2021-08-16T00:10:14.122Z,1629072614.122 [Supervisor](DEBUG): Initializing supervisor.
2021-08-16T00:10:14.127Z,1629072614.127 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-16T00:10:14.128Z,1629072614.128 [SyncHandler](INFO): Protected caller Thread ID is 835
2021-08-16T00:10:14.128Z,1629072614.128 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-16T00:10:14.129Z,1629072614.129 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-16T00:10:14.129Z,1629072614.129 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 836
2021-08-16T00:10:14.134Z,1629072614.134 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-16T00:10:14.155Z,1629072614.155 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-16T00:10:14.156Z,1629072614.156 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-16T00:10:14.156Z,1629072614.156 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 837
2021-08-16T00:10:14.159Z,1629072614.159 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-16T00:10:14.160Z,1629072614.160 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-16T00:10:14.160Z,1629072614.160 [logger ThreadHandler](INFO): Protected caller Thread ID is 838
2021-08-16T00:10:14.164Z,1629072614.164 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-16T00:10:14.165Z,1629072614.165 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-16T00:10:14.170Z,1629072614.170 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-16T00:10:14.629Z,1629072614.629 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-16T00:10:14.630Z,1629072614.630 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-16T00:10:14.724Z,1629072614.724 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-16T00:10:15.091Z,1629072615.091 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-16T00:10:15.093Z,1629072615.093 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-16T00:10:15.206Z,1629072615.206 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-16T00:10:15.208Z,1629072615.208 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-16T00:10:15.425Z,1629072615.425 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-16T00:10:15.427Z,1629072615.427 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-16T00:10:15.992Z,1629072615.992 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-16T00:10:15.994Z,1629072615.994 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-16T00:10:16.257Z,1629072616.257 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-16T00:10:16.259Z,1629072616.259 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-16T00:10:16.422Z,1629072616.422 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-16T00:10:16.423Z,1629072616.423 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-16T00:10:16.651Z,1629072616.651 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-16T00:10:16.651Z,1629072616.651 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-16T00:10:16.752Z,1629072616.752 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-16T00:10:16.753Z,1629072616.753 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-16T00:10:17.001Z,1629072617.001 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-16T00:10:17.001Z,1629072617.001 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-16T00:10:17.450Z,1629072617.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-16T00:10:17.451Z,1629072617.451 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-16T00:10:18.029Z,1629072618.029 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-16T00:10:18.162Z,1629072618.162 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-16T00:10:18.164Z,1629072618.164 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-16T00:10:18.895Z,1629072618.895 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-16T00:10:18.896Z,1629072618.896 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-16T00:10:19.307Z,1629072619.307 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-16T00:10:19.309Z,1629072619.309 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-08-16T00:10:19.313Z,1629072619.313 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-08-16T00:10:19.536Z,1629072619.536 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-08-16T00:10:19.643Z,1629072619.643 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-08-16T00:10:19.748Z,1629072619.748 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-08-16T00:10:19.852Z,1629072619.852 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-08-16T00:10:20.125Z,1629072620.125 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-16T00:10:20.126Z,1629072620.126 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-08-16T00:10:20.214Z,1629072620.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-08-16T00:10:20.314Z,1629072620.314 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-08-16T00:10:20.449Z,1629072620.449 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-08-16T00:10:20.569Z,1629072620.569 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-08-16T00:10:20.658Z,1629072620.658 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-08-16T00:10:20.747Z,1629072620.747 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-08-16T00:10:20.863Z,1629072620.863 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-08-16T00:10:20.966Z,1629072620.966 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-08-16T00:10:21.183Z,1629072621.183 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-08-16T00:10:21.362Z,1629072621.362 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-16T00:10:21.381Z,1629072621.381 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-16T00:10:22.096Z,1629072622.096 [AHRS_M2] Loaded
2021-08-16T00:10:22.096Z,1629072622.096 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-08-16T00:10:22.341Z,1629072622.341 [BackseatComponent] Loaded
2021-08-16T00:10:22.342Z,1629072622.342 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-08-16T00:10:22.343Z,1629072622.343 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2021-08-16T00:10:22.343Z,1629072622.343 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 932
2021-08-16T00:10:22.347Z,1629072622.347 [LcmUniversalReporter] Loaded
2021-08-16T00:10:22.347Z,1629072622.347 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-08-16T00:10:23.630Z,1629072623.630 [BPC1] Loaded
2021-08-16T00:10:23.630Z,1629072623.630 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-16T00:10:23.768Z,1629072623.768 [DataOverHttps] Loaded
2021-08-16T00:10:23.768Z,1629072623.768 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-16T00:10:23.769Z,1629072623.769 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407CA4E0
2021-08-16T00:10:23.770Z,1629072623.770 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 933
2021-08-16T00:10:23.793Z,1629072623.793 [DDM] Loaded
2021-08-16T00:10:23.793Z,1629072623.793 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-08-16T00:10:23.813Z,1629072623.813 [Depth_Keller] Loaded
2021-08-16T00:10:23.813Z,1629072623.813 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-16T00:10:23.818Z,1629072623.818 [DropWeight] Loaded
2021-08-16T00:10:23.818Z,1629072623.818 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-08-16T00:10:23.864Z,1629072623.864 [DUSBL_Hydroid] Loaded
2021-08-16T00:10:23.864Z,1629072623.864 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-08-16T00:10:23.902Z,1629072623.902 [Micromodem] Loaded
2021-08-16T00:10:23.903Z,1629072623.903 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-08-16T00:10:23.965Z,1629072623.965 [NAL9602] Loaded
2021-08-16T00:10:23.965Z,1629072623.965 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-16T00:10:23.995Z,1629072623.995 [Onboard] Loaded
2021-08-16T00:10:23.995Z,1629072623.995 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-16T00:10:23.996Z,1629072623.996 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407FA4E0
