromodem](INFO): Nmea in: $CACLK,2020,11,12,16,44,31*40

2020-11-12T16:44:30.970Z,1605199470.970 [Micromodem](INFO): Nmea in: $CATMS,0,2020-11-12T16:44:32Z*73

2020-11-12T16:44:30.971Z,1605199470.971 [Micromodem](INFO): Nmea in: $CATMG,2020-11-12T16:44:32.026006Z,USER_CMD,RTC*16

2020-11-12T16:45:54.162Z,1605199554.162 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T164552
2020-11-12T16:45:58.180Z,1605199558.180 [DataOverHttps](INFO): Received command:sched asap "load Science/profile_station.xml;set profile_station.MissionTimeout 20 minute;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree;set profile_station.Radius 200 meter" 41qjm 1 3
2020-11-12T16:45:58.243Z,1605199558.243 [CommandLine](IMPORTANT): got command schedule asap "load Science/profile_station.xml;set profile_station.MissionTimeout 20 minute;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree;set profile_station.Radius 200 meter" 41qjm 1 3.000000
2020-11-12T16:45:58.244Z,1605199558.244 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=41qjm
2020-11-12T16:45:58.244Z,1605199558.244 [CommandLine](IMPORTANT): Scheduled #4 (#1 of 3 with id='41qjm'): "load Science/profile_station.xml;set profile_station.MissionTimeout 20 minute;set profile_station.Lat 41.552317 degree;set profile_station.Lon -70.7086 degree;set profile_station.Radius 200 meter" ASAP
2020-11-12T16:45:59.182Z,1605199559.182 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T164557
2020-11-12T16:46:03.200Z,1605199563.200 [DataOverHttps](INFO): Received command:sched asap "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 meter" 41qjm 2 3
2020-11-12T16:46:03.282Z,1605199563.282 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 meter" 41qjm 2 3.000000
2020-11-12T16:46:03.282Z,1605199563.282 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=41qjm
2020-11-12T16:46:03.283Z,1605199563.283 [CommandLine](IMPORTANT): Scheduled #5 (#2 of 3 with id='41qjm'): "set profile_station.YoYoMinDepth 3 meter;set profile_station.YoYoMaxDepth 7 meter;set profile_station.YoYoMinAltitude 3 meter;set profile_station.YoYoPitch 15 degree;set profile_station.MinAltitude 3 meter" ASAP
2020-11-12T16:46:04.201Z,1605199564.201 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T164602
2020-11-12T16:46:08.227Z,1605199568.227 [DataOverHttps](INFO): Received command:sched asap "set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" 41qjm 3 3
2020-11-12T16:46:08.241Z,1605199568.241 [CommandLine](IMPORTANT): got command schedule asap "set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" 41qjm 3 3.000000
2020-11-12T16:46:08.242Z,1605199568.242 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=41qjm
2020-11-12T16:46:08.243Z,1605199568.243 [CommandLine](IMPORTANT): Scheduled #6 (#3 of 3 with id='41qjm'): "set profile_station.MaxDepth 9 meter;set profile_station.MinOffshore 500 meter;run" ASAP
2020-11-12T16:46:08.395Z,1605199568.395 [CommandLine](IMPORTANT): got command load ./Missions/Science/profile_station.xml
2020-11-12T16:46:08.404Z,1605199568.404 [MissionManager](INFO): Loading Mission: ./Missions/Science/profile_station.xml
2020-11-12T16:46:08.512Z,1605199568.512 [MissionManager](INFO): DefineArg profile_station.MissionTimeout = 4.000000 h
2020-11-12T16:46:08.514Z,1605199568.514 [MissionManager](INFO): DefineArg profile_station.NeedCommsTime = 60.000000 min
2020-11-12T16:46:08.516Z,1605199568.516 [MissionManager](INFO): DefineArg profile_station.Lat = 36.806966 arcdeg
2020-11-12T16:46:08.519Z,1605199568.519 [MissionManager](INFO): DefineArg profile_station.Lon = -121.824326 arcdeg
2020-11-12T16:46:08.521Z,1605199568.521 [MissionManager](INFO): DefineArg profile_station.Radius = 300.000000 m
2020-11-12T16:46:08.523Z,1605199568.523 [MissionManager](INFO): DefineArg profile_station.YoYoMinDepth = 2.000000 m
2020-11-12T16:46:08.549Z,1605199568.549 [MissionManager](INFO): DefineArg profile_station.YoYoMaxDepth = 200.000000 m
2020-11-12T16:46:08.551Z,1605199568.551 [MissionManager](INFO): DefineArg profile_station.YoYoMinAltitude = 7.000000 m
2020-11-12T16:46:08.558Z,1605199568.558 [MissionManager](INFO): DefineArg profile_station.YoYoPitch = 20.000000 arcdeg
2020-11-12T16:46:08.564Z,1605199568.564 [MissionManager](INFO): DefineArg profile_station.Speed = 1.000000 m/s
2020-11-12T16:46:08.566Z,1605199568.566 [MissionManager](INFO): DefineArg profile_station.CircleMaxError = 100.000000 m
2020-11-12T16:46:08.577Z,1605199568.577 [MissionManager](INFO): DefineArg profile_station.CircleTurnToPort = 0 bool
2020-11-12T16:46:08.579Z,1605199568.579 [MissionManager](INFO): DefineArg profile_station.KwpHeading = 0.010000 rad/m
