2021-08-16T00:29:00.934Z,1629073740.934 [Supervisor](DEBUG): Initializing supervisor.
2021-08-16T00:29:00.938Z,1629073740.938 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-08-16T00:29:00.939Z,1629073740.939 [SyncHandler](INFO): Protected caller Thread ID is 834
2021-08-16T00:29:00.939Z,1629073740.939 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-08-16T00:29:00.940Z,1629073740.940 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-08-16T00:29:00.940Z,1629073740.940 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 835
2021-08-16T00:29:00.945Z,1629073740.945 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-08-16T00:29:00.965Z,1629073740.965 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-08-16T00:29:00.966Z,1629073740.966 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-08-16T00:29:00.966Z,1629073740.966 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 836
2021-08-16T00:29:00.968Z,1629073740.968 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-08-16T00:29:00.969Z,1629073740.969 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-08-16T00:29:00.970Z,1629073740.970 [logger ThreadHandler](INFO): Protected caller Thread ID is 837
2021-08-16T00:29:00.974Z,1629073740.974 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-08-16T00:29:00.974Z,1629073740.974 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-08-16T00:29:00.979Z,1629073740.979 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-08-16T00:29:01.403Z,1629073741.403 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-08-16T00:29:01.403Z,1629073741.403 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-08-16T00:29:01.483Z,1629073741.483 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-08-16T00:29:01.818Z,1629073741.818 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-08-16T00:29:01.820Z,1629073741.820 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-08-16T00:29:01.930Z,1629073741.930 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-08-16T00:29:01.931Z,1629073741.931 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-08-16T00:29:02.134Z,1629073742.134 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-08-16T00:29:02.136Z,1629073742.136 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-08-16T00:29:02.666Z,1629073742.666 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-08-16T00:29:02.668Z,1629073742.668 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-08-16T00:29:02.912Z,1629073742.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-08-16T00:29:02.914Z,1629073742.914 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-08-16T00:29:03.070Z,1629073743.070 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-08-16T00:29:03.071Z,1629073743.071 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-08-16T00:29:03.266Z,1629073743.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-08-16T00:29:03.266Z,1629073743.266 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-08-16T00:29:03.364Z,1629073743.364 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-08-16T00:29:03.365Z,1629073743.365 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-08-16T00:29:03.609Z,1629073743.609 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-08-16T00:29:03.609Z,1629073743.609 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-08-16T00:29:03.997Z,1629073743.997 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-08-16T00:29:03.997Z,1629073743.997 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-08-16T00:29:04.079Z,1629073744.079 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-08-16T00:29:04.210Z,1629073744.210 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-08-16T00:29:04.779Z,1629073744.779 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-08-16T00:29:05.553Z,1629073745.553 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-08-16T00:29:05.555Z,1629073745.555 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-08-16T00:29:05.937Z,1629073745.937 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-08-16T00:29:05.939Z,1629073745.939 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-08-16T00:29:05.943Z,1629073745.943 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-08-16T00:29:06.148Z,1629073746.148 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-08-16T00:29:06.252Z,1629073746.252 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-08-16T00:29:06.353Z,1629073746.353 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-08-16T00:29:06.453Z,1629073746.453 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-08-16T00:29:06.719Z,1629073746.719 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-08-16T00:29:06.719Z,1629073746.719 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-08-16T00:29:06.806Z,1629073746.806 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-08-16T00:29:06.902Z,1629073746.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-08-16T00:29:07.029Z,1629073747.029 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-08-16T00:29:07.142Z,1629073747.142 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-08-16T00:29:07.228Z,1629073747.228 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-08-16T00:29:07.316Z,1629073747.316 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-08-16T00:29:07.426Z,1629073747.426 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-08-16T00:29:07.526Z,1629073747.526 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-08-16T00:29:07.725Z,1629073747.725 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-08-16T00:29:07.890Z,1629073747.890 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-08-16T00:29:07.909Z,1629073747.909 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-08-16T00:29:08.621Z,1629073748.621 [AHRS_M2] Loaded
2021-08-16T00:29:08.621Z,1629073748.621 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-08-16T00:29:08.866Z,1629073748.866 [BackseatComponent] Loaded
2021-08-16T00:29:08.866Z,1629073748.866 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-08-16T00:29:08.867Z,1629073748.867 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2021-08-16T00:29:08.868Z,1629073748.868 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 931
2021-08-16T00:29:08.870Z,1629073748.870 [LcmUniversalReporter] Loaded
2021-08-16T00:29:08.871Z,1629073748.871 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-08-16T00:29:09.959Z,1629073749.959 [BPC1] Loaded
2021-08-16T00:29:09.960Z,1629073749.960 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-08-16T00:29:10.250Z,1629073750.250 [DataOverHttps] Loaded
2021-08-16T00:29:10.250Z,1629073750.250 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-08-16T00:29:10.251Z,1629073750.251 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407CA4E0
2021-08-16T00:29:10.252Z,1629073750.252 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 932
2021-08-16T00:29:10.274Z,1629073750.274 [DDM] Loaded
2021-08-16T00:29:10.274Z,1629073750.274 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-08-16T00:29:10.294Z,1629073750.294 [Depth_Keller] Loaded
2021-08-16T00:29:10.294Z,1629073750.294 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-08-16T00:29:10.299Z,1629073750.299 [DropWeight] Loaded
2021-08-16T00:29:10.299Z,1629073750.299 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-08-16T00:29:10.345Z,1629073750.345 [DUSBL_Hydroid] Loaded
2021-08-16T00:29:10.345Z,1629073750.345 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-08-16T00:29:10.432Z,1629073750.432 [Micromodem] Loaded
2021-08-16T00:29:10.432Z,1629073750.432 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-08-16T00:29:10.497Z,1629073750.497 [NAL9602] Loaded
2021-08-16T00:29:10.498Z,1629073750.498 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-08-16T00:29:10.527Z,1629073750.527 [Onboard] Loaded
2021-08-16T00:29:10.528Z,1629073750.528 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-08-16T00:29:10.529Z,1629073750.529 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407FA4E0
2021-08-16T00:29:10.529Z,1629073750.529 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 933
2021-08-16T00:29:10.537Z,1629073750.537 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-08-16T00:29:10.548Z,1629073750.548 [PowerOnly] Loaded
2021-08-16T00:29:10.548Z,1629073750.548 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-08-16T00:29:10.559Z,1629073750.559 [Power24vConverter] Loaded
2021-08-16T00:29:10.560Z,1629073750.560 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-08-16T00:29:10.574Z,1629073750.574 [Radio_Surface] Loaded
2021-08-16T00:29:10.574Z,1629073750.574 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-08-16T00:29:10.576Z,1629073750.576 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4082A4E0
2021-08-16T00:29:10.576Z,1629073750.576 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 934
2021-08-16T00:29:10.620Z,1629073750.620 [RDI_Pathfinder] Loaded
2021-08-16T00:29:10.621Z,1629073750.621 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-08-16T00:29:10.648Z,1629073750.648 [RDI_PathfinderUp] Loaded
2021-08-16T00:29:10.648Z,1629073750.648 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-08-16T00:29:10.649Z,1629073750.649 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-08-16T00:29:10.650Z,1629073750.650 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-08-16T00:29:10.667Z,1629073750.667 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-08-16T00:29:10.667Z,1629073750.667 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-08-16T00:29:10.770Z,1629073750.770 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-08-16T00:29:10.770Z,1629073750.770 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-08-16T00:29:10.784Z,1629073750.784 [NavChart] Loaded
2021-08-16T00:29:10.784Z,1629073750.784 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-08-16T00:29:10.790Z,1629073750.790 [UniversalFixResidualReporter] Loaded
2021-08-16T00:29:10.791Z,1629073750.791 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-08-16T00:29:10.801Z,1629073750.801 [WorkSite] Loaded
2021-08-16T00:29:10.802Z,1629073750.802 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-08-16T00:29:10.802Z,1629073750.802 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-08-16T00:29:10.803Z,1629073750.803 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-08-16T00:29:10.927Z,1629073750.927 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-08-16T00:29:10.928Z,1629073750.928 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-08-16T00:29:11.094Z,1629073751.094 [BuoyancyServo] Loaded
2021-08-16T00:29:11.095Z,1629073751.095 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-08-16T00:29:11.117Z,1629073751.117 [ElevatorServo] Loaded
2021-08-16T00:29:11.117Z,1629073751.117 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-08-16T00:29:11.139Z,1629073751.139 [MassServo] Loaded
2021-08-16T00:29:11.139Z,1629073751.139 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-08-16T00:29:11.159Z,1629073751.159 [RudderServo] Loaded