2021-08-16T00:10:23.997Z,1629072623.997 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 934
2021-08-16T00:10:24.004Z,1629072624.004 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-08-16T00:10:24.015Z,1629072624.015 [PowerOnly] Loaded
2021-08-16T00:10:24.015Z,1629072624.015 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-08-16T00:10:24.027Z,1629072624.027 [Power24vConverter] Loaded
2021-08-16T00:10:24.028Z,1629072624.028 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-16T00:10:24.042Z,1629072624.042 [Radio_Surface] Loaded
2021-08-16T00:10:24.043Z,1629072624.043 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-16T00:10:24.044Z,1629072624.044 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4082A4E0
2021-08-16T00:10:24.044Z,1629072624.044 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 935
2021-08-16T00:10:24.089Z,1629072624.089 [RDI_Pathfinder] Loaded
2021-08-16T00:10:24.089Z,1629072624.089 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-08-16T00:10:24.117Z,1629072624.117 [RDI_PathfinderUp] Loaded
2021-08-16T00:10:24.117Z,1629072624.117 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-08-16T00:10:24.118Z,1629072624.118 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-16T00:10:24.120Z,1629072624.120 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-16T00:10:24.136Z,1629072624.136 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-16T00:10:24.137Z,1629072624.137 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-16T00:10:24.240Z,1629072624.240 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-16T00:10:24.241Z,1629072624.241 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-16T00:10:24.254Z,1629072624.254 [NavChart] Loaded
2021-08-16T00:10:24.255Z,1629072624.255 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-16T00:10:24.261Z,1629072624.261 [UniversalFixResidualReporter] Loaded
2021-08-16T00:10:24.261Z,1629072624.261 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-16T00:10:24.272Z,1629072624.272 [WorkSite] Loaded
2021-08-16T00:10:24.272Z,1629072624.272 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-08-16T00:10:24.273Z,1629072624.273 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-16T00:10:24.274Z,1629072624.274 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-16T00:10:24.400Z,1629072624.400 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-16T00:10:24.401Z,1629072624.401 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-16T00:10:24.568Z,1629072624.568 [BuoyancyServo] Loaded
2021-08-16T00:10:24.569Z,1629072624.569 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-16T00:10:24.591Z,1629072624.591 [ElevatorServo] Loaded
2021-08-16T00:10:24.591Z,1629072624.591 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-16T00:10:24.614Z,1629072624.614 [MassServo] Loaded
2021-08-16T00:10:24.614Z,1629072624.614 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-16T00:10:24.635Z,1629072624.635 [RudderServo] Loaded
2021-08-16T00:10:24.635Z,1629072624.635 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-16T00:10:24.655Z,1629072624.655 [ThrusterServo] Loaded
2021-08-16T00:10:24.655Z,1629072624.655 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-16T00:10:24.656Z,1629072624.656 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-16T00:10:24.657Z,1629072624.657 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-16T00:10:24.890Z,1629072624.890 [CTD_Seabird] Loaded
2021-08-16T00:10:24.890Z,1629072624.890 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-08-16T00:10:24.891Z,1629072624.891 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409544E0
2021-08-16T00:10:24.892Z,1629072624.892 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 936
2021-08-16T00:10:24.927Z,1629072624.927 [WetLabsSeaOWL_UV_A] Loaded
2021-08-16T00:10:24.927Z,1629072624.927 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-08-16T00:10:24.928Z,1629072624.928 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409844E0
2021-08-16T00:10:24.929Z,1629072624.929 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 937
2021-08-16T00:10:24.929Z,1629072624.929 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-16T00:10:24.930Z,1629072624.930 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-16T00:10:25.331Z,1629072625.331 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-16T00:10:25.333Z,1629072625.333 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-16T00:10:25.397Z,1629072625.397 [DepthRateCalculator] Loaded
2021-08-16T00:10:25.398Z,1629072625.398 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-16T00:10:25.403Z,1629072625.403 [PitchRateCalculator] Loaded
2021-08-16T00:10:25.403Z,1629072625.403 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-16T00:10:25.413Z,1629072625.413 [SpeedCalculator] Loaded
2021-08-16T00:10:25.413Z,1629072625.413 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-16T00:10:25.427Z,1629072625.427 [TempGradientCalculator] Loaded
2021-08-16T00:10:25.428Z,1629072625.428 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-16T00:10:25.433Z,1629072625.433 [YawRateCalculator] Loaded
2021-08-16T00:10:25.433Z,1629072625.433 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-16T00:10:25.456Z,1629072625.456 [ElevatorOffsetCalculator] Loaded
2021-08-16T00:10:25.456Z,1629072625.456 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-16T00:10:25.457Z,1629072625.457 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-16T00:10:25.458Z,1629072625.458 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-16T00:10:25.643Z,1629072625.643 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-16T00:10:25.656Z,1629072625.656 [SBIT] Loaded
2021-08-16T00:10:25.656Z,1629072625.656 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-16T00:10:25.659Z,1629072625.659 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-16T00:10:25.673Z,1629072625.673 [IBIT] Loaded
2021-08-16T00:10:25.673Z,1629072625.673 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-16T00:10:25.679Z,1629072625.679 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-16T00:10:25.787Z,1629072625.787 [CBIT] Loaded
2021-08-16T00:10:25.788Z,1629072625.788 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-16T00:10:25.788Z,1629072625.788 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-16T00:10:25.789Z,1629072625.789 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-16T00:10:25.874Z,1629072625.874 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-16T00:10:25.875Z,1629072625.875 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-16T00:10:26.018Z,1629072626.018 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-16T00:10:26.019Z,1629072626.019 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-16T00:10:26.093Z,1629072626.093 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-16T00:10:26.150Z,1629072626.150 [VerticalControl] Loaded
2021-08-16T00:10:26.150Z,1629072626.150 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-16T00:10:26.153Z,1629072626.153 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-16T00:10:26.192Z,1629072626.192 [HorizontalControl] Loaded
2021-08-16T00:10:26.192Z,1629072626.192 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-16T00:10:26.195Z,1629072626.195 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-16T00:10:26.197Z,1629072626.197 [SpeedControl] Loaded
2021-08-16T00:10:26.197Z,1629072626.197 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-16T00:10:26.200Z,1629072626.200 [LoopControl](DEBUG): Construct LoopControl.
2021-08-16T00:10:26.200Z,1629072626.200 [LoopControl] Loaded