2020-11-12T16:46:08.592Z,1605199568.592 [MissionManager](INFO): DefineArg profile_station.MinAltitude = 5.000000 m
2020-11-12T16:46:08.594Z,1605199568.594 [MissionManager](INFO): DefineArg profile_station.MaxDepth = 205.000000 m
2020-11-12T16:46:08.600Z,1605199568.600 [MissionManager](INFO): DefineArg profile_station.MinOffshore = 2.000000 km
2020-11-12T16:46:08.601Z,1605199568.601 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-11-12T16:46:08.869Z,1605199568.869 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectChlActive = 0 bool
2020-11-12T16:46:08.876Z,1605199568.876 [MissionManager](INFO): DefineArg profile_station:Science.TimeWindowPeakReport = nan min
2020-11-12T16:46:08.881Z,1605199568.881 [MissionManager](INFO): DefineArg profile_station:Science.HighestChlPeakReportActive = 0 bool
2020-11-12T16:46:08.886Z,1605199568.886 [MissionManager](INFO): DefineArg profile_station:Science.PatchTracking = 0 bool
2020-11-12T16:46:08.916Z,1605199568.916 [MissionManager](INFO): DefineArg profile_station:Science.FilterWidthHorizontal = 3.000000 count
2020-11-12T16:46:08.918Z,1605199568.918 [MissionManager](INFO): DefineArg profile_station:Science.NumProfilesSlidingwindow = 100.000000 count
2020-11-12T16:46:08.928Z,1605199568.928 [MissionManager](INFO): DefineArg profile_station:Science.OffPeakFractionHorizontal = 80.000000 %
2020-11-12T16:46:08.930Z,1605199568.930 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectNO3Active = 0 bool
2020-11-12T16:46:08.936Z,1605199568.936 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectOilActive = 0 bool
2020-11-12T16:46:08.938Z,1605199568.938 [MissionManager](INFO): DefineArg profile_station:Science.PeakDetectFDOMActive = 0 bool
2020-11-12T16:46:08.948Z,1605199568.948 [MissionManager](INFO): DefineArg profile_station:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-11-12T16:46:08.951Z,1605199568.951 [MissionManager](INFO): DefineArg profile_station:Science.EnabledAanderaaO2 = 0.000000 bool
2020-11-12T16:46:08.957Z,1605199568.957 [MissionManager](INFO): DefineArg profile_station:Science.EnabledNeilBrown = 0.000000 bool
2020-11-12T16:46:08.964Z,1605199568.964 [MissionManager](INFO): DefineArg profile_station:Science.EnabledSeabird = 1.000000 bool
2020-11-12T16:46:08.966Z,1605199568.966 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsBB2FL = 0.000000 bool
2020-11-12T16:46:08.977Z,1605199568.977 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2020-11-12T16:46:08.979Z,1605199568.979 [MissionManager](INFO): DefineArg profile_station:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-11-12T16:46:08.986Z,1605199568.986 [MissionManager](INFO): DefineArg profile_station:Science.LowPassWindowLength = 20.000000 count
2020-11-12T16:46:08.991Z,1605199568.991 [MissionManager](INFO): DefineArg profile_station:Science.MedianFilterLen = 5.000000 count
2020-11-12T16:46:09.006Z,1605199569.006 [MissionManager](INFO): DefineArg profile_station:Science.PeakChlShallowBound = nan m
2020-11-12T16:46:09.012Z,1605199569.012 [MissionManager](INFO): DefineArg profile_station:Science.PeakChlDeepBound = nan m
2020-11-12T16:46:09.017Z,1605199569.017 [MissionManager](INFO): DefineArg profile_station:Science.PeakShallowBound = nan m
2020-11-12T16:46:09.019Z,1605199569.019 [MissionManager](INFO): DefineArg profile_station:Science.PeakDeepBound = nan m
2020-11-12T16:46:09.021Z,1605199569.021 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChl = 0.000000 ug/l
2020-11-12T16:46:09.026Z,1605199569.026 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlDepth = 0.000000 m
2020-11-12T16:46:09.036Z,1605199569.036 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlTemperature = 0.000000 degC
2020-11-12T16:46:09.038Z,1605199569.038 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLatitude = nan arcdeg
2020-11-12T16:46:09.045Z,1605199569.045 [MissionManager](INFO): DefineOutput profile_station:Science.PeakChlLongitude = nan arcdeg
2020-11-12T16:46:09.047Z,1605199569.047 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3 = 0.000000 umol/l
2020-11-12T16:46:09.061Z,1605199569.061 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Depth = 0.000000 m
2020-11-12T16:46:09.068Z,1605199569.068 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Latitude = nan arcdeg
2020-11-12T16:46:09.070Z,1605199569.070 [MissionManager](INFO): DefineOutput profile_station:Science.PeakNO3Longitude = nan arcdeg
2020-11-12T16:46:09.077Z,1605199569.077 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChl = 0.000000 m
2020-11-12T16:46:09.079Z,1605199569.079 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDepth = 0.000000 m