2021-08-16T00:29:11.160Z,1629073751.160 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-08-16T00:29:11.179Z,1629073751.179 [ThrusterServo] Loaded
2021-08-16T00:29:11.180Z,1629073751.180 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-08-16T00:29:11.180Z,1629073751.180 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-08-16T00:29:11.181Z,1629073751.181 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-08-16T00:29:11.413Z,1629073751.413 [CTD_Seabird] Loaded
2021-08-16T00:29:11.413Z,1629073751.413 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-08-16T00:29:11.414Z,1629073751.414 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409544E0
2021-08-16T00:29:11.414Z,1629073751.414 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 935
2021-08-16T00:29:11.449Z,1629073751.449 [WetLabsSeaOWL_UV_A] Loaded
2021-08-16T00:29:11.449Z,1629073751.449 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-08-16T00:29:11.450Z,1629073751.450 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409844E0
2021-08-16T00:29:11.451Z,1629073751.451 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 936
2021-08-16T00:29:11.451Z,1629073751.451 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-08-16T00:29:11.452Z,1629073751.452 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-08-16T00:29:11.851Z,1629073751.851 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-08-16T00:29:11.853Z,1629073751.853 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-08-16T00:29:11.917Z,1629073751.917 [DepthRateCalculator] Loaded
2021-08-16T00:29:11.917Z,1629073751.917 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-08-16T00:29:11.923Z,1629073751.923 [PitchRateCalculator] Loaded
2021-08-16T00:29:11.923Z,1629073751.923 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-08-16T00:29:11.932Z,1629073751.932 [SpeedCalculator] Loaded
2021-08-16T00:29:11.933Z,1629073751.933 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-08-16T00:29:11.947Z,1629073751.947 [TempGradientCalculator] Loaded
2021-08-16T00:29:11.947Z,1629073751.947 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-08-16T00:29:11.952Z,1629073751.952 [YawRateCalculator] Loaded
2021-08-16T00:29:11.952Z,1629073751.952 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-08-16T00:29:11.975Z,1629073751.975 [ElevatorOffsetCalculator] Loaded
2021-08-16T00:29:11.975Z,1629073751.975 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-08-16T00:29:11.975Z,1629073751.975 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-08-16T00:29:11.976Z,1629073751.976 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-08-16T00:29:12.161Z,1629073752.161 [SBIT](DEBUG): Construct Startup Built In Test.
2021-08-16T00:29:12.174Z,1629073752.174 [SBIT] Loaded
2021-08-16T00:29:12.174Z,1629073752.174 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-08-16T00:29:12.177Z,1629073752.177 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-08-16T00:29:12.190Z,1629073752.190 [IBIT] Loaded
2021-08-16T00:29:12.191Z,1629073752.191 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-08-16T00:29:12.196Z,1629073752.196 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-08-16T00:29:12.302Z,1629073752.302 [CBIT] Loaded
2021-08-16T00:29:12.303Z,1629073752.303 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-08-16T00:29:12.303Z,1629073752.303 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-08-16T00:29:12.304Z,1629073752.304 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-08-16T00:29:12.389Z,1629073752.389 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-08-16T00:29:12.390Z,1629073752.390 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-08-16T00:29:12.531Z,1629073752.531 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-08-16T00:29:12.532Z,1629073752.532 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-08-16T00:29:12.607Z,1629073752.607 [VerticalControl](DEBUG): Construct VerticalControl.
2021-08-16T00:29:12.662Z,1629073752.662 [VerticalControl] Loaded
2021-08-16T00:29:12.662Z,1629073752.662 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-08-16T00:29:12.665Z,1629073752.665 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-08-16T00:29:12.703Z,1629073752.703 [HorizontalControl] Loaded
2021-08-16T00:29:12.703Z,1629073752.703 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-08-16T00:29:12.706Z,1629073752.706 [SpeedControl](DEBUG): Construct SpeedControl.
2021-08-16T00:29:12.708Z,1629073752.708 [SpeedControl] Loaded
2021-08-16T00:29:12.708Z,1629073752.708 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-08-16T00:29:12.711Z,1629073752.711 [LoopControl](DEBUG): Construct LoopControl.
2021-08-16T00:29:12.711Z,1629073752.711 [LoopControl] Loaded
2021-08-16T00:29:12.712Z,1629073752.712 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-08-16T00:29:12.712Z,1629073752.712 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-08-16T00:29:12.713Z,1629073752.713 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-08-16T00:29:12.757Z,1629073752.757 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-08-16T00:29:12.763Z,1629073752.763 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-08-16T00:29:12.766Z,1629073752.766 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-08-16T00:29:12.777Z,1629073752.777 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-08-16T00:29:12.778Z,1629073752.778 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B324E0
2021-08-16T00:29:12.779Z,1629073752.779 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 937
2021-08-16T00:29:12.783Z,1629073752.783 [Supervisor](INFO): Main Thread ID is 828
2021-08-16T00:29:12.783Z,1629073752.783 [Supervisor](DEBUG): Running supervisor.
2021-08-16T00:29:12.784Z,1629073752.784 [CommandLine ThreadHandler](INFO): Handler Thread ID is 938
2021-08-16T00:29:12.786Z,1629073752.786 [controlThread ThreadHandler](INFO): Handler Thread ID is 939
2021-08-16T00:29:12.787Z,1629073752.787 [controlThread](DEBUG): Initializing ControlThread
2021-08-16T00:29:12.792Z,1629073752.792 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-08-16T00:29:12.793Z,1629073752.793 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-08-16T00:29:12.793Z,1629073752.793 [WorkSite](DEBUG): Initializing WorkSite component.
2021-08-16T00:29:12.794Z,1629073752.794 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-08-16T00:29:12.795Z,1629073752.795 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-08-16T00:29:12.795Z,1629073752.795 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-08-16T00:29:12.795Z,1629073752.795 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-08-16T00:29:12.796Z,1629073752.796 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-08-16T00:29:12.796Z,1629073752.796 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-08-16T00:29:12.797Z,1629073752.797 [SBIT](INFO): Initialize SBIT Component.
2021-08-16T00:29:12.798Z,1629073752.798 [SBIT](IMPORTANT): git: 2021-08-12
2021-08-16T00:29:12.798Z,1629073752.798 [SBIT](INFO): git hash: 4ac1c7994e02762939ba6e7c4596a90b7f61f056
2021-08-16T00:29:12.798Z,1629073752.798 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-08-16T00:29:12.799Z,1629073752.799 [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
2021-08-16T00:29:12.801Z,1629073752.801 [SBIT](INFO): Beginning SBIT in 31.000000 seconds.
2021-08-16T00:29:12.801Z,1629073752.801 [IBIT](INFO): Initialize IBIT Component.
2021-08-16T00:29:12.802Z,1629073752.802 [CBIT](DEBUG): Initialize CBIT Component.
2021-08-16T00:29:12.803Z,1629073752.803 [logger ThreadHandler](INFO): Handler Thread ID is 940
2021-08-16T00:29:12.813Z,1629073752.813 [CBIT](DEBUG): Initialized mux pins.
2021-08-16T00:29:12.813Z,1629073752.813 [CBIT](DEBUG): Initializing the watchdog timer.
2021-08-16T00:29:12.821Z,1629073752.821 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 941
2021-08-16T00:29:12.833Z,1629073752.833 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 942
2021-08-16T00:29:12.834Z,1629073752.834 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-08-16T00:29:12.837Z,1629073752.837 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-08-16T00:29:12.838Z,1629073752.838 [CBIT](DEBUG): Initializing heartbeat.
2021-08-16T00:29:12.845Z,1629073752.845 [Onboard ThreadHandler](INFO): Handler Thread ID is 943
2021-08-16T00:29:12.869Z,1629073752.869 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 944
2021-08-16T00:29:12.886Z,1629073752.886 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 945
2021-08-16T00:29:12.886Z,1629073752.886 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-08-16T00:29:12.891Z,1629073752.891 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 947
2021-08-16T00:29:12.891Z,1629073752.891 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-16T00:29:12.909Z,1629073752.909 [CBIT](DEBUG): Deactivating GF circuits.
2021-08-16T00:29:12.909Z,1629073752.909 [CBIT](DEBUG): Deactivating emergency mode.
2021-08-16T00:29:12.910Z,1629073752.910 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 948
2021-08-16T00:29:12.918Z,1629073752.918 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-08-16T00:29:12.918Z,1629073752.918 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-08-16T00:29:12.919Z,1629073752.919 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-08-16T00:29:12.919Z,1629073752.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-08-16T00:29:12.919Z,1629073752.919 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-08-16T00:29:12.919Z,1629073752.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-08-16T00:29:12.919Z,1629073752.919 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-08-16T00:29:12.919Z,1629073752.919 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-08-16T00:29:12.920Z,1629073752.920 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-08-16T00:29:12.920Z,1629073752.920 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-08-16T00:29:12.920Z,1629073752.920 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-08-16T00:29:12.920Z,1629073752.920 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-08-16T00:29:12.920Z,1629073752.920 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-08-16T00:29:12.921Z,1629073752.921 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-08-16T00:29:12.921Z,1629073752.921 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-08-16T00:29:12.921Z,1629073752.921 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-08-16T00:29:12.945Z,1629073752.945 [CBIT](DEBUG): Backplane powered.
2021-08-16T00:29:12.945Z,1629073752.945 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-08-16T00:29:12.947Z,1629073752.947 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-08-16T00:29:12.948Z,1629073752.948 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-08-16T00:29:12.949Z,1629073752.949 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-08-16T00:29:12.950Z,1629073752.950 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-08-16T00:29:12.978Z,1629073752.978 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:29:13.006Z,1629073753.006 [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>