2021-08-16T00:10:26.201Z,1629072626.201 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-16T00:10:26.201Z,1629072626.201 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-16T00:10:26.202Z,1629072626.202 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-16T00:10:26.246Z,1629072626.246 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-16T00:10:26.252Z,1629072626.252 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-16T00:10:26.255Z,1629072626.255 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-16T00:10:26.267Z,1629072626.267 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-16T00:10:26.268Z,1629072626.268 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B324E0
2021-08-16T00:10:26.268Z,1629072626.268 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 938
2021-08-16T00:10:26.273Z,1629072626.273 [Supervisor](INFO): Main Thread ID is 829
2021-08-16T00:10:26.273Z,1629072626.273 [Supervisor](DEBUG): Running supervisor.
2021-08-16T00:10:26.274Z,1629072626.274 [CommandLine ThreadHandler](INFO): Handler Thread ID is 939
2021-08-16T00:10:26.276Z,1629072626.276 [controlThread ThreadHandler](INFO): Handler Thread ID is 940
2021-08-16T00:10:26.277Z,1629072626.277 [controlThread](DEBUG): Initializing ControlThread
2021-08-16T00:10:26.283Z,1629072626.283 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-16T00:10:26.283Z,1629072626.283 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-16T00:10:26.284Z,1629072626.284 [WorkSite](DEBUG): Initializing WorkSite component.
2021-08-16T00:10:26.285Z,1629072626.285 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-16T00:10:26.286Z,1629072626.286 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-16T00:10:26.286Z,1629072626.286 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-16T00:10:26.286Z,1629072626.286 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-16T00:10:26.287Z,1629072626.287 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-16T00:10:26.287Z,1629072626.287 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-16T00:10:26.288Z,1629072626.288 [SBIT](INFO): Initialize SBIT Component.
2021-08-16T00:10:26.289Z,1629072626.289 [SBIT](IMPORTANT): git: 2021-08-12
2021-08-16T00:10:26.289Z,1629072626.289 [SBIT](INFO): git hash: 4ac1c7994e02762939ba6e7c4596a90b7f61f056
2021-08-16T00:10:26.289Z,1629072626.289 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-16T00:10:26.290Z,1629072626.290 [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
2021-08-16T00:10:26.292Z,1629072626.292 [SBIT](INFO): Beginning SBIT in 31.000000 seconds.
2021-08-16T00:10:26.292Z,1629072626.292 [IBIT](INFO): Initialize IBIT Component.
2021-08-16T00:10:26.293Z,1629072626.293 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-16T00:10:26.294Z,1629072626.294 [logger ThreadHandler](INFO): Handler Thread ID is 941
2021-08-16T00:10:26.308Z,1629072626.308 [CBIT](DEBUG): Initialized mux pins.
2021-08-16T00:10:26.308Z,1629072626.308 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-16T00:10:26.312Z,1629072626.312 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 942
2021-08-16T00:10:26.320Z,1629072626.320 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 943
2021-08-16T00:10:26.321Z,1629072626.321 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-08-16T00:10:26.328Z,1629072626.328 [Onboard ThreadHandler](INFO): Handler Thread ID is 944
2021-08-16T00:10:26.333Z,1629072626.333 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-16T00:10:26.333Z,1629072626.333 [CBIT](DEBUG): Initializing heartbeat.
2021-08-16T00:10:26.349Z,1629072626.349 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 945
2021-08-16T00:10:26.368Z,1629072626.368 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 946
2021-08-16T00:10:26.369Z,1629072626.369 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-08-16T00:10:26.373Z,1629072626.373 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 948
2021-08-16T00:10:26.374Z,1629072626.374 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-16T00:10:26.385Z,1629072626.385 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 949
2021-08-16T00:10:26.393Z,1629072626.393 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-16T00:10:26.393Z,1629072626.393 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-16T00:10:26.394Z,1629072626.394 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-16T00:10:26.394Z,1629072626.394 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-16T00:10:26.394Z,1629072626.394 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-16T00:10:26.394Z,1629072626.394 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-16T00:10:26.394Z,1629072626.394 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-16T00:10:26.394Z,1629072626.394 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-16T00:10:26.395Z,1629072626.395 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-16T00:10:26.395Z,1629072626.395 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-16T00:10:26.395Z,1629072626.395 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-16T00:10:26.395Z,1629072626.395 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-16T00:10:26.395Z,1629072626.395 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-16T00:10:26.396Z,1629072626.396 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-16T00:10:26.396Z,1629072626.396 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-16T00:10:26.396Z,1629072626.396 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-16T00:10:26.404Z,1629072626.404 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-16T00:10:26.404Z,1629072626.404 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-16T00:10:26.440Z,1629072626.440 [CBIT](DEBUG): Backplane powered.
2021-08-16T00:10:26.440Z,1629072626.440 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-16T00:10:26.442Z,1629072626.442 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-16T00:10:26.443Z,1629072626.443 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-16T00:10:26.443Z,1629072626.443 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-16T00:10:26.444Z,1629072626.444 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-08-16T00:10:26.471Z,1629072626.471 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:10:26.536Z,1629072626.536 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2021-08-16T00:10:26.537Z,1629072626.537 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-08-16T00:10:26.710Z,1629072626.710 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-16T00:10:26.714Z,1629072626.714 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-08-16T00:10:26.731Z,1629072626.731 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-08-16T00:10:26.736Z,1629072626.736 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-08-16T00:10:26.756Z,1629072626.756 [Radio_Surface](INFO): Powering up
2021-08-16T00:10:26.760Z,1629072626.760 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-08-16T00:10:26.772Z,1629072626.772 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-08-16T00:10:26.774Z,1629072626.774 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-08-16T00:10:26.933Z,1629072626.933 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-08-16T00:10:26.934Z,1629072626.934 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:10:26.967Z,1629072626.967 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:10:27.012Z,1629072627.012 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-16T00:10:27.014Z,1629072627.014 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-16T00:10:27.037Z,1629072627.037 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-08-16T00:10:27.058Z,1629072627.058 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         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/Control http://okeanids.mbari.org/tethys/Xml/Control.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>
                <Dock:Dock.docking_state/>
            </ReadData>