2020-11-12T16:46:09.085Z,1605199569.085 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLatitude = nan arcdeg
2020-11-12T16:46:09.087Z,1605199569.087 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlLongitude = nan arcdeg
2020-11-12T16:46:09.095Z,1605199569.095 [MissionManager](INFO): DefineOutput profile_station:Science.PatchChlDistance = nan m
2020-11-12T16:46:09.101Z,1605199569.101 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOil = 0.000000 kg/m3
2020-11-12T16:46:09.103Z,1605199569.103 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilDepth = 0.000000 m
2020-11-12T16:46:09.110Z,1605199569.110 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLatitude = nan arcdeg
2020-11-12T16:46:09.116Z,1605199569.116 [MissionManager](INFO): DefineOutput profile_station:Science.PeakOilLongitude = nan arcdeg
2020-11-12T16:46:09.118Z,1605199569.118 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOM = 0.000000 ppb
2020-11-12T16:46:09.161Z,1605199569.161 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMDepth = 0.000000 m
2020-11-12T16:46:09.163Z,1605199569.163 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLatitude = nan arcdeg
2020-11-12T16:46:09.173Z,1605199569.173 [MissionManager](INFO): DefineOutput profile_station:Science.PeakFDOMLongitude = nan arcdeg
2020-11-12T16:46:09.184Z,1605199569.184 [MissionManager](INFO): DefineOutput profile_station:Science.PatchFDOMDistance = nan m
2020-11-12T16:46:09.231Z,1605199569.231 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T16:46:09.279Z,1605199569.279 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-11-12T16:46:09.298Z,1605199569.298 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T16:46:09.330Z,1605199569.330 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T16:46:09.343Z,1605199569.343 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-11-12T16:46:09.373Z,1605199569.373 [MissionManager](INFO): RedefineArg profile_station:Science.PeakDetectChlActive = value:1 bool
2020-11-12T16:46:09.373Z,1605199569.373 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-11-12T16:46:09.449Z,1605199569.449 [MissionManager](INFO): DefineArg profile_station:NeedComms.DiveInterval = 3.000000 h
2020-11-12T16:46:09.451Z,1605199569.451 [MissionManager](INFO): DefineArg profile_station:NeedComms.WaitForPitchUp = 10.000000 min
2020-11-12T16:46:09.458Z,1605199569.458 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-11-12T16:46:09.464Z,1605199569.464 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceDepthRate = nan m/s
2020-11-12T16:46:09.466Z,1605199569.466 [MissionManager](INFO): DefineArg profile_station:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-11-12T16:46:09.473Z,1605199569.473 [MissionManager](INFO): DefineArg profile_station:NeedComms.GPSTimeout = 7.000000 min
2020-11-12T16:46:09.475Z,1605199569.475 [MissionManager](INFO): DefineArg profile_station:NeedComms.CommsTimeout = 30.000000 min
2020-11-12T16:46:09.488Z,1605199569.488 [profile_station:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-11-12T16:46:09.512Z,1605199569.512 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-11-12T16:46:09.580Z,1605199569.580 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinAltitude = 5.000000 m
2020-11-12T16:46:09.582Z,1605199569.582 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MaxDepth = 200.000000 m
2020-11-12T16:46:09.592Z,1605199569.592 [MissionManager](INFO): DefineArg profile_station:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-11-12T16:46:09.593Z,1605199569.593 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-11-12T16:46:09.610Z,1605199569.610 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-11-12T16:46:09.628Z,1605199569.628 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-11-12T16:46:09.647Z,1605199569.647 [profile_station:I.Pitch](DEBUG): Construct.
2020-11-12T16:46:09.655Z,1605199569.655 [profile_station:J.Buoyancy](DEBUG): Construct Buoyancy.
2020-11-12T16:46:09.662Z,1605199569.662 [profile_station:K.SetSpeed](DEBUG): Construct.
2020-11-12T16:46:09.668Z,1605199569.668 [profile_station:L.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-11-12T16:46:09.684Z,1605199569.684 [profile_station:M.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-11-12T16:46:09.693Z,1605199569.693 [profile_station:N.YoYo](DEBUG): Construct YoYo.
2020-11-12T16:46:09.705Z,1605199569.705 [profile_station:CircleWrapper:B.Circle](DEBUG): Construct.
2020-11-12T16:46:09.744Z,1605199569.744 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="profile_station">