2021-08-16T00:29:13.006Z,1629073753.006 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-08-16T00:29:13.165Z,1629073753.165 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-08-16T00:29:13.186Z,1629073753.186 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-08-16T00:29:13.190Z,1629073753.190 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-08-16T00:29:13.203Z,1629073753.203 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-08-16T00:29:13.222Z,1629073753.222 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-08-16T00:29:13.226Z,1629073753.226 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-08-16T00:29:13.227Z,1629073753.227 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-08-16T00:29:13.273Z,1629073753.273 [Radio_Surface](INFO): Powering up
2021-08-16T00:29:13.353Z,1629073753.353 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-08-16T00:29:13.354Z,1629073753.354 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:29:13.434Z,1629073753.434 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:29:13.462Z,1629073753.462 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-08-16T00:29:13.465Z,1629073753.465 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-08-16T00:29:13.479Z,1629073753.479 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-08-16T00:29:13.513Z,1629073753.513 [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>


2021-08-16T00:29:13.526Z,1629073753.526 [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,
2021-08-16T00:29:13.537Z,1629073753.537 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-08-16T00:29:13.698Z,1629073753.698 [DDM](INFO): Powering up
2021-08-16T00:29:13.698Z,1629073753.698 [DDM](DEBUG): Initializing DDM.
2021-08-16T00:29:13.723Z,1629073753.723 [DUSBL_Hydroid](INFO): Powering up
2021-08-16T00:29:13.723Z,1629073753.723 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-08-16T00:29:13.738Z,1629073753.738 [Power24vConverter](INFO): Powering up.
2021-08-16T00:29:13.785Z,1629073753.785 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:29:13.794Z,1629073753.794 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-08-16T00:29:13.795Z,1629073753.795 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:29:13.801Z,1629073753.801 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-08-16T00:29:13.802Z,1629073753.802 [MassServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:29:13.809Z,1629073753.809 [MassServo](DEBUG): Initializing MassServo.
2021-08-16T00:29:13.810Z,1629073753.810 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:29:13.817Z,1629073753.817 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-16T00:29:13.818Z,1629073753.818 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:29:13.825Z,1629073753.825 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-16T00:29:13.956Z,1629073753.956 [Micromodem](INFO): Powering up
2021-08-16T00:29:13.956Z,1629073753.956 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-16T00:29:14.657Z,1629073754.657 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-08-16T00:29:14.657Z,1629073754.657 [RudderServo](FAULT): Rudder failed to initialize
2021-08-16T00:29:14.657Z,1629073754.657 [RudderServo] Communications Fault, FailCount= 1
2021-08-16T00:29:14.657Z,1629073754.657 [RudderServo](ERROR): Communications Fault
2021-08-16T00:29:14.757Z,1629073754.757 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-08-16T00:29:14.930Z,1629073754.930 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-08-16T00:29:14.930Z,1629073754.930 [RudderServo](INFO): Powering down
2021-08-16T00:29:15.586Z,1629073755.586 [RudderServo](DEBUG): Initializing EZServoServo.
2021-08-16T00:29:15.706Z,1629073755.706 [RudderServo](DEBUG): Initializing RudderServo.
2021-08-16T00:29:15.710Z,1629073755.710 [CBIT](INFO): Clearing failed state for component RudderServo
2021-08-16T00:29:15.710Z,1629073755.710 [RudderServo] No Fault, FailCount= 1
2021-08-16T00:29:18.848Z,1629073758.848 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-16T00:29:19.918Z,1629073759.918 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2021-08-16T00:29:22.072Z,1629073762.072 [Micromodem](INFO): Nmea in: $CATMG,2021-08-16T00:29:20.754180Z,RTC,RTC*58