<!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->

            <Assign><Parallel/><Dock:Dock.docking_state_cmd/><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>


2021-08-16T00:10:27.070Z,1629072627.070 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-08-16T00:10:27.093Z,1629072627.093 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-08-16T00:10:27.236Z,1629072627.236 [DDM](INFO): Powering up
2021-08-16T00:10:27.237Z,1629072627.237 [DDM](DEBUG): Initializing DDM.
2021-08-16T00:10:27.261Z,1629072627.261 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2021-08-16T00:10:27.261Z,1629072627.261 [DUSBL_Hydroid](INFO): Powering up
2021-08-16T00:10:27.262Z,1629072627.262 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-08-16T00:10:27.281Z,1629072627.281 [Power24vConverter](INFO): Powering up.
2021-08-16T00:10:27.300Z,1629072627.300 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-08-16T00:10:27.320Z,1629072627.320 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:10:27.328Z,1629072627.328 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-16T00:10:27.329Z,1629072627.329 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:10:27.340Z,1629072627.340 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-16T00:10:27.341Z,1629072627.341 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:10:27.348Z,1629072627.348 [MassServo](DEBUG): Initializing MassServo.
2021-08-16T00:10:27.349Z,1629072627.349 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:10:27.356Z,1629072627.356 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-16T00:10:27.357Z,1629072627.357 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:10:27.364Z,1629072627.364 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-16T00:10:27.503Z,1629072627.503 [Micromodem](INFO): Powering up
2021-08-16T00:10:27.504Z,1629072627.504 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-16T00:10:28.208Z,1629072628.208 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-08-16T00:10:28.208Z,1629072628.208 [RudderServo](FAULT): Rudder failed to initialize
2021-08-16T00:10:28.208Z,1629072628.208 [RudderServo] Communications Fault, FailCount= 1
2021-08-16T00:10:28.208Z,1629072628.208 [RudderServo](ERROR): Communications Fault
2021-08-16T00:10:28.308Z,1629072628.308 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-08-16T00:10:28.505Z,1629072628.505 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-08-16T00:10:28.505Z,1629072628.505 [RudderServo](INFO): Powering down
2021-08-16T00:10:29.136Z,1629072629.136 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:10:29.257Z,1629072629.257 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-16T00:10:29.261Z,1629072629.261 [CBIT](INFO): Clearing failed state for component RudderServo
2021-08-16T00:10:29.262Z,1629072629.262 [RudderServo] No Fault, FailCount= 1
2021-08-16T00:10:32.403Z,1629072632.403 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-16T00:10:42.862Z,1629072642.862 [DDM](INFO): Dynamic Docking Module:
2021-08-16T00:10:43.710Z,1629072643.710 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2021-08-16T00:10:45.290Z,1629072645.290 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-08-16T00:10:45.306Z,1629072645.306 [Micromodem](INFO): Nmea in: $CATMG,2021-08-16T00:10:44.932573Z,RTC,RTC*56

2021-08-16T00:10:45.306Z,1629072645.306 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-08-16T00:10:44.932573Z,RTC,RTC*56

2021-08-16T00:10:45.694Z,1629072645.694 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-16T00:10:45.695Z,1629072645.695 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-16T00:10:46.098Z,1629072646.098 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-16T00:10:46.098Z,1629072646.098 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-16T00:10:46.502Z,1629072646.502 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-16T00:10:46.502Z,1629072646.502 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-16T00:10:46.906Z,1629072646.906 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-16T00:10:46.907Z,1629072646.907 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-16T00:10:47.310Z,1629072647.310 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-16T00:10:47.310Z,1629072647.310 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-16T00:10:47.726Z,1629072647.726 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-16T00:10:47.728Z,1629072647.728 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-16T00:10:48.118Z,1629072648.118 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-16T00:10:48.118Z,1629072648.118 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-16T00:10:48.538Z,1629072648.538 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-16T00:10:48.539Z,1629072648.539 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,16,00,10,49*46

2021-08-16T00:10:48.926Z,1629072648.926 [Micromodem](INFO): Nmea in: $CACLK,2021,8,16,0,10,49*44

2021-08-16T00:10:49.778Z,1629072649.778 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-16T00:10:50Z*7C

2021-08-16T00:10:49.787Z,1629072649.787 [Micromodem](INFO): Nmea in: $CATMG,2021-08-16T00:10:50.028830Z,USER_CMD,RTC*1A

2021-08-16T00:10:54.191Z,1629072654.191 [NAL9602](INFO): Powering up NAL9602
2021-08-16T00:10:54.583Z,1629072654.583 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-16T00:10:54.600Z,1629072654.600 [Micromodem](INFO): Nmea in: $CACST,6,1,20210816001054.332818,06,377,25,0097,0150,208,02,02,00,02,-1,-01,-01,1,3,6,0,150,8.2,0.01,-100,2.99,-01,-5.32,66,14500,4000*5A

2021-08-16T00:10:57.913Z,1629072657.913 [SBIT](IMPORTANT): Beginning Startup BIT
2021-08-16T00:10:57.921Z,1629072657.921 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-16T00:11:05.099Z,1629072665.099 [NAL9602](INFO): NAL9602 initialized
2021-08-16T00:11:08.870Z,1629072668.870 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005888
CHAN A1 (24V): -0.024218
CHAN A2 (12V): -0.005938
CHAN A3 (5V): -0.001516
CHAN B0 (3.3V): 0.000643
CHAN B1 (3.15aV): 0.000390
CHAN B2 (3.15bV): 0.000858
CHAN B3 (GND): 0.002059
OPEN: 0.006126
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-16T00:11:37.412Z,1629072697.412 [NAL9602](INFO): SBD MO Status=2, MOMSN=24182, MT Status=2, MTMSN=0
2021-08-16T00:11:37.412Z,1629072697.412 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-16T00:11:47.512Z,1629072707.512 [NAL9602](INFO): SBD MO Status=0, MOMSN=24182, MT Status=0, MTMSN=0
2021-08-16T00:11:47.512Z,1629072707.512 [NAL9602](INFO): No messages in MT queue
2021-08-16T00:11:48.729Z,1629072708.729 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001147.00,A,4133.29986,N,07042.75178,W,0.428,0.00,160821,,,A*79
2021-08-16T00:11:48.740Z,1629072708.740 [NAL9602](INFO): GPS fix at 20210816T001147: (41.554998, -70.712530)
2021-08-16T00:11:52.011Z,1629072712.011 [SBIT](IMPORTANT): SBIT PASSED
2021-08-16T00:11:52.011Z,1629072712.011 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-16T00:11:52.012Z,1629072712.012 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-16T00:11:52.012Z,1629072712.012 [SBIT](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_salinity 0.200000 practical_salinity_unit;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 5.000000 kelvin;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): LineCapture.rolloutDistance=2000 meter;

2021-08-16T00:11:52.013Z,1629072712.013 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2021-08-16T00:11:52.014Z,1629072712.014 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=20 minute;

2021-08-16T00:11:52.014Z,1629072712.014 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2021-08-16T00:11:52.014Z,1629072712.014 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=152.268921 cubic_centimeter;

2021-08-16T00:11:52.014Z,1629072712.014 [SBIT](IMPORTANT): VerticalControl.massDefault=2.948202 millimeter;