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

<!-- Mission-wide settings -->

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

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

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

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

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

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

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

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

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>200</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Aggregate Id="CircleWrapper">

        <Sequence Repeat="4096"/>

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

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

    </Aggregate>

</Mission>


2020-11-12T16:46:09.745Z,1605199569.745 [CommandLine](IMPORTANT): Loaded ./Missions/Science/profile_station.xml
2020-11-12T16:46:17.150Z,1605199577.150 [CommandLine](IMPORTANT): got command set profile_station.MissionTimeout 20.000000 minute
2020-11-12T16:46:17.151Z,1605199577.151 [CommandLine](IMPORTANT): got command set profile_station.Lat 41.552319 degree
2020-11-12T16:46:17.152Z,1605199577.152 [CommandLine](IMPORTANT): got command set profile_station.Lon -70.708603 degree
2020-11-12T16:46:17.153Z,1605199577.153 [CommandLine](IMPORTANT): got command set profile_station.Radius 200.000000 meter
2020-11-12T16:46:28.268Z,1605199588.268 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinDepth 3.000000 meter
2020-11-12T16:46:28.269Z,1605199588.269 [CommandLine](IMPORTANT): got command set profile_station.YoYoMaxDepth 7.000000 meter
2020-11-12T16:46:28.269Z,1605199588.269 [CommandLine](IMPORTANT): got command set profile_station.YoYoMinAltitude 3.000000 meter
2020-11-12T16:46:28.270Z,1605199588.270 [CommandLine](IMPORTANT): got command set profile_station.YoYoPitch 15.000000 degree
2020-11-12T16:46:28.271Z,1605199588.271 [CommandLine](IMPORTANT): got command set profile_station.MinAltitude 3.000000 meter
2020-11-12T16:46:32.532Z,1605199592.532 [CommandLine](IMPORTANT): got command set profile_station.MaxDepth 9.000000 meter
2020-11-12T16:46:32.533Z,1605199592.533 [CommandLine](IMPORTANT): got command set profile_station.MinOffshore 500.000000 meter
2020-11-12T16:46:32.534Z,1605199592.534 [CommandLine](IMPORTANT): got command run
2020-11-12T16:46:32.536Z,1605199592.536 [CommandLine](IMPORTANT): Running 
2020-11-12T16:46:32.610Z,1605199592.610 [DefaultWithUndock] Stopped
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault] Stopped
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2020-11-12T16:46:32.611Z,1605199592.611 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T16:46:32.611Z,1605199592.611 [MissionManager](IMPORTANT): Started mission profile_station
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station](DEBUG): Aggregate::initialize profile_station
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science](DEBUG): Aggregate::initialize profile_station:Science
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:A] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:B] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:C] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:D] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:E] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:F] Running Loop=1
2020-11-12T16:46:32.616Z,1605199592.616 [profile_station:Science:Read_Oil] Running Loop=1
2020-11-12T16:46:32.617Z,1605199592.617 [profile_station:Science:PeakDetectChl] Running Loop=1
2020-11-12T16:46:32.617Z,1605199592.617 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectChl
2020-11-12T16:46:32.617Z,1605199592.617 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T16:46:32.617Z,1605199592.617 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T16:46:32.618Z,1605199592.618 [profile_station:Science:HighestChlPeakReport] Running Loop=1
2020-11-12T16:46:32.618Z,1605199592.618 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize profile_station:Science:HighestChlPeakReport
2020-11-12T16:46:32.618Z,1605199592.618 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-11-12T16:46:32.618Z,1605199592.618 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-11-12T16:46:32.619Z,1605199592.619 [profile_station:Science:PeakDetectNO3] Running Loop=1
2020-11-12T16:46:32.619Z,1605199592.619 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectNO3
2020-11-12T16:46:32.619Z,1605199592.619 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T16:46:32.619Z,1605199592.619 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T16:46:32.624Z,1605199592.624 [profile_station:Science:PeakDetectOil] Running Loop=1
2020-11-12T16:46:32.624Z,1605199592.624 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectOil
2020-11-12T16:46:32.625Z,1605199592.625 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T16:46:32.625Z,1605199592.625 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T16:46:32.626Z,1605199592.626 [profile_station:Science:PeakDetectFDOM] Running Loop=1
2020-11-12T16:46:32.626Z,1605199592.626 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize profile_station:Science:PeakDetectFDOM
2020-11-12T16:46:32.626Z,1605199592.626 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-11-12T16:46:32.626Z,1605199592.626 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-11-12T16:46:32.627Z,1605199592.627 [profile_station:Science:OceanCurrent] Running Loop=1
2020-11-12T16:46:32.627Z,1605199592.627 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::initialize profile_station:Science:OceanCurrent
2020-11-12T16:46:32.627Z,1605199592.627 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2020-11-12T16:46:32.627Z,1605199592.627 [profile_station:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2020-11-12T16:46:32.627Z,1605199592.627 [profile_station:StandardEnvelopes] Running Loop=1
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes](DEBUG): Aggregate::initialize profile_station:StandardEnvelopes
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-11-12T16:46:32.632Z,1605199592.632 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:I.Pitch] Running Loop=1
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:I.Pitch](DEBUG): Initialize.
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:J.Buoyancy] Running Loop=1
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:K.SetSpeed] Running Loop=1
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:K.SetSpeed](DEBUG): Initialize.
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:L.DepthEnvelope] Running Loop=1
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:L.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:M.AltitudeEnvelope] Running Loop=1