2021-08-16T00:29:22.072Z,1629073762.072 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-08-16T00:29:20.754180Z,RTC,RTC*58

2021-08-16T00:29:29.311Z,1629073769.311 [DDM](INFO): Dynamic Docking Module:
2021-08-16T00:29:30.163Z,1629073770.163 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2021-08-16T00:29:30.931Z,1629073770.931 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-16T00:29:30.932Z,1629073770.932 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-16T00:29:31.335Z,1629073771.335 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-16T00:29:31.336Z,1629073771.336 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-16T00:29:31.739Z,1629073771.739 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-08-16T00:29:31.755Z,1629073771.755 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-16T00:29:31.755Z,1629073771.755 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-16T00:29:32.143Z,1629073772.143 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-16T00:29:32.144Z,1629073772.144 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-16T00:29:32.547Z,1629073772.547 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-16T00:29:32.547Z,1629073772.547 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-16T00:29:32.951Z,1629073772.951 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-16T00:29:32.951Z,1629073772.951 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-16T00:29:33.355Z,1629073773.355 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-16T00:29:33.355Z,1629073773.355 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-16T00:29:33.767Z,1629073773.767 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-16T00:29:33.768Z,1629073773.768 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,16,00,29,34*46

2021-08-16T00:29:34.167Z,1629073774.167 [Micromodem](INFO): Nmea in: $CACLK,2021,8,16,0,29,34*44

2021-08-16T00:29:34.568Z,1629073774.568 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-16T00:29:35Z*75

2021-08-16T00:29:34.569Z,1629073774.569 [Micromodem](INFO): Nmea in: $CATMG,2021-08-16T00:29:35.028448Z,USER_CMD,RTC*10

2021-08-16T00:29:40.627Z,1629073780.627 [NAL9602](INFO): Powering up NAL9602
2021-08-16T00:29:44.312Z,1629073784.312 [SBIT](IMPORTANT): Beginning Startup BIT
2021-08-16T00:29:44.320Z,1629073784.320 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-16T00:29:51.548Z,1629073791.548 [NAL9602](INFO): NAL9602 initialized
2021-08-16T00:29:55.239Z,1629073795.239 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006323
CHAN A1 (24V): -0.024480
CHAN A2 (12V): -0.005737
CHAN A3 (5V): -0.001568
CHAN B0 (3.3V): 0.000358
CHAN B1 (3.15aV): 0.000080
CHAN B2 (3.15bV): 0.000628
CHAN B3 (GND): 0.001950
OPEN: 0.008330
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-16T00:30:23.049Z,1629073823.049 [NAL9602](INFO): SBD MO Status=2, MOMSN=24194, MT Status=2, MTMSN=0
2021-08-16T00:30:23.049Z,1629073823.049 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-16T00:30:27.092Z,1629073827.092 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-16T00:30:27.097Z,1629073827.097 [Micromodem](INFO): Nmea in: $CACST,6,1,20210816003026.834732,06,743,22,1456,0150,134,04,04,01,04,-1,-01,-01,1,3,1,0,150,4.4,0.15,-100,2.85,-01,-2.37,57,14500,4000*55

2021-08-16T00:30:31.942Z,1629073831.942 [NAL9602](INFO): SBD MO Status=0, MOMSN=24194, MT Status=0, MTMSN=0
2021-08-16T00:30:31.942Z,1629073831.942 [NAL9602](INFO): No messages in MT queue
2021-08-16T00:30:38.486Z,1629073838.486 [SBIT](IMPORTANT): SBIT PASSED
2021-08-16T00:30:38.487Z,1629073838.487 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_salinity 0.200000 practical_salinity_unit;

2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 5.000000 kelvin;

2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2021-08-16T00:30:38.488Z,1629073838.488 [SBIT](IMPORTANT): LineCapture.navigationGain=nan none;

2021-08-16T00:30:38.489Z,1629073838.489 [SBIT](IMPORTANT): LineCapture.rolloutDistance=2000 meter;

2021-08-16T00:30:38.493Z,1629073838.493 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2021-08-16T00:30:38.493Z,1629073838.493 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=20 minute;

2021-08-16T00:30:38.493Z,1629073838.493 [SBIT](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2021-08-16T00:30:38.493Z,1629073838.493 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=152.268921 cubic_centimeter;

2021-08-16T00:30:38.493Z,1629073838.493 [SBIT](IMPORTANT): VerticalControl.massDefault=2.948202 millimeter;