2021-08-16T00:11:52.014Z,1629072712.014 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2021-08-16T00:11:52.402Z,1629072712.402 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2021-08-16T00:11:52.423Z,1629072712.423 [MissionManager](IMPORTANT): Started mission Startup
2021-08-16T00:11:52.423Z,1629072712.423 [Startup] Running Loop=1
2021-08-16T00:11:52.428Z,1629072712.428 [Startup](DEBUG): Aggregate::initialize Startup
2021-08-16T00:11:52.428Z,1629072712.428 [Startup:A.GoToSurface] Running Loop=1
2021-08-16T00:11:52.428Z,1629072712.428 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-16T00:11:52.429Z,1629072712.429 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-16T00:11:52.429Z,1629072712.429 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-16T00:11:52.429Z,1629072712.429 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-16T00:11:52.430Z,1629072712.430 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-16T00:11:52.430Z,1629072712.430 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-16T00:11:52.436Z,1629072712.436 [Startup:StartupSatComms] Running Loop=1
2021-08-16T00:11:52.436Z,1629072712.436 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-08-16T00:11:52.436Z,1629072712.436 [Startup:StartupSatComms:A] Running Loop=1
2021-08-16T00:11:52.814Z,1629072712.814 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-08-16T00:11:54.439Z,1629072714.439 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001153.00,A,4133.30033,N,07042.75250,W,0.525,0.00,160821,,,A*76
2021-08-16T00:11:54.442Z,1629072714.442 [NAL9602](INFO): GPS fix at 20210816T001153: (41.555006, -70.712542)
2021-08-16T00:11:54.460Z,1629072714.460 [Startup:StartupSatComms:A] Stopped
2021-08-16T00:11:54.460Z,1629072714.460 [Startup:StartupSatComms:B] Running Loop=1
2021-08-16T00:11:54.852Z,1629072714.852 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-16T00:12:13.389Z,1629072733.389 [NAL9602](INFO): SBD MO Status=1, MOMSN=24183, MT Status=0, MTMSN=0
2021-08-16T00:12:13.484Z,1629072733.484 [NAL9602](INFO): Sent 18 bytes from file Logs/20210816T000357/Courier0007.lzma
2021-08-16T00:12:13.485Z,1629072733.485 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:12:26.827Z,1629072746.827 [NAL9602](INFO): SBD MO Status=1, MOMSN=24184, MT Status=0, MTMSN=0
2021-08-16T00:12:26.876Z,1629072746.876 [NAL9602](INFO): Sent 184 bytes from file Logs/20210816T001014/Courier0000.lzma
2021-08-16T00:12:26.876Z,1629072746.876 [NAL9602](INFO): Packets left to send: 1
2021-08-16T00:12:37.703Z,1629072757.703 [NAL9602](INFO): SBD MO Status=1, MOMSN=24185, MT Status=0, MTMSN=0
2021-08-16T00:12:37.762Z,1629072757.762 [NAL9602](INFO): Sent 69 bytes from file Logs/20210816T001014/Courier0000.lzma
2021-08-16T00:12:37.763Z,1629072757.763 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:12:45.810Z,1629072765.810 [NAL9602](INFO): SBD MO Status=1, MOMSN=24186, MT Status=0, MTMSN=0
2021-08-16T00:12:45.863Z,1629072765.863 [NAL9602](INFO): Sent 18 bytes from file Logs/20210816T000357/Express0008.lzma
2021-08-16T00:12:45.863Z,1629072765.863 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:12:50.616Z,1629072770.616 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-16T00:12:51.042Z,1629072771.042 [Micromodem](INFO): Nmea in: $CACST,6,1,20210816001250.330787,06,1236,24,0090,0150,141,01,01,01,01,-1,-01,-01,1,3,1,0,150,26.2,0.84,-100,2.16,-01,-0.91,55,14500,4000*55

2021-08-16T00:12:54.675Z,1629072774.675 [Startup:StartupSatComms:B](INFO): Timed out from 2021-08-16T00:11:54.5Z
2021-08-16T00:12:54.675Z,1629072774.675 [Startup:StartupSatComms:B] Stopped
2021-08-16T00:12:54.676Z,1629072774.676 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-08-16T00:12:54.676Z,1629072774.676 [Startup:StartupSatComms] Stopped
2021-08-16T00:12:54.676Z,1629072774.676 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-08-16T00:12:54.677Z,1629072774.677 [Startup](INFO): Completed Startup
2021-08-16T00:12:54.677Z,1629072774.677 [MissionManager](INFO): Startup is completed.
2021-08-16T00:12:54.677Z,1629072774.677 [MissionManager](INFO): Uninitializing Mission Startup
2021-08-16T00:12:54.677Z,1629072774.677 [Startup] Stopped
2021-08-16T00:12:54.677Z,1629072774.677 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-08-16T00:12:54.678Z,1629072774.678 [Startup:A.GoToSurface] Stopped
2021-08-16T00:12:54.678Z,1629072774.678 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-16T00:12:55.085Z,1629072775.085 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-16T00:12:55.085Z,1629072775.085 [DefaultWithUndock] Running Loop=1
2021-08-16T00:12:55.085Z,1629072775.085 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-16T00:12:55.085Z,1629072775.085 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-16T00:12:55.085Z,1629072775.085 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-16T00:13:00.320Z,1629072780.320 [NAL9602](INFO): SBD MO Status=1, MOMSN=24187, MT Status=0, MTMSN=0
2021-08-16T00:13:00.369Z,1629072780.369 [NAL9602](INFO): Sent 184 bytes from file Logs/20210816T001014/Express0001.lzma
2021-08-16T00:13:00.369Z,1629072780.369 [NAL9602](INFO): Packets left to send: 5
2021-08-16T00:13:25.207Z,1629072805.207 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-16T00:13:25.207Z,1629072805.207 [DefaultWithUndock:A.Wait] Stopped
2021-08-16T00:13:25.207Z,1629072805.207 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-16T00:13:25.208Z,1629072805.208 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-16T00:13:25.208Z,1629072805.208 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-16T00:13:25.208Z,1629072805.208 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-16T00:13:25.208Z,1629072805.208 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-16T00:13:25.208Z,1629072805.208 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-16T00:13:25.209Z,1629072805.209 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-16T00:13:25.209Z,1629072805.209 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:13:25.622Z,1629072805.622 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-16T00:13:25.995Z,1629072805.995 [PowerOnly](INFO): Powering up loadControl
2021-08-16T00:13:28.098Z,1629072808.098 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:13:28.457Z,1629072808.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:13:28.457Z,1629072808.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:13:28.457Z,1629072808.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:13:28.459Z,1629072808.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:13:28.964Z,1629072808.964 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2021-08-16T00:13:28.965Z,1629072808.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:13:28.965Z,1629072808.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:13:28.967Z,1629072808.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:13:29.077Z,1629072809.077 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-16T00:13:29.292Z,1629072809.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:13:29.332Z,1629072809.332 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-16T00:13:30.474Z,1629072810.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,02316,188,80,80,AD,FF
2021-08-16T00:13:30.475Z,1629072810.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:13:30.478Z,1629072810.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001329.66*57