2020-11-12T16:46:32.633Z,1605199592.633 [profile_station:M.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-11-12T16:46:32.634Z,1605199592.634 [profile_station:N.YoYo] Running Loop=1
2020-11-12T16:46:32.634Z,1605199592.634 [profile_station:N.YoYo](DEBUG): Initialize YoYoComponent.
2020-11-12T16:46:32.634Z,1605199592.634 [profile_station:C] Running Loop=1
2020-11-12T16:46:32.634Z,1605199592.634 [profile_station:N.YoYo] Running Loop=1
2020-11-12T16:46:32.635Z,1605199592.635 [profile_station:M.AltitudeEnvelope] Running Loop=1
2020-11-12T16:46:32.635Z,1605199592.635 [profile_station:L.DepthEnvelope] Running Loop=1
2020-11-12T16:46:32.640Z,1605199592.640 [profile_station:K.SetSpeed] Running Loop=1
2020-11-12T16:46:32.640Z,1605199592.640 [profile_station:J.Buoyancy] Running Loop=1
2020-11-12T16:46:32.640Z,1605199592.640 [profile_station:I.Pitch] Running Loop=1
2020-11-12T16:46:32.641Z,1605199592.641 [profile_station:StandardEnvelopes] Running Loop=1
2020-11-12T16:46:32.641Z,1605199592.641 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-11-12T16:46:32.641Z,1605199592.641 [profile_station:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-11-12T16:46:32.641Z,1605199592.641 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-11-12T16:46:32.642Z,1605199592.642 [profile_station:C] Stopped
2020-11-12T16:46:32.642Z,1605199592.642 [profile_station:E] Running Loop=1
2020-11-12T16:46:32.642Z,1605199592.642 [profile_station:Science] Running Loop=1
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectFDOM] Stopped
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectFDOM
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectOil] Stopped
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectOil
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-11-12T16:46:32.643Z,1605199592.643 [profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:PeakDetectNO3] Stopped
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectNO3
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:HighestChlPeakReport] Stopped
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize profile_station:Science:HighestChlPeakReport
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-11-12T16:46:32.648Z,1605199592.648 [profile_station:Science:PeakDetectChl] Running Loop=1
2020-11-12T16:46:32.649Z,1605199592.649 [profile_station:Science:OceanCurrent:A.] Running Loop=1
2020-11-12T16:46:32.650Z,1605199592.650 [profile_station:Science:Read_Oil] Running Loop=1
2020-11-12T16:46:32.650Z,1605199592.650 [profile_station:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-11-12T16:46:32.650Z,1605199592.650 [profile_station:Science:F] Stopped
2020-11-12T16:46:32.650Z,1605199592.650 [profile_station:Science:E] Running Loop=1
2020-11-12T16:46:32.651Z,1605199592.651 [profile_station:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-11-12T16:46:32.651Z,1605199592.651 [profile_station:Science:D] Stopped
2020-11-12T16:46:32.651Z,1605199592.651 [profile_station:Science:C] Running Loop=1
2020-11-12T16:46:32.651Z,1605199592.651 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-11-12T16:46:32.652Z,1605199592.652 [profile_station:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-11-12T16:46:32.653Z,1605199592.653 [profile_station:Science:B] Running Loop=1
2020-11-12T16:46:32.653Z,1605199592.653 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-11-12T16:46:32.653Z,1605199592.653 [profile_station:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-11-12T16:46:32.653Z,1605199592.653 [profile_station:Science:A] Stopped
2020-11-12T16:46:32.972Z,1605199592.972 [WetLabsSeaOWL_UV_A](INFO): Powering up
2020-11-12T16:46:33.025Z,1605199593.025 [profile_station:E] Stopped
2020-11-12T16:46:33.025Z,1605199593.025 [profile_station:F] Running Loop=1
2020-11-12T16:46:33.413Z,1605199593.413 [profile_station:F] Stopped
2020-11-12T16:46:33.414Z,1605199593.414 [profile_station:G] Running Loop=1
2020-11-12T16:46:33.802Z,1605199593.802 [profile_station:G] Stopped
2020-11-12T16:46:33.802Z,1605199593.802 [profile_station:StartingMission] Running Loop=1
2020-11-12T16:46:33.803Z,1605199593.803 [profile_station:StartingMission](DEBUG): Aggregate::initialize profile_station:StartingMission
2020-11-12T16:46:34.221Z,1605199594.221 [profile_station:NeedComms] Running Loop=1
2020-11-12T16:46:34.221Z,1605199594.221 [profile_station:NeedComms](DEBUG): Aggregate::initialize profile_station:NeedComms
2020-11-12T16:46:34.221Z,1605199594.221 [profile_station:NeedComms:B.GoToSurface] Running Loop=1
2020-11-12T16:46:34.221Z,1605199594.221 [profile_station:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-12T16:46:34.222Z,1605199594.222 [profile_station:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-11-12T16:46:34.222Z,1605199594.222 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-11-12T16:46:34.223Z,1605199594.223 [profile_station:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-11-12T16:46:34.223Z,1605199594.223 [profile_station:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-12T16:46:34.223Z,1605199594.223 [profile_station:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-12T16:46:34.223Z,1605199594.223 [profile_station:NeedComms:A] Running Loop=1
2020-11-12T16:46:34.245Z,1605199594.245 [profile_station:NeedComms:A](INFO): last time_fix was: 1605199356.000000 second since 1970/01/01T00:00:00Z 
2020-11-12T16:46:34.245Z,1605199594.245 [profile_station:NeedComms:A] Stopped
2020-11-12T16:46:34.614Z,1605199594.614 [profile_station:NeedComms:C] Running Loop=1
2020-11-12T16:46:35.077Z,1605199595.077 [profile_station:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-11-12T16:46:36.019Z,1605199596.019 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-11-12T16:46:36.620Z,1605199596.620 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164635.00,A,4133.01110,N,07042.47705,W,0.350,183.41,121120,,,D*76
2020-11-12T16:46:36.622Z,1605199596.622 [NAL9602](INFO): GPS fix at 20201112T164635: (41.550185, -70.707951)
2020-11-12T16:46:36.659Z,1605199596.659 [profile_station:NeedComms:C] Stopped
2020-11-12T16:46:36.659Z,1605199596.659 [profile_station:NeedComms:D] Running Loop=1
2020-11-12T16:46:37.101Z,1605199597.101 [profile_station:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-12T16:46:40.349Z,1605199600.349 [DataOverHttps](INFO): Sending 91 bytes from file Logs/20201112T152900/Courier0028.lzma
2020-11-12T16:46:41.351Z,1605199601.351 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Courier0028.lzma.bak
2020-11-12T16:46:41.352Z,1605199601.352 [DataOverHttps](INFO): SBD MOMSN=58037
2020-11-12T16:46:50.389Z,1605199610.389 [DataOverHttps](INFO): Sending 815 bytes from file Logs/20201112T152900/Express0029.lzma
2020-11-12T16:46:51.390Z,1605199611.390 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0029.lzma.bak
2020-11-12T16:46:51.390Z,1605199611.390 [DataOverHttps](INFO): SBD MOMSN=58040
2020-11-12T16:46:51.615Z,1605199611.615 [NAL9602](INFO): SBD MO Status=0, MOMSN=12080, MT Status=0, MTMSN=0