2021-08-16T00:30:38.494Z,1629073838.494 [SBIT](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2021-08-16T00:30:38.845Z,1629073838.845 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2021-08-16T00:30:38.850Z,1629073838.850 [WorkSite](IMPORTANT): WorkSite fix at 20210816T002759: (41.555766, -70.714884)
2021-08-16T00:30:38.851Z,1629073838.851 [MissionManager](IMPORTANT): Started mission Startup
2021-08-16T00:30:38.851Z,1629073838.851 [Startup] Running Loop=1
2021-08-16T00:30:38.852Z,1629073838.852 [Startup](DEBUG): Aggregate::initialize Startup
2021-08-16T00:30:38.852Z,1629073838.852 [Startup:A.GoToSurface] Running Loop=1
2021-08-16T00:30:38.852Z,1629073838.852 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-16T00:30:38.852Z,1629073838.852 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-16T00:30:38.853Z,1629073838.853 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-16T00:30:38.854Z,1629073838.854 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-16T00:30:38.854Z,1629073838.854 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-16T00:30:38.855Z,1629073838.855 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-16T00:30:38.856Z,1629073838.856 [Startup:StartupSatComms] Running Loop=1
2021-08-16T00:30:38.856Z,1629073838.856 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-08-16T00:30:38.856Z,1629073838.856 [Startup:StartupSatComms:A] Running Loop=1
2021-08-16T00:30:39.271Z,1629073839.271 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-08-16T00:31:02.665Z,1629073862.665 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003101.00,A,4133.35289,N,07042.92243,W,0.330,291.63,160821,,,A*73
2021-08-16T00:31:02.669Z,1629073862.669 [NAL9602](INFO): GPS fix at 20210816T003101: (41.555881, -70.715374)
2021-08-16T00:31:02.679Z,1629073862.679 [Startup:StartupSatComms:A] Stopped
2021-08-16T00:31:02.679Z,1629073862.679 [Startup:StartupSatComms:B] Running Loop=1
2021-08-16T00:31:03.085Z,1629073863.085 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-16T00:31:24.861Z,1629073884.861 [NAL9602](INFO): SBD MO Status=1, MOMSN=24195, MT Status=0, MTMSN=0
2021-08-16T00:31:24.981Z,1629073884.981 [NAL9602](INFO): Sent 18 bytes from file Logs/20210816T001613/Courier0010.lzma
2021-08-16T00:31:24.982Z,1629073884.982 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:31:34.254Z,1629073894.254 [NAL9602](INFO): SBD MO Status=1, MOMSN=24196, MT Status=0, MTMSN=0
2021-08-16T00:31:34.305Z,1629073894.305 [NAL9602](INFO): Sent 184 bytes from file Logs/20210816T002900/Courier0000.lzma
2021-08-16T00:31:34.305Z,1629073894.305 [NAL9602](INFO): Packets left to send: 1
2021-08-16T00:31:45.231Z,1629073905.231 [NAL9602](INFO): SBD MO Status=1, MOMSN=24197, MT Status=0, MTMSN=0
2021-08-16T00:31:45.289Z,1629073905.289 [NAL9602](INFO): Sent 69 bytes from file Logs/20210816T002900/Courier0000.lzma
2021-08-16T00:31:45.289Z,1629073905.289 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:31:55.647Z,1629073915.647 [NAL9602](INFO): SBD MO Status=1, MOMSN=24198, MT Status=0, MTMSN=0
2021-08-16T00:31:55.697Z,1629073915.697 [NAL9602](INFO): Sent 18 bytes from file Logs/20210816T001613/Express0011.lzma
2021-08-16T00:31:55.697Z,1629073915.697 [NAL9602](INFO): Packets left to send: 0
2021-08-16T00:32:03.070Z,1629073923.070 [Startup:StartupSatComms:B](INFO): Timed out from 2021-08-16T00:31:02.7Z
2021-08-16T00:32:03.070Z,1629073923.070 [Startup:StartupSatComms:B] Stopped
2021-08-16T00:32:03.070Z,1629073923.070 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-08-16T00:32:03.070Z,1629073923.070 [Startup:StartupSatComms] Stopped
2021-08-16T00:32:03.071Z,1629073923.071 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-08-16T00:32:03.071Z,1629073923.071 [Startup](INFO): Completed Startup
2021-08-16T00:32:03.072Z,1629073923.072 [MissionManager](INFO): Startup is completed.
2021-08-16T00:32:03.072Z,1629073923.072 [MissionManager](INFO): Uninitializing Mission Startup
2021-08-16T00:32:03.072Z,1629073923.072 [Startup] Stopped
2021-08-16T00:32:03.072Z,1629073923.072 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-08-16T00:32:03.072Z,1629073923.072 [Startup:A.GoToSurface] Stopped
2021-08-16T00:32:03.072Z,1629073923.072 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-16T00:32:03.424Z,1629073923.424 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-16T00:32:03.424Z,1629073923.424 [DefaultWithUndock] Running Loop=1
2021-08-16T00:32:03.425Z,1629073923.425 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-16T00:32:03.425Z,1629073923.425 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-16T00:32:03.425Z,1629073923.425 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-16T00:32:19.573Z,1629073939.573 [NAL9602](INFO): SBD MO Status=2, MOMSN=24199, MT Status=2, MTMSN=0
2021-08-16T00:32:19.574Z,1629073939.574 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-16T00:32:23.226Z,1629073943.226 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-08-16T00:32:33.716Z,1629073953.716 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-16T00:32:33.716Z,1629073953.716 [DefaultWithUndock:A.Wait] Stopped
2021-08-16T00:32:33.716Z,1629073953.716 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-16T00:32:33.716Z,1629073953.716 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-16T00:32:33.717Z,1629073953.717 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-16T00:32:33.717Z,1629073953.717 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-16T00:32:33.717Z,1629073953.717 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-16T00:32:33.717Z,1629073953.717 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-16T00:32:33.718Z,1629073953.718 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-16T00:32:33.718Z,1629073953.718 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:32:34.126Z,1629073954.126 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-16T00:32:34.513Z,1629073954.513 [PowerOnly](INFO): Powering up loadControl
2021-08-16T00:32:36.330Z,1629073956.330 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:36.660Z,1629073956.660 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004582
2021-08-16T00:32:36.670Z,1629073956.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:32:36.670Z,1629073956.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:32:36.671Z,1629073956.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:32:36.672Z,1629073956.672 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:32:37.012Z,1629073957.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
O
2021-08-16T00:32:37.012Z,1629073957.012 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:32:37.012Z,1629073957.012 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:32:37.015Z,1629073957.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:32:37.111Z,1629073957.111 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-16T00:32:37.400Z,1629073957.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:32:37.440Z,1629073957.440 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-16T00:32:38.239Z,1629073958.239 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003237.75*59