2021-08-16T00:13:30.957Z,1629072810.957 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-16T00:13:33.313Z,1629072813.313 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:13:33.711Z,1629072813.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:13:33.711Z,1629072813.711 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:13:33.712Z,1629072813.712 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:13:33.713Z,1629072813.713 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:13:34.106Z,1629072814.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,02316,188,80,80,AD,FF
2021-08-16T00:13:34.106Z,1629072814.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:13:34.106Z,1629072814.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:13:34.108Z,1629072814.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:13:34.517Z,1629072814.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:13:35.334Z,1629072815.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001334.79*55

2021-08-16T00:13:35.727Z,1629072815.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,02329,189,80,80,B2,FF
2021-08-16T00:13:35.728Z,1629072815.728 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:13:38.576Z,1629072818.576 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:13:38.962Z,1629072818.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:13:38.962Z,1629072818.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:13:38.962Z,1629072818.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:13:38.963Z,1629072818.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:13:39.361Z,1629072819.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,02329,189,80,80,B2,FF
2021-08-16T00:13:39.361Z,1629072819.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:13:39.362Z,1629072819.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:13:39.363Z,1629072819.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:13:39.808Z,1629072819.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:13:40.596Z,1629072820.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001340.06*5E

2021-08-16T00:13:40.973Z,1629072820.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,0233B,189,80,80,A9,FF
2021-08-16T00:13:40.974Z,1629072820.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:13:43.907Z,1629072823.907 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:13:44.213Z,1629072824.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:13:44.213Z,1629072824.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:13:44.213Z,1629072824.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:13:44.214Z,1629072824.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:13:44.681Z,1629072824.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,0233B,189,80,80,A9,FF
2021-08-16T00:13:44.681Z,1629072824.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:13:44.681Z,1629072824.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:13:44.683Z,1629072824.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:13:45.037Z,1629072825.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:13:45.860Z,1629072825.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,01BA6,189,80,80,A4,FF
2021-08-16T00:13:45.861Z,1629072825.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:13:45.866Z,1629072825.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001345.37*59

2021-08-16T00:13:48.167Z,1629072828.167 [DataOverHttps](IMPORTANT): SBD MTMSN=20210816T001347
2021-08-16T00:13:48.171Z,1629072828.171 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005394
2021-08-16T00:13:48.680Z,1629072828.680 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:13:49.053Z,1629072829.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:13:49.053Z,1629072829.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:13:49.053Z,1629072829.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:13:49.054Z,1629072829.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:13:49.453Z,1629072829.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,01BA6,189,80,80,A4,FF
2021-08-16T00:13:49.453Z,1629072829.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:13:49.454Z,1629072829.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:13:49.455Z,1629072829.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:13:49.550Z,1629072829.550 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 387.18 m. Transitioning DDM to standby.
2021-08-16T00:13:49.877Z,1629072829.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:13:50.694Z,1629072830.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,001350.14*5C