2020-11-12T16:46:51.615Z,1605199611.615 [NAL9602](INFO): No messages in MT queue
2020-11-12T16:46:52.895Z,1605199612.895 [profile_station:NeedComms:D] Stopped
2020-11-12T16:46:52.895Z,1605199612.895 [profile_station:NeedComms:E] Running Loop=1
2020-11-12T16:46:53.268Z,1605199613.268 [profile_station:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-11-12T16:46:54.871Z,1605199614.871 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,164653.00,A,4133.01109,N,07042.47713,W,0.156,183.41,121120,,,D*7D
2020-11-12T16:46:54.874Z,1605199614.874 [NAL9602](INFO): GPS fix at 20201112T164653: (41.550185, -70.707952)
2020-11-12T16:46:54.896Z,1605199614.896 [profile_station:NeedComms:E] Stopped
2020-11-12T16:46:54.897Z,1605199614.897 [profile_station:NeedComms](INFO): Completed profile_station:NeedComms
2020-11-12T16:46:54.897Z,1605199614.897 [profile_station:NeedComms] Stopped
2020-11-12T16:46:54.897Z,1605199614.897 [profile_station:NeedComms](DEBUG): Aggregate::uninitialize profile_station:NeedComms
2020-11-12T16:46:54.897Z,1605199614.897 [profile_station:NeedComms:B.GoToSurface] Stopped
2020-11-12T16:46:54.897Z,1605199614.897 [profile_station:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:StartingMission](INFO): Completed profile_station:StartingMission
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:StartingMission] Stopped
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:StartingMission](DEBUG): Aggregate::uninitialize profile_station:StartingMission
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:CircleWrapper] Running Loop=1
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:CircleWrapper](DEBUG): Aggregate::initialize profile_station:CircleWrapper
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:CircleWrapper:A] Running Loop=1
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:CircleWrapper:B.Circle] Running Loop=1
2020-11-12T16:46:55.333Z,1605199615.333 [profile_station:CircleWrapper:B.Circle](DEBUG): Initialize CircleComponent.
2020-11-12T16:46:55.666Z,1605199615.666 [profile_station:CircleWrapper:A] Running Loop=1
2020-11-12T16:47:00.106Z,1605199620.106 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:47:27.161Z,1605199647.161 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T16:47:56.661Z,1605199676.661 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251778
2020-11-12T16:48:22.052Z,1605199702.052 [Radio_Surface](INFO): Powering down
2020-11-12T16:48:33.834Z,1605199713.834 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T16:48:34.837Z,1605199714.837 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-11-12T16:49:56.023Z,1605199796.023 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 10
2020-11-12T16:49:58.916Z,1605199798.916 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:50:00.079Z,1605199800.079 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:56:56.193Z,1605200216.193 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2020-11-12T16:57:05.891Z,1605200225.891 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2020-11-12T16:57:26.111Z,1605200246.111 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:57:43.935Z,1605200263.935 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:58:00.939Z,1605200280.939 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2020-11-12T16:58:36.012Z,1605200316.012 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:58:41.256Z,1605200321.256 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:59:36.209Z,1605200376.209 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2020-11-12T16:59:36.596Z,1605200376.596 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2020-11-12T16:59:36.597Z,1605200376.597 [Micromodem](INFO): Have incoming data
2020-11-12T16:59:36.601Z,1605200376.601 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T16:59:36.603Z,1605200376.603 [Micromodem](INFO): Received command:stop
2020-11-12T16:59:36.622Z,1605200376.622 [CommandLine](IMPORTANT): got command stop
2020-11-12T16:59:36.623Z,1605200376.623 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-11-12T16:59:36.671Z,1605200376.671 [MissionManager](INFO): MissionManager is completed.
2020-11-12T16:59:36.671Z,1605200376.671 [MissionManager](INFO): Uninitializing Mission profile_station
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station](DEBUG): Aggregate::uninitialize profile_station
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science](DEBUG): Aggregate::uninitialize profile_station:Science
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science:B] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science:C] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science:E] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science:Read_Oil] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science:OceanCurrent] Stopped
2020-11-12T16:59:36.676Z,1605200376.676 [profile_station:Science:OceanCurrent](DEBUG): Aggregate::uninitialize profile_station:Science:OceanCurrent
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:Science:OceanCurrent:A.] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:Science:PeakDetectChl] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize profile_station:Science:PeakDetectChl
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes](DEBUG): Aggregate::uninitialize profile_station:StandardEnvelopes
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-11-12T16:59:36.677Z,1605200376.677 [profile_station:I.Pitch] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:J.Buoyancy] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:K.SetSpeed] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:K.SetSpeed](DEBUG): Uninitialize.
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:L.DepthEnvelope] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:L.DepthEnvelope](DEBUG): Uninitialize.
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:M.AltitudeEnvelope] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:M.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:N.YoYo] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:N.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:CircleWrapper] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:CircleWrapper](DEBUG): Aggregate::uninitialize profile_station:CircleWrapper
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:CircleWrapper:A] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:CircleWrapper:B.Circle] Stopped
2020-11-12T16:59:36.678Z,1605200376.678 [profile_station:CircleWrapper:B.Circle](DEBUG): Uninitialize.
2020-11-12T16:59:36.968Z,1605200376.968 [WetLabsSeaOWL_UV_A](INFO): Powering down
2020-11-12T16:59:37.001Z,1605200377.001 [Micromodem](INFO): Nmea in: $CACST,6,0,20201112165936.050219,06,5291,37,0238,0150,29,03,03,00,04,1,010,001,0,3,1,0,150,12.1,11.00,00,-8.00,-01,-0.39,34,14500,4000*4B