2021-08-16T00:32:39.007Z,1629073959.007 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:40.698Z,1629073960.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2021-08-16T00:32:40.699Z,1629073960.699 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2021-08-16T00:32:40.699Z,1629073960.699 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-16T00:32:41.859Z,1629073961.859 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:42.264Z,1629073962.264 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:32:42.264Z,1629073962.264 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:32:42.264Z,1629073962.264 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:32:42.265Z,1629073962.265 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:32:42.626Z,1629073962.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2021-08-16T00:32:42.626Z,1629073962.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:32:42.627Z,1629073962.627 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:32:42.628Z,1629073962.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:32:43.049Z,1629073963.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:32:43.871Z,1629073963.871 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003243.36*5D

2021-08-16T00:32:44.650Z,1629073964.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C72,000,04543,189,80,80,46,FF
2021-08-16T00:32:44.651Z,1629073964.651 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:32:47.334Z,1629073967.334 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:47.722Z,1629073967.722 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:32:47.722Z,1629073967.722 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:32:47.723Z,1629073967.723 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:32:47.723Z,1629073967.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:32:48.122Z,1629073968.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C72,000,04543,189,80,80,46,FF
2021-08-16T00:32:48.122Z,1629073968.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:32:48.122Z,1629073968.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:32:48.124Z,1629073968.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:32:48.557Z,1629073968.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:32:49.359Z,1629073969.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003248.63*56

2021-08-16T00:32:49.814Z,1629073969.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFB,000,03398,188,80,80,50,FF
2021-08-16T00:32:49.814Z,1629073969.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-16T00:32:50.253Z,1629073970.253 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-16T00:32:52.613Z,1629073972.613 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:52.970Z,1629073972.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:32:52.970Z,1629073972.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:32:52.970Z,1629073972.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:32:52.971Z,1629073972.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:32:53.378Z,1629073973.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFB,000,03398,188,80,80,50,FF
2021-08-16T00:32:53.378Z,1629073973.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:32:53.378Z,1629073973.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:32:53.379Z,1629073973.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:32:53.785Z,1629073973.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:32:54.603Z,1629073974.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003253.86*57

2021-08-16T00:32:55.435Z,1629073975.435 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:57.013Z,1629073977.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,188,80,80,50,FF
2021-08-16T00:32:57.014Z,1629073977.014 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,188,80,80,50,FF
2021-08-16T00:32:57.014Z,1629073977.014 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-16T00:32:57.844Z,1629073977.844 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 754.98 m. Transitioning DDM to standby.
2021-08-16T00:32:58.247Z,1629073978.247 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-16T00:32:58.634Z,1629073978.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-16T00:32:58.634Z,1629073978.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-16T00:32:58.634Z,1629073978.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-16T00:32:58.635Z,1629073978.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-16T00:32:59.038Z,1629073979.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,188,80,80,50,FF
2021-08-16T00:32:59.038Z,1629073979.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-16T00:32:59.038Z,1629073979.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-16T00:32:59.039Z,1629073979.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-16T00:32:59.451Z,1629073979.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-16T00:33:00.299Z,1629073980.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003259.52*54