2021-08-16T00:13:51.493Z,1629072831.493 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:13:51.967Z,1629072831.967 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-16T00:13:52.184Z,1629072832.184 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2tv78 1 2
2021-08-16T00:13:52.261Z,1629072832.261 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2tv78 1 2.000000
2021-08-16T00:13:52.262Z,1629072832.262 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tv78
2021-08-16T00:13:52.263Z,1629072832.263 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='2tv78'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" ASAP
2021-08-16T00:13:52.299Z,1629072832.299 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-16T00:13:52.299Z,1629072832.299 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:LeaveDock] Stopped
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-16T00:13:52.321Z,1629072832.321 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-16T00:13:52.322Z,1629072832.322 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-16T00:13:52.322Z,1629072832.322 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-16T00:13:52.322Z,1629072832.322 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-16T00:13:52.322Z,1629072832.322 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-16T00:13:52.322Z,1629072832.322 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-16T00:13:52.322Z,1629072832.322 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-16T00:13:52.323Z,1629072832.323 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-16T00:13:52.323Z,1629072832.323 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-16T00:13:52.323Z,1629072832.323 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-16T00:13:52.328Z,1629072832.328 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-16T00:13:52.688Z,1629072832.688 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-16T00:13:52.688Z,1629072832.688 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-16T00:13:52.689Z,1629072832.689 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-16T00:13:52.689Z,1629072832.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-16T00:13:52.689Z,1629072832.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-16T00:13:52.689Z,1629072832.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-16T00:13:52.689Z,1629072832.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-16T00:13:53.116Z,1629072833.116 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-16T00:13:53.186Z,1629072833.186 [DataOverHttps](IMPORTANT): SBD MTMSN=20210816T001352
2021-08-16T00:13:54.691Z,1629072834.691 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,001353.00,A,4133.30803,N,07042.76766,W,0.797,243.72,160821,,,A*77
2021-08-16T00:13:54.703Z,1629072834.703 [NAL9602](INFO): GPS fix at 20210816T001353: (41.555134, -70.712794)
2021-08-16T00:13:54.715Z,1629072834.715 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-16T00:13:54.715Z,1629072834.715 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-16T00:13:55.139Z,1629072835.139 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-16T00:13:58.207Z,1629072838.207 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20210816T001014/Courier0004.lzma
2021-08-16T00:13:58.210Z,1629072838.210 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tv78 2 2
2021-08-16T00:13:58.281Z,1629072838.281 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tv78 2 2.000000
2021-08-16T00:13:58.281Z,1629072838.281 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tv78
2021-08-16T00:13:58.282Z,1629072838.282 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='2tv78'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-16T00:13:58.388Z,1629072838.388 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-16T00:13:58.388Z,1629072838.388 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-16T00:13:58.609Z,1629072838.609 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-16T00:13:58.612Z,1629072838.612 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-16T00:13:58.618Z,1629072838.618 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-16T00:13:58.623Z,1629072838.623 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-16T00:13:58.626Z,1629072838.626 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-16T00:13:58.630Z,1629072838.630 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-16T00:13:58.635Z,1629072838.635 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-16T00:13:58.676Z,1629072838.676 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-16T00:13:58.688Z,1629072838.688 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-16T00:13:58.691Z,1629072838.691 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-16T00:13:58.698Z,1629072838.698 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-16T00:13:58.702Z,1629072838.702 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-16T00:13:58.713Z,1629072838.713 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-16T00:13:58.718Z,1629072838.718 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-16T00:13:58.730Z,1629072838.730 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-16T00:13:58.730Z,1629072838.730 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-16T00:13:59.162Z,1629072839.162 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-16T00:13:59.166Z,1629072839.166 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-16T00:13:59.169Z,1629072839.169 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-16T00:13:59.172Z,1629072839.172 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-16T00:13:59.174Z,1629072839.174 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-16T00:13:59.197Z,1629072839.197 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-16T00:13:59.203Z,1629072839.203 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-16T00:13:59.246Z,1629072839.246 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-16T00:13:59.277Z,1629072839.277 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-16T00:13:59.296Z,1629072839.296 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-16T00:13:59.299Z,1629072839.299 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-16T00:13:59.326Z,1629072839.326 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-16T00:13:59.339Z,1629072839.339 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-16T00:13:59.358Z,1629072839.358 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-16T00:13:59.380Z,1629072839.380 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-16T00:13:59.392Z,1629072839.392 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-16T00:13:59.404Z,1629072839.404 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-16T00:13:59.420Z,1629072839.420 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-16T00:13:59.432Z,1629072839.432 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-16T00:13:59.444Z,1629072839.444 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-16T00:13:59.456Z,1629072839.456 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-16T00:13:59.459Z,1629072839.459 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-16T00:13:59.471Z,1629072839.471 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-16T00:13:59.482Z,1629072839.482 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-16T00:13:59.495Z,1629072839.495 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-16T00:13:59.498Z,1629072839.498 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-16T00:13:59.510Z,1629072839.510 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-16T00:13:59.518Z,1629072839.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-16T00:13:59.537Z,1629072839.537 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-16T00:13:59.545Z,1629072839.545 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-16T00:13:59.556Z,1629072839.556 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-16T00:13:59.561Z,1629072839.561 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-16T00:13:59.569Z,1629072839.569 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-16T00:13:59.580Z,1629072839.580 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-16T00:13:59.583Z,1629072839.583 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-16T00:13:59.595Z,1629072839.595 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-16T00:13:59.606Z,1629072839.606 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-16T00:13:59.614Z,1629072839.614 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-16T00:13:59.682Z,1629072839.682 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-16T00:13:59.691Z,1629072839.691 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-16T00:13:59.734Z,1629072839.734 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-16T00:13:59.784Z,1629072839.784 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-16T00:13:59.809Z,1629072839.809 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-16T00:13:59.834Z,1629072839.834 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-16T00:13:59.853Z,1629072839.853 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-16T00:13:59.861Z,1629072839.861 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-16T00:13:59.875Z,1629072839.875 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-16T00:13:59.885Z,1629072839.885 [DataOverHttps](INFO): Moved sent file to Logs/20210816T001014/Courier0004.lzma.bak
2021-08-16T00:13:59.886Z,1629072839.886 [DataOverHttps](IMPORTANT): SBD MOMSN=445160, MTMSN=20210816T001358
2021-08-16T00:13:59.891Z,1629072839.891 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-16T00:13:59.905Z,1629072839.905 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-16T00:13:59.910Z,1629072839.910 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-16T00:13:59.914Z,1629072839.914 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-16T00:13:59.918Z,1629072839.918 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-16T00:13:59.930Z,1629072839.930 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-16T00:13:59.934Z,1629072839.934 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-16T00:13:59.945Z,1629072839.945 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-16T00:13:59.949Z,1629072839.949 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-16T00:13:59.961Z,1629072839.961 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-16T00:13:59.968Z,1629072839.968 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-16T00:13:59.976Z,1629072839.976 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-16T00:13:59.984Z,1629072839.984 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-16T00:13:59.987Z,1629072839.987 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-16T00:13:59.998Z,1629072839.998 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-16T00:14:00.002Z,1629072840.002 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-16T00:14:00.010Z,1629072840.010 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-16T00:14:00.130Z,1629072840.130 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:14:00.187Z,1629072840.187 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-16T00:14:00.269Z,1629072840.269 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:14:00.321Z,1629072840.321 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:14:00.337Z,1629072840.337 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-16T00:14:00.352Z,1629072840.352 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:14:00.365Z,1629072840.365 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:14:00.382Z,1629072840.382 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-16T00:14:00.480Z,1629072840.480 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-16T00:14:00.546Z,1629072840.546 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-16T00:14:00.561Z,1629072840.561 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-16T00:14:00.573Z,1629072840.573 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-16T00:14:00.574Z,1629072840.574 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-16T00:14:00.613Z,1629072840.613 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-16T00:14:00.677Z,1629072840.677 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-16T00:14:00.721Z,1629072840.721 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-16T00:14:00.830Z,1629072840.830 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-16T00:14:00.887Z,1629072840.887 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-16T00:14:00.903Z,1629072840.903 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-16T00:14:00.919Z,1629072840.919 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-16T00:14:00.930Z,1629072840.930 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-16T00:14:00.951Z,1629072840.951 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-16T00:14:00.969Z,1629072840.969 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-16T00:14:01.005Z,1629072841.005 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:14:01.070Z,1629072841.070 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-16T00:14:01.106Z,1629072841.106 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-16T00:14:01.110Z,1629072841.110 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-16T00:14:01.127Z,1629072841.127 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-16T00:14:01.158Z,1629072841.158 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-16T00:14:01.545Z,1629072841.545 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-16T00:14:01.549Z,1629072841.549 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-16T00:14:01.557Z,1629072841.557 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-16T00:14:01.565Z,1629072841.565 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-16T00:14:01.571Z,1629072841.571 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-16T00:14:01.575Z,1629072841.575 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-16T00:14:01.583Z,1629072841.583 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-16T00:14:01.591Z,1629072841.591 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-16T00:14:01.599Z,1629072841.599 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-16T00:14:01.607Z,1629072841.607 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-16T00:14:01.615Z,1629072841.615 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-16T00:14:01.618Z,1629072841.618 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-16T00:14:01.622Z,1629072841.622 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-16T00:14:01.637Z,1629072841.637 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-16T00:14:01.689Z,1629072841.689 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-16T00:14:01.713Z,1629072841.713 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-16T00:14:01.738Z,1629072841.738 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-16T00:14:01.771Z,1629072841.771 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-16T00:14:01.791Z,1629072841.791 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-16T00:14:01.799Z,1629072841.799 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-16T00:14:01.807Z,1629072841.807 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-16T00:14:01.818Z,1629072841.818 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-16T00:14:01.822Z,1629072841.822 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-16T00:14:01.826Z,1629072841.826 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-16T00:14:01.844Z,1629072841.844 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-16T00:14:01.856Z,1629072841.856 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-16T00:14:01.862Z,1629072841.862 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-16T00:14:01.904Z,1629072841.904 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-16T00:14:01.912Z,1629072841.912 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-16T00:14:01.915Z,1629072841.915 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-16T00:14:01.921Z,1629072841.921 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-16T00:14:01.937Z,1629072841.937 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-16T00:14:01.956Z,1629072841.956 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-16T00:14:02.003Z,1629072842.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-16T00:14:02.033Z,1629072842.033 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-16T00:14:02.094Z,1629072842.094 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-16T00:14:02.094Z,1629072842.094 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:14:02.179Z,1629072842.179 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-16T00:14:02.187Z,1629072842.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-16T00:14:02.219Z,1629072842.219 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-16T00:14:02.254Z,1629072842.254 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-16T00:14:02.270Z,1629072842.270 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-16T00:14:02.295Z,1629072842.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-16T00:14:02.318Z,1629072842.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-16T00:14:02.348Z,1629072842.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-16T00:14:02.349Z,1629072842.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-16T00:14:02.361Z,1629072842.361 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-16T00:14:02.374Z,1629072842.374 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-16T00:14:02.423Z,1629072842.423 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-16T00:14:02.427Z,1629072842.427 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-16T00:14:02.439Z,1629072842.439 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-16T00:14:02.443Z,1629072842.443 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-16T00:14:02.495Z,1629072842.495 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-16T00:14:02.595Z,1629072842.595 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-16T00:14:02.595Z,1629072842.595 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-16T00:14:02.631Z,1629072842.631 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-16T00:14:02.631Z,1629072842.631 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:14:02.733Z,1629072842.733 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Dock="Tethys/Dock"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    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/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="lineCaptureDepth">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data (4) Dock: final approach using fixed heading.
    </Description>

<!-- Define mission arguments -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </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="NumPingsUSBL"><Description>
        Number of pings requested while in USBL mode range.
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="RangeUSBL"><Description>
        USBL mode range.
    </Description><Units:meter/><Value>40</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>

<!-- Mission Variables (don't change) -->

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change). The mission sets this variable to
        reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <DefineOutput Name="NumPings"><Description>
        Mission variable (don't change). The mission sets this variable to
        update the requested ping number and enter usbl mode.
    </Description><Units:count/><Value>1</Value></DefineOutput>

<!-- Mission 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>
    </Insert>

<!-- Safety nets and surfacing behaviors -->

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

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

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

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

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

<!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

<!-- Add track acoustic contact directive high in the stack. -->

    <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumberOfPings"/></Assign>

    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
        <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumPings"/></Setting>
        <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:TrackAcousticContact>

<!-- Add LineCapture directives. -->

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

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

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

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

<!-- Add SetNav directives. -->

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

<!-- Add USBL mode directives. -->

    <Aggregate Id="UpdateNumPings_NotTerminal">

        <While>
            <Not><Arg Name="LineCapture:GuidanceMode"/><Eq><Arg Name="LineCapture:Terminal"/></Eq></Not>
            <And><Not><Arg Name="NumPings"/><Eq><Arg Name="NumberOfPings"/></Eq></Not></And>
        </While>

        <Syslog Severity="Info">No longer in Terminal. Resuming normal ranging with <Arg Name="NumberOfPings"/><Units:count/>pings.</Syslog>

        <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>


    <Aggregate Id="UpdateNumPings_Terminal">

        <While>
            <Arg Name="LineCapture:GuidanceMode"/><Eq><Arg Name="LineCapture:Terminal"/></Eq>
        </While>

        <Aggregate Id="UpdateNumPingsUSBL">

            <When>
                <Arg Name="LineCapture:Range"/><Lt><Arg Name="RangeUSBL"/></Lt>
                <And><Not><Arg Name="NumPings"/><Eq><Arg Name="NumPingsUSBL"/></Eq></Not></And>
            </When>

            <Syslog Severity="Info">Entering USBL mode with <Arg Name="NumPingsUSBL"/><Units:count/>pings.</Syslog>

            <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumPingsUSBL"/></Assign>

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

            <When>
                <Arg Name="LineCapture:Range"/><Ge><Arg Name="RangeUSBL"/></Ge>
                <And><Not><Arg Name="NumPings"/><Eq><Arg Name="NumberOfPings"/></Eq></Not></And>
            </When>

            <Syslog Severity="Info">Resuming normal ranging with <Arg Name="NumberOfPings"/><Units:count/>pings.</Syslog>

            <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumberOfPings"/></Assign>

        </Aggregate>
    </Aggregate>


<!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

<!-- Execute the LineCapture sequence. -->

        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Docked">

            <Sequence/>

            <Break><Arg Name="Mode"/>
                <Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked Id="Docked">
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">

                <Sequence/>

                <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Undock Id="Undock">
                    <Sequence/>
                </Guidance:Undock>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2021-08-16T00:14:02.733Z,1629072842.733 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-16T00:14:04.234Z,1629072844.234 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutSpeed 1 m/s persist
2021-08-16T00:14:17.611Z,1629072857.611 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 150.000000 minute
2021-08-16T00:14:17.612Z,1629072857.612 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-16T00:14:17.613Z,1629072857.613 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-16T00:14:17.614Z,1629072857.614 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-16T00:14:17.620Z,1629072857.620 [CommandLine](IMPORTANT): got command configSet list
2021-08-16T00:14:17.620Z,1629072857.620 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-16T00:14:17.622Z,1629072857.622 [CommandLine](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-16T00:14:17.622Z,1629072857.622 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-16T00:14:17.623Z,1629072857.623 [CommandLine](IMPORTANT): Express linearApproximation CTD_Seabird.b