2020-11-12T16:59:37.061Z,1605200377.061 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2020-11-12T16:59:37.061Z,1605200377.061 [DefaultWithUndock] Running Loop=1
2020-11-12T16:59:37.061Z,1605200377.061 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2020-11-12T16:59:37.061Z,1605200377.061 [DefaultWithUndock:A.Wait] Running Loop=1
2020-11-12T16:59:37.061Z,1605200377.061 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:A.Wait] Stopped
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock] Running Loop=1
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2020-11-12T17:00:07.303Z,1605200407.303 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2020-11-12T17:00:07.712Z,1605200407.712 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T17:00:08.093Z,1605200408.093 [PowerOnly](INFO): Powering up loadControl
2020-11-12T17:00:08.143Z,1605200408.143 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T17:00:08.511Z,1605200408.511 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T17:00:08.975Z,1605200408.975 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T17:00:08.975Z,1605200408.975 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2020-11-12T17:00:09.321Z,1605200409.321 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2020-11-12T17:00:10.166Z,1605200410.166 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T17:00:10.935Z,1605200410.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T17:00:11.328Z,1605200411.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T17:00:12.144Z,1605200412.144 [Micromodem](INFO): Nmea in: $SNTTA,0.224068,,,,170012.42*49

2020-11-12T17:00:12.568Z,1605200412.568 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2020-11-12T17:00:13.001Z,1605200413.001 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2020-11-12T17:00:15.019Z,1605200415.019 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T17:00:15.770Z,1605200415.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T17:00:16.181Z,1605200416.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T17:00:16.984Z,1605200416.984 [Micromodem](INFO): Nmea in: $SNTTA,0.224693,,,,170017.25*4F

2020-11-12T17:00:19.866Z,1605200419.866 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T17:00:20.618Z,1605200420.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T17:00:21.036Z,1605200421.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T17:00:21.858Z,1605200421.858 [Micromodem](INFO): Nmea in: $SNTTA,0.225458,,0.230983,,170022.10*56

2020-11-12T17:00:24.685Z,1605200424.685 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T17:00:25.470Z,1605200425.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T17:00:25.877Z,1605200425.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T17:00:26.681Z,1605200426.681 [Micromodem](INFO): Nmea in: $SNTTA,0.226126,,,,170026.95*4D

2020-11-12T17:00:29.517Z,1605200429.517 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2020-11-12T17:00:30.314Z,1605200430.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2020-11-12T17:00:30.724Z,1605200430.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2020-11-12T17:00:31.527Z,1605200431.527 [Micromodem](INFO): Nmea in: $SNTTA,0.226945,,,,170031.80*42

2020-11-12T17:00:33.193Z,1605200433.193 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 340.44 m. Transitioning DDM to standby.
2020-11-12T17:00:33.588Z,1605200433.588 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2020-11-12T17:00:33.588Z,1605200433.588 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2020-11-12T17:00:34.021Z,1605200434.021 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2020-11-12T17:00:34.021Z,1605200434.021 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2020-11-12T17:00:34.021Z,1605200434.021 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2020-11-12T17:00:34.021Z,1605200434.021 [DefaultWithUndock:LeaveDock] Stopped
2020-11-12T17:00:34.021Z,1605200434.021 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:LeaveDock:A.] Stopped
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2020-11-12T17:00:34.022Z,1605200434.022 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-12T17:00:34.023Z,1605200434.023 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-12T17:00:34.023Z,1605200434.023 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-12T17:00:34.023Z,1605200434.023 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-12T17:00:34.023Z,1605200434.023 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-12T17:00:34.028Z,1605200434.028 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-12T17:00:34.964Z,1605200434.964 [Radio_Surface](INFO): Powering up
2020-11-12T17:00:40.837Z,1605200440.837 [DataOverHttps](INFO): Radio surface powered ON.
2020-11-12T17:00:42.854Z,1605200442.854 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2020-11-12T17:00:42.855Z,1605200442.855 [Micromodem](INFO): Have incoming data
2020-11-12T17:00:42.858Z,1605200442.858 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T17:00:42.858Z,1605200442.858 [Micromodem](INFO): Received command:stop
2020-11-12T17:00:42.877Z,1605200442.877 [CommandLine](IMPORTANT): got command stop
2020-11-12T17:00:43.241Z,1605200443.241 [Micromodem](INFO): Nmea in: $CACST,6,0,20201112170042.155616,06,2236,33,0172,0150,29,01,01,00,03,1,010,001,0,3,1,0,150,10.7,10.00,00,-7.00,-01,-0.57,34,14500,4000*4C

2020-11-12T17:00:48.902Z,1605200448.902 [Micromodem](INFO): Nmea in: $CACYC,1,10,1,1,0,1*6A

2020-11-12T17:00:48.902Z,1605200448.902 [Micromodem](INFO): Have incoming data
2020-11-12T17:00:48.905Z,1605200448.905 [Micromodem](INFO): Nmea in: $CARXD,10,1,0,1,3D90B8D172D0E11A94BB9A0D6EC0434A2AB488F6*53

2020-11-12T17:00:48.906Z,1605200448.906 [Micromodem](INFO): Received command:stop
2020-11-12T17:00:48.988Z,1605200448.988 [CommandLine](IMPORTANT): got command stop
2020-11-12T17:00:49.305Z,1605200449.305 [Micromodem](INFO): Nmea in: $CACST,6,0,20201112170048.210883,06,1538,31,0131,0150,29,01,01,00,03,1,010,001,0,3,1,0,150,11.3,9.00,00,-6.00,-01,-0.68,32,14500,4000*7F

2020-11-12T17:01:09.531Z,1605200469.531 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2020-11-12T17:01:09.531Z,1605200469.531 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2020-11-12T17:01:09.531Z,1605200469.531 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2020-11-12T17:01:09.531Z,1605200469.531 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T17:01:09.532Z,1605200469.532 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T17:01:09.532Z,1605200469.532 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T17:01:09.532Z,1605200469.532 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T17:01:10.956Z,1605200470.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T17:01:30.121Z,1605200490.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T17:01:30.915Z,1605200490.915 [NAL9602](INFO): SBD MO Status=0, MOMSN=12081, MT Status=0, MTMSN=0
2020-11-12T17:01:30.915Z,1605200490.915 [NAL9602](INFO): No messages in MT queue
2020-11-12T17:01:32.127Z,1605200492.127 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170130.00,A,4133.22508,N,07042.63498,W,0.447,0.00,121120,,,A*77
2020-11-12T17:01:32.130Z,1605200492.130 [NAL9602](INFO): GPS fix at 20201112T170130: (41.553751, -70.710583)
2020-11-12T17:01:32.180Z,1605200492.180 [UniversalFixResidualReporter](INFO): Fix residual: 6.3 %DT, over the last 589.6 m. Residual distance 37.0 m at bearing 99.8 degrees. Fix at (41.5538, -70.7106) with 453.0 m made good.
2020-11-12T17:01:32.181Z,1605200492.181 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2020-11-12T17:01:32.181Z,1605200492.181 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2020-11-12T17:01:41.480Z,1605200501.480 [PowerOnly](INFO): Powering down loadControl
2020-11-12T17:01:46.104Z,1605200506.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T17:01:58.997Z,1605200518.997 [NAL9602](INFO): SBD MO Status=2, MOMSN=12082, MT Status=2, MTMSN=0
2020-11-12T17:01:58.997Z,1605200518.997 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T17:02:16.917Z,1605200536.917 [NAL9602](INFO): SBD MO Status=2, MOMSN=12082, MT Status=2, MTMSN=0
2020-11-12T17:02:16.917Z,1605200536.917 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T17:02:21.244Z,1605200541.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T17:02:44.527Z,1605200564.527 [NAL9602](INFO): SBD MO Status=2, MOMSN=12082, MT Status=2, MTMSN=0
2020-11-12T17:02:44.527Z,1605200564.527 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T17:02:56.384Z,1605200576.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T17:03:00.915Z,1605200580.915 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-11-12T17:03:02.889Z,1605200582.889 [NAL9602](INFO): SBD MO Status=2, MOMSN=12082, MT Status=2, MTMSN=0
2020-11-12T17:03:02.889Z,1605200582.889 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2020-11-12T17:03:31.524Z,1605200611.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2020-11-12T17:03:40.995Z,1605200620.995 [NAL9602](INFO): SBD MO Status=1, MOMSN=12082, MT Status=0, MTMSN=0
2020-11-12T17:03:41.048Z,1605200621.048 [NAL9602](INFO): Sent 88 bytes from file Logs/20201112T152900/Courier0033.lzma
2020-11-12T17:03:41.048Z,1605200621.048 [NAL9602](INFO): Packets left to send: 0
2020-11-12T17:03:52.011Z,1605200632.011 [NAL9602](INFO): SBD MO Status=1, MOMSN=12083, MT Status=0, MTMSN=0
2020-11-12T17:03:52.065Z,1605200632.065 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0035.lzma
2020-11-12T17:03:52.066Z,1605200632.066 [NAL9602](INFO): Packets left to send: 13
2020-11-12T17:04:00.645Z,1605200640.645 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003465
2020-11-12T17:04:03.467Z,1605200643.467 [NAL9602](INFO): SBD MO Status=1, MOMSN=12084, MT Status=0, MTMSN=0
2020-11-12T17:04:03.528Z,1605200643.528 [NAL9602](INFO): Sent 184 bytes from file Logs/20201112T152900/Express0035.lzma
2020-11-12T17:04:03.528Z,1605200643.528 [NAL9602](INFO): Packets left to send: 12
2020-11-12T17:04:04.668Z,1605200644.668 [DataOverHttps](INFO): Sending 2510 bytes from file Logs/20201112T152900/Express0035.lzma
2020-11-12T17:04:05.662Z,1605200645.662 [DataOverHttps](INFO): Moved sent file to Logs/20201112T152900/Express0035.lzma.bak
2020-11-12T17:04:05.662Z,1605200645.662 [DataOverHttps](INFO): SBD MOMSN=58083
2020-11-12T17:04:07.137Z,1605200647.137 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2020-11-12T17:04:07.137Z,1605200647.137 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2020-11-12T17:04:07.137Z,1605200647.137 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-11-12T17:04:34.164Z,1605200674.164 [NAL9602](INFO): Not Powering down - fast GPS
2020-11-12T17:05:24.290Z,1605200724.290 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2020-11-12T17:05:24.290Z,1605200724.290 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T17:05:24.290Z,1605200724.290 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2020-11-12T17:05:24.290Z,1605200724.290 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2020-11-12T17:05:27.941Z,1605200727.941 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2020-11-12T17:05:27.941Z,1605200727.941 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2020-11-12T17:05:27.941Z,1605200727.941 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2020-11-12T17:05:27.941Z,1605200727.941 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2020-11-12T17:05:47.081Z,1605200747.081 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.253551
2020-11-12T17:06:00.133Z,1605200760.133 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003433
2020-11-12T17:07:42.573Z,1605200862.573 [DataOverHttps](IMPORTANT): SBD MTMSN=20201112T170741
2020-11-12T17:07:46.592Z,1605200866.592 [DataOverHttps](INFO): Received command:restart logs