2021-08-16T00:33:00.311Z,1629073980.311 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-16T00:33:00.687Z,1629073980.687 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-16T00:33:00.687Z,1629073980.687 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-16T00:33:00.688Z,1629073980.688 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-16T00:33:00.688Z,1629073980.688 [DefaultWithUndock:LeaveDock] Stopped
2021-08-16T00:33:00.688Z,1629073980.688 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-16T00:33:00.688Z,1629073980.688 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-16T00:33:00.688Z,1629073980.688 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-16T00:33:00.689Z,1629073980.689 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-16T00:33:00.690Z,1629073980.690 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-16T00:33:00.690Z,1629073980.690 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-16T00:33:00.690Z,1629073980.690 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-16T00:33:00.690Z,1629073980.690 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-16T00:33:00.691Z,1629073980.691 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-16T00:33:01.044Z,1629073981.044 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-16T00:33:01.045Z,1629073981.045 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-16T00:33:01.045Z,1629073981.045 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-16T00:33:01.045Z,1629073981.045 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-16T00:33:01.045Z,1629073981.045 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-16T00:33:01.045Z,1629073981.045 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-16T00:33:01.045Z,1629073981.045 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-16T00:33:01.491Z,1629073981.491 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-08-16T00:33:03.047Z,1629073983.047 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003302.00,A,4133.35655,N,07042.94090,W,0.972,295.74,160821,,,A*73
2021-08-16T00:33:03.050Z,1629073983.050 [NAL9602](INFO): GPS fix at 20210816T003302: (41.555943, -70.715682)
2021-08-16T00:33:03.061Z,1629073983.061 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-16T00:33:03.061Z,1629073983.061 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-16T00:33:03.627Z,1629073983.627 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-16T00:33:07.028Z,1629073987.028 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210816T002900/Courier0004.lzma
2021-08-16T00:33:08.030Z,1629073988.030 [DataOverHttps](INFO): Moved sent file to Logs/20210816T002900/Courier0004.lzma.bak
2021-08-16T00:33:08.030Z,1629073988.030 [DataOverHttps](INFO): SBD MOMSN=445338
2021-08-16T00:33:16.950Z,1629073996.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-16T00:33:17.071Z,1629073997.071 [DataOverHttps](INFO): Sending 1142 bytes from file Logs/20210816T002900/Express0001.lzma
2021-08-16T00:33:18.070Z,1629073998.070 [DataOverHttps](INFO): Moved sent file to Logs/20210816T002900/Express0001.lzma.bak
2021-08-16T00:33:18.070Z,1629073998.070 [DataOverHttps](INFO): SBD MOMSN=445341
2021-08-16T00:33:18.466Z,1629073998.466 [NAL9602](INFO): SBD MO Status=1, MOMSN=24199, MT Status=0, MTMSN=0
2021-08-16T00:33:18.467Z,1629073998.467 [NAL9602](INFO): No messages in MT queue
2021-08-16T00:33:27.109Z,1629074007.109 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20210816T002900/Express0005.lzma
2021-08-16T00:33:28.110Z,1629074008.110 [DataOverHttps](INFO): Moved sent file to Logs/20210816T002900/Express0005.lzma.bak
2021-08-16T00:33:28.110Z,1629074008.110 [DataOverHttps](INFO): SBD MOMSN=445369
2021-08-16T00:33:29.768Z,1629074009.768 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-16T00:33:29.772Z,1629074009.772 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-16T00:33:29.772Z,1629074009.772 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-16T00:33:49.126Z,1629074029.126 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-16T00:34:06.107Z,1629074046.107 [PowerOnly](INFO): Powering down loadControl
2021-08-16T00:34:09.275Z,1629074049.275 [DataOverHttps](IMPORTANT): SBD MTMSN=20210816T003408
2021-08-16T00:34:13.293Z,1629074053.293 [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" 2tw8j 1 2
2021-08-16T00:34:13.374Z,1629074053.374 [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" 2tw8j 1 2.000000
2021-08-16T00:34:13.375Z,1629074053.375 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tw8j
2021-08-16T00:34:13.376Z,1629074053.376 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='2tw8j'): "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
2021-08-16T00:34:14.294Z,1629074054.294 [DataOverHttps](IMPORTANT): SBD MTMSN=20210816T003413
2021-08-16T00:34:18.312Z,1629074058.312 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tw8j 2 2
2021-08-16T00:34:18.410Z,1629074058.410 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tw8j 2 2.000000
2021-08-16T00:34:18.410Z,1629074058.410 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tw8j
2021-08-16T00:34:18.411Z,1629074058.411 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='2tw8j'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-16T00:34:18.537Z,1629074058.537 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-16T00:34:18.538Z,1629074058.538 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-16T00:34:18.732Z,1629074058.732 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-16T00:34:18.735Z,1629074058.735 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-16T00:34:18.747Z,1629074058.747 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-16T00:34:18.766Z,1629074058.766 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-16T00:34:18.773Z,1629074058.773 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-16T00:34:18.781Z,1629074058.781 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-16T00:34:18.784Z,1629074058.784 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-16T00:34:18.791Z,1629074058.791 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-16T00:34:18.795Z,1629074058.795 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-16T00:34:18.806Z,1629074058.806 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-16T00:34:18.813Z,1629074058.813 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-16T00:34:18.816Z,1629074058.816 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-16T00:34:18.823Z,1629074058.823 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-16T00:34:18.834Z,1629074058.834 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-16T00:34:18.837Z,1629074058.837 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-16T00:34:18.838Z,1629074058.838 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-16T00:34:19.244Z,1629074059.244 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-16T00:34:19.247Z,1629074059.247 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-16T00:34:19.250Z,1629074059.250 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-16T00:34:19.253Z,1629074059.253 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-16T00:34:19.255Z,1629074059.255 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-16T00:34:19.258Z,1629074059.258 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-16T00:34:19.281Z,1629074059.281 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-16T00:34:19.289Z,1629074059.289 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-16T00:34:19.292Z,1629074059.292 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-16T00:34:19.299Z,1629074059.299 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-16T00:34:19.303Z,1629074059.303 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-16T00:34:19.314Z,1629074059.314 [DataOverHttps](IMPORTANT): SBD MTMSN=20210816T003418
2021-08-16T00:34:19.319Z,1629074059.319 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-16T00:34:19.322Z,1629074059.322 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-16T00:34:19.334Z,1629074059.334 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-16T00:34:19.339Z,1629074059.339 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-16T00:34:19.351Z,1629074059.351 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-16T00:34:19.359Z,1629074059.359 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-16T00:34:19.367Z,1629074059.367 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-16T00:34:19.375Z,1629074059.375 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-16T00:34:19.389Z,1629074059.389 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-16T00:34:19.392Z,1629074059.392 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-16T00:34:19.399Z,1629074059.399 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-16T00:34:19.403Z,1629074059.403 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-16T00:34:19.451Z,1629074059.451 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-16T00:34:19.460Z,1629074059.460 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-16T00:34:19.471Z,1629074059.471 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-16T00:34:19.485Z,1629074059.485 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-16T00:34:19.492Z,1629074059.492 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-16T00:34:19.501Z,1629074059.501 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-16T00:34:19.504Z,1629074059.504 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-16T00:34:19.518Z,1629074059.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-16T00:34:19.553Z,1629074059.553 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-16T00:34:19.561Z,1629074059.561 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-16T00:34:19.569Z,1629074059.569 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-16T00:34:19.577Z,1629074059.577 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-16T00:34:19.584Z,1629074059.584 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-16T00:34:19.588Z,1629074059.588 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-16T00:34:19.595Z,1629074059.595 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-16T00:34:19.603Z,1629074059.603 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-16T00:34:19.617Z,1629074059.617 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-16T00:34:19.624Z,1629074059.624 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-16T00:34:19.628Z,1629074059.628 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-16T00:34:19.635Z,1629074059.635 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-16T00:34:19.639Z,1629074059.639 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-16T00:34:19.650Z,1629074059.650 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-16T00:34:19.654Z,1629074059.654 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-16T00:34:19.665Z,1629074059.665 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-16T00:34:19.673Z,1629074059.673 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-16T00:34:19.676Z,1629074059.676 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-16T00:34:19.683Z,1629074059.683 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-16T00:34:19.691Z,1629074059.691 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-16T00:34:19.694Z,1629074059.694 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-16T00:34:19.710Z,1629074059.710 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-16T00:34:19.713Z,1629074059.713 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-16T00:34:19.721Z,1629074059.721 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-16T00:34:19.724Z,1629074059.724 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-16T00:34:19.731Z,1629074059.731 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-16T00:34:19.745Z,1629074059.745 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-16T00:34:19.748Z,1629074059.748 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-16T00:34:19.755Z,1629074059.755 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-16T00:34:19.763Z,1629074059.763 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-16T00:34:19.767Z,1629074059.767 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-16T00:34:19.779Z,1629074059.779 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-16T00:34:19.783Z,1629074059.783 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-16T00:34:19.913Z,1629074059.913 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:34:19.947Z,1629074059.947 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-16T00:34:19.979Z,1629074059.979 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:34:20.007Z,1629074060.007 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:34:20.022Z,1629074060.022 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-16T00:34:20.048Z,1629074060.048 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:34:20.087Z,1629074060.087 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-16T00:34:20.121Z,1629074060.121 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-16T00:34:20.150Z,1629074060.150 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-16T00:34:20.188Z,1629074060.188 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-16T00:34:20.191Z,1629074060.191 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-16T00:34:20.212Z,1629074060.212 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-16T00:34:20.215Z,1629074060.215 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-16T00:34:20.268Z,1629074060.268 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-16T00:34:20.303Z,1629074060.303 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-16T00:34:20.343Z,1629074060.343 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-16T00:34:20.455Z,1629074060.455 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-16T00:34:20.485Z,1629074060.485 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-16T00:34:20.491Z,1629074060.491 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-16T00:34:20.506Z,1629074060.506 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-16T00:34:20.514Z,1629074060.514 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-16T00:34:20.521Z,1629074060.521 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-16T00:34:20.528Z,1629074060.528 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-16T00:34:20.539Z,1629074060.539 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-16T00:34:20.590Z,1629074060.590 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-16T00:34:20.619Z,1629074060.619 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-16T00:34:20.666Z,1629074060.666 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-16T00:34:20.680Z,1629074060.680 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-16T00:34:20.742Z,1629074060.742 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-16T00:34:21.137Z,1629074061.137 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-16T00:34:21.153Z,1629074061.153 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-16T00:34:21.156Z,1629074061.156 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-16T00:34:21.175Z,1629074061.175 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-16T00:34:21.179Z,1629074061.179 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-16T00:34:21.183Z,1629074061.183 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-16T00:34:21.195Z,1629074061.195 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-16T00:34:21.203Z,1629074061.203 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-16T00:34:21.211Z,1629074061.211 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-16T00:34:21.219Z,1629074061.219 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-16T00:34:21.223Z,1629074061.223 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-16T00:34:21.235Z,1629074061.235 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-16T00:34:21.242Z,1629074061.242 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-16T00:34:21.246Z,1629074061.246 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-16T00:34:21.257Z,1629074061.257 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-16T00:34:21.264Z,1629074061.264 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-16T00:34:21.268Z,1629074061.268 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-16T00:34:21.275Z,1629074061.275 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-16T00:34:21.283Z,1629074061.283 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-16T00:34:21.286Z,1629074061.286 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-16T00:34:21.301Z,1629074061.301 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-16T00:34:21.305Z,1629074061.305 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-16T00:34:21.312Z,1629074061.312 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-16T00:34:21.316Z,1629074061.316 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-16T00:34:21.330Z,1629074061.330 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-16T00:34:21.338Z,1629074061.338 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-16T00:34:21.347Z,1629074061.347 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-16T00:34:21.379Z,1629074061.379 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-16T00:34:21.387Z,1629074061.387 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-16T00:34:21.391Z,1629074061.391 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-16T00:34:21.401Z,1629074061.401 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-16T00:34:21.418Z,1629074061.418 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-16T00:34:21.473Z,1629074061.473 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-16T00:34:21.538Z,1629074061.538 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-16T00:34:21.555Z,1629074061.555 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-16T00:34:21.568Z,1629074061.568 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-16T00:34:21.568Z,1629074061.568 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:34:21.617Z,1629074061.617 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-16T00:34:21.624Z,1629074061.624 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-16T00:34:21.632Z,1629074061.632 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-16T00:34:21.667Z,1629074061.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-16T00:34:21.686Z,1629074061.686 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-16T00:34:21.711Z,1629074061.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-16T00:34:21.737Z,1629074061.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-16T00:34:21.764Z,1629074061.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-16T00:34:21.768Z,1629074061.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-16T00:34:21.777Z,1629074061.777 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-16T00:34:21.794Z,1629074061.794 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-16T00:34:21.880Z,1629074061.880 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-16T00:34:21.892Z,1629074061.892 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-16T00:34:21.907Z,1629074061.907 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-16T00:34:21.919Z,1629074061.919 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-16T00:34:21.935Z,1629074061.935 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-16T00:34:22.023Z,1629074062.023 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-16T00:34:22.024Z,1629074062.024 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-16T00:34:22.077Z,1629074062.077 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-16T00:34:22.077Z,1629074062.077 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-16T00:34:22.178Z,1629074062.178 [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>


2021-08-16T00:34:22.179Z,1629074062.179 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-16T00:34:23.332Z,1629074063.332 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutSpeed 1 m/s persist
2021-08-16T00:34:35.478Z,1629074075.478 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 150.000000 minute
2021-08-16T00:34:35.479Z,1629074075.479 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-16T00:34:35.480Z,1629074075.480 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-16T00:34:35.481Z,1629074075.481 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-16T00:34:35.489Z,1629074075.489 [CommandLine](IMPORTANT): got command configSet list
2021-08-16T00:34:35.489Z,1629074075.489 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-08-16T00:34:35.491Z,1629074075.491 [CommandLine](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-08-16T00:34:35.491Z,1629074075.491 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity=3 enum;

2021-08-16T00:34:35.497Z,1629074075.497 [CommandLine](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_salinity 0.200000 practical_salinity_unit;

2021-08-16T00:34:35.497Z,1629074075.497 [CommandLine](IMPORTANT): Express linearApproximation CTD_Seabird.bin_median_sea_water_temperature 5.000000 kelvin;

2021-08-16T00:34:35.498Z,1629074075.498 [CommandLine](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2021-08-16T00:34:35.498Z,1629074075.498 [CommandLine](IMPORTANT): LBLNavigation.loadAtStartup=0 bool;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): LineCapture.navigationGain=nan none;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): LineCapture.rolloutDistance=2000 meter;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): LineCapture.rolloutTimeout=20 minute;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): StratificationFrontDetector.loadAtStartup=0 bool;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=152.268921 cubic_centimeter;

2021-08-16T00:34:35.499Z,1629074075.499 [CommandLine](IMPORTANT): VerticalControl.massDefault=2.948202 millimeter;

2021-08-16T00:34:35.500Z,1629074075.500 [CommandLine](IMPORTANT): VerticalHomogeneityIndexCalculator.loadAtStartup=0 bool;

2021-08-16T00:34:35.617Z,1629074075.617 [DataOverHttps](CRITICAL): SIGSEGV: address not mapped to object
2021-08-16T00:34:35.617Z,1629074075.617 [DataOverHttps] Software Fault, FailCount= 1
2021-08-16T00:34:35.617Z,1629074075.617 [DataOverHttps](ERROR): Software Fault
2021-08-16T00:34:35.633Z,1629074075.633 [CommandLine](FAULT): Scheduling is paused for 1 commands
2021-08-16T00:34:35.633Z,1629074075.633 [CBIT](INFO): Critical error at 20210816T003435
2021-08-16T00:34:35.634Z,1629074075.634 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2021-08-16T00:34:35.644Z,1629074075.644 [CBIT](ERROR): Software Fault in component: DataOverHttps
2021-08-16T00:34:35.645Z,1629074075.645 [CBIT](FAULT): Software Fault in component: DataOverHttps
2021-08-16T00:34:36.021Z,1629074076.021 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407CA4E0
2021-08-16T00:34:36.021Z,1629074076.021 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 981
2021-08-16T00:35:03.067Z,1629074103.067 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-16T00:35:03.072Z,1629074103.072 [Micromodem](INFO): Nmea in: $CACST,6,1,20210816003458.845141,06,189,22,0141,0150,208,02,02,00,02,4,-01,-01,2,3,2,0,150,0.9,-343.50,-100,-308.86,-01,0.00,65,14500,4000*51

2021-08-16T00:35:25.691Z,1629074125.691 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: