2022-06-15T12:21:52.738Z,1655295712.738 [Supervisor](DEBUG): Initializing supervisor.
2022-06-15T12:21:52.742Z,1655295712.742 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-06-15T12:21:52.742Z,1655295712.742 [SyncHandler](INFO): Protected caller Thread ID is 4962
2022-06-15T12:21:52.743Z,1655295712.743 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-06-15T12:21:52.744Z,1655295712.744 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-06-15T12:21:52.744Z,1655295712.744 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4963
2022-06-15T12:21:52.748Z,1655295712.748 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-06-15T12:21:52.766Z,1655295712.766 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-06-15T12:21:52.767Z,1655295712.767 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-06-15T12:21:52.767Z,1655295712.767 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 4964
2022-06-15T12:21:52.772Z,1655295712.772 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-06-15T12:21:52.773Z,1655295712.773 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-06-15T12:21:52.773Z,1655295712.773 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4965
2022-06-15T12:21:52.775Z,1655295712.775 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-06-15T12:21:52.776Z,1655295712.776 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-06-15T12:21:52.776Z,1655295712.776 [logger ThreadHandler](INFO): Protected caller Thread ID is 4966
2022-06-15T12:21:52.780Z,1655295712.780 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-06-15T12:21:52.780Z,1655295712.780 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-06-15T12:21:52.783Z,1655295712.783 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-06-15T12:21:53.299Z,1655295713.299 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-06-15T12:21:53.301Z,1655295713.301 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-06-15T12:21:53.386Z,1655295713.386 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-06-15T12:21:53.715Z,1655295713.715 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-06-15T12:21:53.717Z,1655295713.717 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-06-15T12:21:53.828Z,1655295713.828 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-06-15T12:21:53.830Z,1655295713.830 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-06-15T12:21:54.035Z,1655295714.035 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-06-15T12:21:54.036Z,1655295714.036 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-06-15T12:21:56.030Z,1655295716.030 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-06-15T12:21:56.031Z,1655295716.031 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-06-15T12:21:56.649Z,1655295716.649 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-06-15T12:21:56.651Z,1655295716.651 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-06-15T12:21:56.872Z,1655295716.872 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-06-15T12:21:56.874Z,1655295716.874 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-06-15T12:21:57.065Z,1655295717.065 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-06-15T12:21:57.066Z,1655295717.066 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-06-15T12:21:57.167Z,1655295717.167 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-06-15T12:21:57.169Z,1655295717.169 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-06-15T12:21:57.400Z,1655295717.400 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-06-15T12:21:57.402Z,1655295717.402 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-06-15T12:21:57.801Z,1655295717.801 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-06-15T12:21:57.802Z,1655295717.802 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-06-15T12:21:57.888Z,1655295717.888 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-06-15T12:21:58.018Z,1655295718.018 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-06-15T12:21:58.019Z,1655295718.019 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-06-15T12:21:58.734Z,1655295718.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-06-15T12:21:58.736Z,1655295718.736 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-06-15T12:21:59.104Z,1655295719.104 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-06-15T12:21:59.107Z,1655295719.107 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2022-06-15T12:21:59.111Z,1655295719.111 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2022-06-15T12:21:59.313Z,1655295719.313 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2022-06-15T12:21:59.417Z,1655295719.417 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2022-06-15T12:21:59.521Z,1655295719.521 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2022-06-15T12:21:59.625Z,1655295719.625 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2022-06-15T12:21:59.894Z,1655295719.894 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-06-15T12:21:59.894Z,1655295719.894 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2022-06-15T12:22:00.008Z,1655295720.008 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2022-06-15T12:22:00.115Z,1655295720.115 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2022-06-15T12:22:00.244Z,1655295720.244 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2022-06-15T12:22:00.363Z,1655295720.363 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2022-06-15T12:22:00.472Z,1655295720.472 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2022-06-15T12:22:00.996Z,1655295720.996 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2022-06-15T12:22:01.401Z,1655295721.401 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2022-06-15T12:22:01.505Z,1655295721.505 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2022-06-15T12:22:01.716Z,1655295721.716 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2022-06-15T12:22:01.882Z,1655295721.882 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-06-15T12:22:01.906Z,1655295721.906 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-06-15T12:22:02.450Z,1655295722.450 [AHRS_M2] Loaded
2022-06-15T12:22:02.450Z,1655295722.450 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-06-15T12:22:02.487Z,1655295722.487 [BackseatComponent] Loaded
2022-06-15T12:22:02.487Z,1655295722.487 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-06-15T12:22:02.489Z,1655295722.489 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407E24E0
2022-06-15T12:22:02.489Z,1655295722.489 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 5060
2022-06-15T12:22:02.492Z,1655295722.492 [LcmUniversalReporter] Loaded
2022-06-15T12:22:02.492Z,1655295722.492 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-06-15T12:22:03.273Z,1655295723.273 [BPC1] Loaded
2022-06-15T12:22:03.273Z,1655295723.273 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-06-15T12:22:03.343Z,1655295723.343 [DataOverHttps] Loaded
2022-06-15T12:22:03.343Z,1655295723.343 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-06-15T12:22:03.344Z,1655295723.344 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408124E0
2022-06-15T12:22:03.344Z,1655295723.344 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5061
2022-06-15T12:22:03.367Z,1655295723.367 [DDM] Loaded
2022-06-15T12:22:03.367Z,1655295723.367 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2022-06-15T12:22:03.386Z,1655295723.386 [Depth_Keller] Loaded
2022-06-15T12:22:03.387Z,1655295723.387 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-06-15T12:22:03.391Z,1655295723.391 [DropWeight] Loaded
2022-06-15T12:22:03.391Z,1655295723.391 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-06-15T12:22:03.435Z,1655295723.435 [DUSBL_Hydroid] Loaded
2022-06-15T12:22:03.436Z,1655295723.436 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2022-06-15T12:22:03.483Z,1655295723.483 [Micromodem] Loaded
2022-06-15T12:22:03.484Z,1655295723.484 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-06-15T12:22:03.543Z,1655295723.543 [NAL9602] Loaded
2022-06-15T12:22:03.543Z,1655295723.543 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-06-15T12:22:03.571Z,1655295723.571 [Onboard] Loaded
2022-06-15T12:22:03.572Z,1655295723.572 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-06-15T12:22:03.573Z,1655295723.573 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408424E0
2022-06-15T12:22:03.573Z,1655295723.573 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5062
2022-06-15T12:22:03.579Z,1655295723.579 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2022-06-15T12:22:03.589Z,1655295723.589 [PowerOnly] Loaded
2022-06-15T12:22:03.590Z,1655295723.590 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-06-15T12:22:03.601Z,1655295723.601 [Power24vConverter] Loaded
2022-06-15T12:22:03.601Z,1655295723.601 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-06-15T12:22:03.615Z,1655295723.615 [Radio_Surface] Loaded
2022-06-15T12:22:03.615Z,1655295723.615 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-06-15T12:22:03.616Z,1655295723.616 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408724E0
2022-06-15T12:22:03.616Z,1655295723.616 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5063
2022-06-15T12:22:03.659Z,1655295723.659 [RDI_Pathfinder] Loaded
2022-06-15T12:22:03.660Z,1655295723.660 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2022-06-15T12:22:03.686Z,1655295723.686 [RDI_PathfinderUp] Loaded
2022-06-15T12:22:03.686Z,1655295723.686 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2022-06-15T12:22:03.687Z,1655295723.687 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-06-15T12:22:03.688Z,1655295723.688 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-06-15T12:22:03.701Z,1655295723.701 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-06-15T12:22:03.702Z,1655295723.702 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-06-15T12:22:03.831Z,1655295723.831 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-06-15T12:22:03.831Z,1655295723.831 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-06-15T12:22:03.855Z,1655295723.855 [LBLNavigation] Loaded
2022-06-15T12:22:03.856Z,1655295723.856 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-06-15T12:22:03.868Z,1655295723.868 [NavChart] Loaded
2022-06-15T12:22:03.869Z,1655295723.869 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-06-15T12:22:03.874Z,1655295723.874 [UniversalFixResidualReporter] Loaded
2022-06-15T12:22:03.875Z,1655295723.875 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-06-15T12:22:03.885Z,1655295723.885 [WorkSite] Loaded
2022-06-15T12:22:03.886Z,1655295723.886 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2022-06-15T12:22:03.886Z,1655295723.886 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-06-15T12:22:03.886Z,1655295723.886 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-06-15T12:22:04.002Z,1655295724.002 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-06-15T12:22:04.002Z,1655295724.002 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-06-15T12:22:04.163Z,1655295724.163 [BuoyancyServo] Loaded
2022-06-15T12:22:04.163Z,1655295724.163 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-06-15T12:22:04.185Z,1655295724.185 [ElevatorServo] Loaded
2022-06-15T12:22:04.185Z,1655295724.185 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-06-15T12:22:04.206Z,1655295724.206 [MassServo] Loaded
2022-06-15T12:22:04.206Z,1655295724.206 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-06-15T12:22:04.226Z,1655295724.226 [RudderServo] Loaded
2022-06-15T12:22:04.227Z,1655295724.227 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-06-15T12:22:04.243Z,1655295724.243 [ThrusterHE] Loaded
2022-06-15T12:22:04.243Z,1655295724.243 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-06-15T12:22:04.244Z,1655295724.244 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-06-15T12:22:04.244Z,1655295724.244 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-06-15T12:22:04.451Z,1655295724.451 [CTD_Seabird] Loaded
2022-06-15T12:22:04.452Z,1655295724.452 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-06-15T12:22:04.453Z,1655295724.453 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409B04E0
2022-06-15T12:22:04.453Z,1655295724.453 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 5064
2022-06-15T12:22:04.486Z,1655295724.486 [WetLabsSeaOWL_UV_A] Loaded
2022-06-15T12:22:04.486Z,1655295724.486 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-06-15T12:22:04.487Z,1655295724.487 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409E04E0
2022-06-15T12:22:04.488Z,1655295724.488 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5065
2022-06-15T12:22:04.488Z,1655295724.488 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-06-15T12:22:04.489Z,1655295724.489 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-06-15T12:22:04.842Z,1655295724.842 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-06-15T12:22:04.842Z,1655295724.842 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-06-15T12:22:04.908Z,1655295724.908 [DepthRateCalculator] Loaded
2022-06-15T12:22:04.908Z,1655295724.908 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-06-15T12:22:04.913Z,1655295724.913 [PitchRateCalculator] Loaded
2022-06-15T12:22:04.914Z,1655295724.914 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-06-15T12:22:04.923Z,1655295724.923 [SpeedCalculator] Loaded
2022-06-15T12:22:04.923Z,1655295724.923 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-06-15T12:22:04.936Z,1655295724.936 [TempGradientCalculator] Loaded
2022-06-15T12:22:04.937Z,1655295724.937 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-06-15T12:22:04.952Z,1655295724.952 [VerticalHomogeneityIndexCalculator] Loaded
2022-06-15T12:22:04.953Z,1655295724.953 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2022-06-15T12:22:04.957Z,1655295724.957 [YawRateCalculator] Loaded
2022-06-15T12:22:04.958Z,1655295724.958 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-06-15T12:22:04.979Z,1655295724.979 [ElevatorOffsetCalculator] Loaded
2022-06-15T12:22:04.980Z,1655295724.980 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-06-15T12:22:04.996Z,1655295724.996 [ShortestDistanceToPolygonSidesCalculator] Loaded
2022-06-15T12:22:04.997Z,1655295724.997 [ComponentRegistry](DEBUG): SyncComponent "ShortestDistanceToPolygonSidesCalculator" handled in the control thread.
2022-06-15T12:22:04.997Z,1655295724.997 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-06-15T12:22:04.997Z,1655295724.997 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-06-15T12:22:05.163Z,1655295725.163 [SBIT](DEBUG): Construct Startup Built In Test.
2022-06-15T12:22:05.176Z,1655295725.176 [SBIT] Loaded
2022-06-15T12:22:05.176Z,1655295725.176 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-06-15T12:22:05.179Z,1655295725.179 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-06-15T12:22:05.193Z,1655295725.193 [IBIT] Loaded
2022-06-15T12:22:05.194Z,1655295725.194 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-06-15T12:22:05.200Z,1655295725.200 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-06-15T12:22:05.308Z,1655295725.308 [CBIT] Loaded
2022-06-15T12:22:05.308Z,1655295725.308 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-06-15T12:22:05.308Z,1655295725.308 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-06-15T12:22:05.309Z,1655295725.309 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-06-15T12:22:05.386Z,1655295725.386 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-06-15T12:22:05.387Z,1655295725.387 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-06-15T12:22:05.530Z,1655295725.530 [InternalEnvSim] Loaded
2022-06-15T12:22:05.531Z,1655295725.531 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-06-15T12:22:05.531Z,1655295725.531 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-06-15T12:22:05.532Z,1655295725.532 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-06-15T12:22:05.799Z,1655295725.799 [VerticalControl](DEBUG): Construct VerticalControl.
2022-06-15T12:22:05.851Z,1655295725.851 [VerticalControl] Loaded
2022-06-15T12:22:05.851Z,1655295725.851 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-06-15T12:22:05.854Z,1655295725.854 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-06-15T12:22:05.891Z,1655295725.891 [HorizontalControl] Loaded
2022-06-15T12:22:05.892Z,1655295725.892 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-06-15T12:22:05.894Z,1655295725.894 [SpeedControl](DEBUG): Construct SpeedControl.
2022-06-15T12:22:05.896Z,1655295725.896 [SpeedControl] Loaded
2022-06-15T12:22:05.896Z,1655295725.896 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-06-15T12:22:05.899Z,1655295725.899 [LoopControl](DEBUG): Construct LoopControl.
2022-06-15T12:22:05.900Z,1655295725.900 [LoopControl] Loaded
2022-06-15T12:22:05.900Z,1655295725.900 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-06-15T12:22:05.900Z,1655295725.900 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-06-15T12:22:05.901Z,1655295725.901 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-06-15T12:22:05.937Z,1655295725.937 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-06-15T12:22:05.944Z,1655295725.944 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-06-15T12:22:05.946Z,1655295725.946 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-06-15T12:22:05.957Z,1655295725.957 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-06-15T12:22:05.958Z,1655295725.958 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BA74E0
2022-06-15T12:22:05.959Z,1655295725.959 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5066
2022-06-15T12:22:05.963Z,1655295725.963 [Supervisor](INFO): Main Thread ID is 828
2022-06-15T12:22:05.963Z,1655295725.963 [Supervisor](DEBUG): Running supervisor.
2022-06-15T12:22:05.964Z,1655295725.964 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5067
2022-06-15T12:22:05.964Z,1655295725.964 [CommandExec](INFO): Initializing the command executive.
2022-06-15T12:22:05.966Z,1655295725.966 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5068
2022-06-15T12:22:05.968Z,1655295725.968 [controlThread ThreadHandler](INFO): Handler Thread ID is 5069
2022-06-15T12:22:05.968Z,1655295725.968 [controlThread](DEBUG): Initializing ControlThread
2022-06-15T12:22:05.975Z,1655295725.975 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-06-15T12:22:05.975Z,1655295725.975 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-06-15T12:22:05.975Z,1655295725.975 [WorkSite](DEBUG): Initializing WorkSite component.
2022-06-15T12:22:05.977Z,1655295725.977 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-06-15T12:22:05.977Z,1655295725.977 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-06-15T12:22:05.977Z,1655295725.977 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-06-15T12:22:05.978Z,1655295725.978 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-06-15T12:22:05.978Z,1655295725.978 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2022-06-15T12:22:05.979Z,1655295725.979 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-06-15T12:22:05.979Z,1655295725.979 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-06-15T12:22:05.980Z,1655295725.980 [ShortestDistanceToPolygonSidesCalculator](DEBUG): Initializing.
2022-06-15T12:22:05.981Z,1655295725.981 [SBIT](INFO): Initialize SBIT Component.
2022-06-15T12:22:05.981Z,1655295725.981 [SBIT](IMPORTANT): git: 2022-06-10
2022-06-15T12:22:05.982Z,1655295725.982 [SBIT](INFO): git hash: e11740818a2a072901e05d1052af1d887ef06220
2022-06-15T12:22:05.982Z,1655295725.982 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-06-15T12:22:05.983Z,1655295725.983 [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
2022-06-15T12:22:05.984Z,1655295725.984 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2022-06-15T12:22:05.985Z,1655295725.985 [IBIT](INFO): Initialize IBIT Component.
2022-06-15T12:22:05.986Z,1655295725.986 [CBIT](DEBUG): Initialize CBIT Component.
2022-06-15T12:22:05.986Z,1655295725.986 [logger ThreadHandler](INFO): Handler Thread ID is 5070
2022-06-15T12:22:05.999Z,1655295725.999 [CBIT](DEBUG): Initialized mux pins.
2022-06-15T12:22:05.999Z,1655295725.999 [CBIT](DEBUG): Initializing the watchdog timer.
2022-06-15T12:22:06.004Z,1655295726.004 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 5071
2022-06-15T12:22:06.012Z,1655295726.012 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5072
2022-06-15T12:22:06.013Z,1655295726.013 [DataOverHttps](DEBUG): dashIP=128.128.181.226 starts with a digit so assuming it is a numeric IP
2022-06-15T12:22:06.020Z,1655295726.020 [Onboard ThreadHandler](INFO): Handler Thread ID is 5073
2022-06-15T12:22:06.024Z,1655295726.024 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-06-15T12:22:06.025Z,1655295726.025 [CBIT](DEBUG): Initializing heartbeat.
2022-06-15T12:22:06.040Z,1655295726.040 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5074
2022-06-15T12:22:06.060Z,1655295726.060 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 5075
2022-06-15T12:22:06.060Z,1655295726.060 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-06-15T12:22:06.065Z,1655295726.065 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5077
2022-06-15T12:22:06.076Z,1655295726.076 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5078
2022-06-15T12:22:06.084Z,1655295726.084 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-06-15T12:22:06.084Z,1655295726.084 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-06-15T12:22:06.084Z,1655295726.084 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-06-15T12:22:06.084Z,1655295726.084 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-06-15T12:22:06.084Z,1655295726.084 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-06-15T12:22:06.085Z,1655295726.085 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-06-15T12:22:06.085Z,1655295726.085 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-06-15T12:22:06.085Z,1655295726.085 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-06-15T12:22:06.095Z,1655295726.095 [CBIT](DEBUG): Deactivating GF circuits.
2022-06-15T12:22:06.095Z,1655295726.095 [CBIT](DEBUG): Deactivating emergency mode.
2022-06-15T12:22:06.131Z,1655295726.131 [CBIT](DEBUG): Backplane powered.
2022-06-15T12:22:06.132Z,1655295726.132 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-06-15T12:22:06.251Z,1655295726.251 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-06-15T12:22:06.253Z,1655295726.253 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-06-15T12:22:06.254Z,1655295726.254 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-06-15T12:22:06.254Z,1655295726.254 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-06-15T12:22:06.255Z,1655295726.255 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-06-15T12:22:06.294Z,1655295726.294 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-15T12:22:06.332Z,1655295726.332 [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>


2022-06-15T12:22:06.333Z,1655295726.333 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.xml
2022-06-15T12:22:06.443Z,1655295726.443 [Radio_Surface](INFO): Powering up
2022-06-15T12:22:06.477Z,1655295726.477 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2022-06-15T12:22:06.501Z,1655295726.501 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2022-06-15T12:22:06.505Z,1655295726.505 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2 count
2022-06-15T12:22:06.518Z,1655295726.518 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2022-06-15T12:22:06.521Z,1655295726.521 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2022-06-15T12:22:06.553Z,1655295726.553 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2022-06-15T12:22:06.554Z,1655295726.554 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2022-06-15T12:22:06.699Z,1655295726.699 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2022-06-15T12:22:06.700Z,1655295726.700 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:22:06.723Z,1655295726.723 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-15T12:22:06.750Z,1655295726.750 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-06-15T12:22:06.769Z,1655295726.769 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-06-15T12:22:06.775Z,1655295726.775 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2022-06-15T12:22:06.813Z,1655295726.813 [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/>

<!-- 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>


2022-06-15T12:22:06.819Z,1655295726.819 [controlThread](DEBUG): Component order: CycleStarter,InternalEnvSim,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,ShortestDistanceToPolygonSidesCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2022-06-15T12:22:06.825Z,1655295726.825 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-06-15T12:22:06.888Z,1655295726.888 [DDM](INFO): Powering up
2022-06-15T12:22:06.888Z,1655295726.888 [DDM](DEBUG): Initializing DDM.
2022-06-15T12:22:06.912Z,1655295726.912 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2022-06-15T12:22:06.913Z,1655295726.913 [DUSBL_Hydroid](INFO): Powering up
2022-06-15T12:22:06.913Z,1655295726.913 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2022-06-15T12:22:06.933Z,1655295726.933 [Power24vConverter](INFO): Powering up.
2022-06-15T12:22:06.934Z,1655295726.934 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2022-06-15T12:22:06.952Z,1655295726.952 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-06-15T12:22:06.996Z,1655295726.996 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-06-15T12:22:07.004Z,1655295727.004 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-06-15T12:22:07.005Z,1655295727.005 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-06-15T12:22:07.012Z,1655295727.012 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-06-15T12:22:07.012Z,1655295727.012 [MassServo](DEBUG): Initializing EZServoServo.
2022-06-15T12:22:07.020Z,1655295727.020 [MassServo](DEBUG): Initializing MassServo.
2022-06-15T12:22:07.020Z,1655295727.020 [RudderServo](DEBUG): Initializing EZServoServo.
2022-06-15T12:22:07.028Z,1655295727.028 [RudderServo](DEBUG): Initializing RudderServo.
2022-06-15T12:22:07.028Z,1655295727.028 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-06-15T12:22:07.036Z,1655295727.036 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-06-15T12:22:07.263Z,1655295727.263 [Micromodem](INFO): Powering up
2022-06-15T12:22:07.263Z,1655295727.263 [Micromodem](DEBUG): Initializing Micromodem.
2022-06-15T12:22:07.955Z,1655295727.955 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-06-15T12:22:07.955Z,1655295727.955 [RudderServo](FAULT): Rudder failed to initialize
2022-06-15T12:22:07.956Z,1655295727.956 [RudderServo] Communications Fault, FailCount= 1
2022-06-15T12:22:07.956Z,1655295727.956 [RudderServo](ERROR): Communications Fault
2022-06-15T12:22:07.959Z,1655295727.959 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-06-15T12:22:08.168Z,1655295728.168 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-06-15T12:22:08.169Z,1655295728.169 [RudderServo](INFO): Powering down
2022-06-15T12:22:08.857Z,1655295728.857 [RudderServo](DEBUG): Initializing EZServoServo.
2022-06-15T12:22:08.977Z,1655295728.977 [RudderServo](DEBUG): Initializing RudderServo.
2022-06-15T12:22:08.981Z,1655295728.981 [CBIT](INFO): Clearing failed state for component RudderServo
2022-06-15T12:22:08.981Z,1655295728.981 [RudderServo] No Fault, FailCount= 1
2022-06-15T12:22:12.118Z,1655295732.118 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-06-15T12:22:15.338Z,1655295735.338 [Micromodem](INFO): Nmea in: $CATMG,2022-06-15T12:22:13.884895Z,RTC,RTC*51

2022-06-15T12:22:15.339Z,1655295735.339 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2022-06-15T12:22:13.884895Z,RTC,RTC*51

2022-06-15T12:22:22.581Z,1655295742.581 [DDM](INFO): Latch/Whisker Boards:V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
2022-06-15T12:22:22.679Z,1655295742.679 [DDM](INFO): Dynamic Docking Module:C REMUS Capture Rev 1.1
2022-06-15T12:22:23.422Z,1655295743.422 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2022-06-15T12:22:24.206Z,1655295744.206 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2022-06-15T12:22:24.206Z,1655295744.206 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-06-15T12:22:24.610Z,1655295744.610 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-06-15T12:22:24.610Z,1655295744.610 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2022-06-15T12:22:25.013Z,1655295745.013 [DUSBL_Hydroid](INFO): DUSBL Version:O
2022-06-15T12:22:25.028Z,1655295745.028 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2022-06-15T12:22:25.029Z,1655295745.029 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2022-06-15T12:22:25.418Z,1655295745.418 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2022-06-15T12:22:25.418Z,1655295745.418 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-06-15T12:22:25.822Z,1655295745.822 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-06-15T12:22:25.822Z,1655295745.822 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-06-15T12:22:26.226Z,1655295746.226 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-06-15T12:22:26.226Z,1655295746.226 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-06-15T12:22:26.629Z,1655295746.629 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-06-15T12:22:26.630Z,1655295746.630 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-06-15T12:22:27.033Z,1655295747.033 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-06-15T12:22:27.034Z,1655295747.034 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-06-15T12:22:27.441Z,1655295747.441 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-06-15T12:22:27.442Z,1655295747.442 [Micromodem](INFO): Nmea out: $CCCLK,2022,06,15,12,22,28*4D

2022-06-15T12:22:27.842Z,1655295747.842 [Micromodem](INFO): Nmea in: $CACLK,2022,6,15,12,22,28*7F

2022-06-15T12:22:27.843Z,1655295747.843 [Micromodem](INFO): Nmea in: $CATMS,0,2022-06-15T12:22:29Z*7E

2022-06-15T12:22:27.845Z,1655295747.845 [Micromodem](INFO): Nmea in: $CATMG,2022-06-15T12:22:29.028349Z,USER_CMD,RTC*1D

2022-06-15T12:22:33.898Z,1655295753.898 [NAL9602](INFO): Powering up NAL9602
2022-06-15T12:22:35.641Z,1655295755.641 [SBIT](IMPORTANT): Beginning Startup BIT
2022-06-15T12:22:35.648Z,1655295755.648 [CBIT](IMPORTANT): Beginning ground fault scan
2022-06-15T12:22:44.826Z,1655295764.826 [NAL9602](INFO): NAL9602 initialized
2022-06-15T12:22:46.886Z,1655295766.886 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.502170
CHAN A1 (24V): 0.704344
CHAN A2 (12V): 0.197404
CHAN A3 (5V): -0.000748
CHAN B0 (3.3V): 0.000915
CHAN B1 (3.15aV): 0.000655
CHAN B2 (3.15bV): 0.000669
CHAN B3 (GND): 0.001780
OPEN: 0.006539
Full Scale: +/- 1 mA
2022-06-15T12:22:59.359Z,1655295779.359 [NAL9602](INFO): SBD MO Status=0, MOMSN=40788, MT Status=0, MTMSN=0
2022-06-15T12:22:59.359Z,1655295779.359 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:23:29.682Z,1655295809.682 [SBIT](IMPORTANT): SBIT PASSED
2022-06-15T12:23:29.682Z,1655295809.682 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-06-15T12:23:29.699Z,1655295809.699 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2022-06-15T12:23:29.699Z,1655295809.699 [SBIT](IMPORTANT): Courier linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.200000 kilogram_per_cubic_meter;

2022-06-15T12:23:29.699Z,1655295809.699 [SBIT](IMPORTANT): Courier linearApproximation depth 3.000000 meter;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): Express none CTD_Seabird.sea_water_salinity;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.200000 kilogram_per_cubic_meter;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): Express none concentration_of_colored_dissolved_organic_matter_in_sea_water;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=1 bool;

2022-06-15T12:23:29.700Z,1655295809.700 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=1 day;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=41.598 degree;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=41.598 degree;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=41.538 degree;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=41.538 degree;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-70.791 degree;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-70.697 degree;

2022-06-15T12:23:29.701Z,1655295809.701 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-70.697 degree;

2022-06-15T12:23:29.702Z,1655295809.702 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-70.791 degree;

2022-06-15T12:23:29.702Z,1655295809.702 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=386.368917 cubic_centimeter;

2022-06-15T12:23:29.702Z,1655295809.702 [SBIT](IMPORTANT): VerticalControl.massDefault=-2.290733 millimeter;

2022-06-15T12:23:30.082Z,1655295810.082 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2022-06-15T12:23:30.085Z,1655295810.085 [WorkSite](IMPORTANT): WorkSite fix at 20220615T122120: (41.598897, -70.724268)
2022-06-15T12:23:30.087Z,1655295810.087 [MissionManager](IMPORTANT): Started mission Startup
2022-06-15T12:23:30.088Z,1655295810.088 [Startup] Running Loop=1
2022-06-15T12:23:30.088Z,1655295810.088 [Startup](DEBUG): Aggregate::initialize Startup
2022-06-15T12:23:30.088Z,1655295810.088 [Startup:A.GoToSurface] Running Loop=1
2022-06-15T12:23:30.088Z,1655295810.088 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:23:30.088Z,1655295810.088 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-15T12:23:30.089Z,1655295810.089 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-15T12:23:30.089Z,1655295810.089 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:23:30.090Z,1655295810.090 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:23:30.090Z,1655295810.090 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:23:30.091Z,1655295810.091 [Startup:StartupSatComms] Running Loop=1
2022-06-15T12:23:30.092Z,1655295810.092 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-06-15T12:23:30.092Z,1655295810.092 [Startup:StartupSatComms:A] Running Loop=1
2022-06-15T12:23:30.502Z,1655295810.502 [LBLNavigation](INFO): Reset ping filters
2022-06-15T12:23:30.502Z,1655295810.502 [LBLNavigation](INFO): Reset fix filter
2022-06-15T12:23:30.504Z,1655295810.504 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-06-15T12:24:22.000Z,1655295863.000 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122421.00,A,4135.93340,N,07043.47926,W,0.544,0.00,150622,,,A*7D
2022-06-15T12:24:23.003Z,1655295863.003 [NAL9602](INFO): GPS fix at 20220615T122421: (41.598890, -70.724654)
2022-06-15T12:24:23.015Z,1655295863.015 [Startup:StartupSatComms:A] Stopped
2022-06-15T12:24:23.015Z,1655295863.015 [Startup:StartupSatComms:B] Running Loop=1
2022-06-15T12:24:23.525Z,1655295863.525 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-15T12:24:37.058Z,1655295877.058 [NAL9602](INFO): SBD MO Status=1, MOMSN=40789, MT Status=0, MTMSN=0
2022-06-15T12:24:37.121Z,1655295877.121 [NAL9602](INFO): Sent 61 bytes from file Logs/20220614T142813/Courier0582.lzma
2022-06-15T12:24:37.122Z,1655295877.122 [NAL9602](INFO): Packets left to send: 0
2022-06-15T12:24:50.636Z,1655295890.636 [NAL9602](INFO): SBD MO Status=1, MOMSN=40790, MT Status=0, MTMSN=0
2022-06-15T12:24:50.684Z,1655295890.684 [NAL9602](INFO): Sent 60 bytes from file Logs/20220614T142813/Courier0585.lzma
2022-06-15T12:24:50.684Z,1655295890.684 [NAL9602](INFO): Packets left to send: 0
2022-06-15T12:25:12.903Z,1655295912.903 [NAL9602](INFO): SBD MO Status=1, MOMSN=40791, MT Status=0, MTMSN=0
2022-06-15T12:25:12.960Z,1655295912.960 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Courier0000.lzma
2022-06-15T12:25:12.960Z,1655295912.960 [NAL9602](INFO): Packets left to send: 1
2022-06-15T12:25:23.422Z,1655295923.422 [Startup:StartupSatComms:B](INFO): Timed out from 2022-06-15T12:24:23.0Z
2022-06-15T12:25:23.422Z,1655295923.422 [Startup:StartupSatComms:B] Stopped
2022-06-15T12:25:23.423Z,1655295923.423 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-06-15T12:25:23.423Z,1655295923.423 [Startup:StartupSatComms] Stopped
2022-06-15T12:25:23.423Z,1655295923.423 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-06-15T12:25:23.432Z,1655295923.432 [Startup](INFO): Completed Startup
2022-06-15T12:25:23.432Z,1655295923.432 [MissionManager](INFO): Startup is completed.
2022-06-15T12:25:23.432Z,1655295923.432 [MissionManager](INFO): Uninitializing Mission Startup
2022-06-15T12:25:23.432Z,1655295923.432 [Startup] Stopped
2022-06-15T12:25:23.432Z,1655295923.432 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-06-15T12:25:23.432Z,1655295923.432 [Startup:A.GoToSurface] Stopped
2022-06-15T12:25:23.432Z,1655295923.432 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:25:23.774Z,1655295923.774 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-15T12:25:23.774Z,1655295923.774 [DefaultWithUndock] Running Loop=1
2022-06-15T12:25:23.774Z,1655295923.774 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-15T12:25:23.774Z,1655295923.774 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-15T12:25:23.775Z,1655295923.775 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:25:24.966Z,1655295924.966 [NAL9602](INFO): SBD MO Status=2, MOMSN=40792, MT Status=2, MTMSN=0
2022-06-15T12:25:24.966Z,1655295924.966 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-06-15T12:25:40.921Z,1655295940.921 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004294
2022-06-15T12:25:54.063Z,1655295954.063 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-15T12:25:54.063Z,1655295954.063 [DefaultWithUndock:A.Wait] Stopped
2022-06-15T12:25:54.063Z,1655295954.063 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:25:54.063Z,1655295954.063 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-15T12:25:54.063Z,1655295954.063 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-15T12:25:54.063Z,1655295954.063 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-15T12:25:54.064Z,1655295954.064 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:25:54.064Z,1655295954.064 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-15T12:25:54.064Z,1655295954.064 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-15T12:25:54.064Z,1655295954.064 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:25:54.477Z,1655295954.477 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-15T12:25:54.862Z,1655295954.862 [PowerOnly](INFO): Powering up loadControl
2022-06-15T12:25:55.698Z,1655295955.698 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:25:56.616Z,1655295956.616 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:25:57.042Z,1655295957.042 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-15T12:25:57.383Z,1655295957.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:25:57.504Z,1655295957.504 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-15T12:25:57.744Z,1655295957.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:25:58.934Z,1655295958.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122559.01*57

2022-06-15T12:25:59.399Z,1655295959.399 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:00.949Z,1655295960.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:26:02.180Z,1655295962.180 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:02.970Z,1655295962.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:26:03.382Z,1655295963.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:26:04.209Z,1655295964.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122604.60*5B

2022-06-15T12:26:05.017Z,1655295965.017 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:06.601Z,1655295966.601 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:26:07.833Z,1655295967.833 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:08.638Z,1655295968.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:26:09.029Z,1655295969.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:26:09.866Z,1655295969.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122610.27*5D

2022-06-15T12:26:10.418Z,1655295970.418 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:12.261Z,1655295972.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:26:13.096Z,1655295973.096 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:13.880Z,1655295973.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:26:14.285Z,1655295974.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:26:15.116Z,1655295975.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122615.51*59

2022-06-15T12:26:15.911Z,1655295975.911 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:17.513Z,1655295977.513 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:26:17.581Z,1655295977.581 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-15T12:26:18.754Z,1655295978.754 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:26:19.558Z,1655295979.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:26:19.666Z,1655295979.666 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-15T12:26:19.940Z,1655295979.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:26:19.981Z,1655295979.981 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-15T12:26:19.981Z,1655295979.981 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-15T12:26:19.981Z,1655295979.981 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-15T12:26:19.981Z,1655295979.981 [DefaultWithUndock:LeaveDock] Stopped
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:26:19.982Z,1655295979.982 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-15T12:26:19.983Z,1655295979.983 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-15T12:26:19.983Z,1655295979.983 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:26:19.983Z,1655295979.983 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:26:19.984Z,1655295979.984 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:26:20.330Z,1655295980.330 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-15T12:26:20.331Z,1655295980.331 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:26:20.331Z,1655295980.331 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T12:26:20.749Z,1655295980.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122621.18*53

2022-06-15T12:26:20.777Z,1655295980.777 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-15T12:26:22.330Z,1655295982.330 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,122620.00,A,4135.93228,N,07043.48099,W,0.292,0.00,150622,,,A*7F
2022-06-15T12:26:22.333Z,1655295982.333 [NAL9602](INFO): GPS fix at 20220615T122620: (41.598871, -70.724683)
2022-06-15T12:26:22.358Z,1655295982.358 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T12:26:22.358Z,1655295982.358 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T12:26:22.777Z,1655295982.777 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-15T12:26:27.104Z,1655295987.104 [DataOverHttps](INFO): Sending 311 bytes from file Logs/20220615T122152/Courier0000.lzma
2022-06-15T12:26:28.105Z,1655295988.105 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0000.lzma.bak
2022-06-15T12:26:28.105Z,1655295988.105 [DataOverHttps](INFO): SBD MOMSN=1941260
2022-06-15T12:26:39.158Z,1655295999.158 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20220615T122152/Courier0004.lzma
2022-06-15T12:26:40.153Z,1655296000.153 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0004.lzma.bak
2022-06-15T12:26:40.153Z,1655296000.153 [DataOverHttps](INFO): SBD MOMSN=1941263
2022-06-15T12:26:40.543Z,1655296000.543 [NAL9602](INFO): SBD MO Status=1, MOMSN=40792, MT Status=0, MTMSN=0
2022-06-15T12:26:40.544Z,1655296000.544 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:26:50.199Z,1655296010.199 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20220614T142813/Express0580.lzma
2022-06-15T12:26:51.202Z,1655296011.202 [DataOverHttps](INFO): Moved sent file to Logs/20220614T142813/Express0580.lzma.bak
2022-06-15T12:26:51.202Z,1655296011.202 [DataOverHttps](INFO): SBD MOMSN=1941266
2022-06-15T12:27:11.258Z,1655296031.258 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:27:16.339Z,1655296036.339 [DataOverHttps](INFO): Sending 144 bytes from file Logs/20220614T142813/Express0583.lzma
2022-06-15T12:27:17.342Z,1655296037.342 [DataOverHttps](INFO): Moved sent file to Logs/20220614T142813/Express0583.lzma.bak
2022-06-15T12:27:17.342Z,1655296037.342 [DataOverHttps](INFO): SBD MOMSN=1941271
2022-06-15T12:27:26.201Z,1655296046.201 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:27:26.629Z,1655296046.629 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2022-06-15T12:27:41.459Z,1655296061.459 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20220614T142813/Express0586.lzma
2022-06-15T12:27:42.462Z,1655296062.462 [DataOverHttps](INFO): Moved sent file to Logs/20220614T142813/Express0586.lzma.bak
2022-06-15T12:27:42.462Z,1655296062.462 [DataOverHttps](INFO): SBD MOMSN=1941275
2022-06-15T12:28:07.614Z,1655296087.614 [DataOverHttps](INFO): Sending 1225 bytes from file Logs/20220615T122152/Express0001.lzma
2022-06-15T12:28:08.613Z,1655296088.613 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0001.lzma.bak
2022-06-15T12:28:08.613Z,1655296088.613 [DataOverHttps](INFO): SBD MOMSN=1941277
2022-06-15T12:28:17.683Z,1655296097.683 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20220615T122152/Express0005.lzma
2022-06-15T12:28:18.685Z,1655296098.685 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0005.lzma.bak
2022-06-15T12:28:18.685Z,1655296098.685 [DataOverHttps](INFO): SBD MOMSN=1941314
2022-06-15T12:28:20.805Z,1655296100.805 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T12:28:20.806Z,1655296100.806 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-15T12:28:20.806Z,1655296100.806 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:29:31.063Z,1655296171.063 [BPC1](ERROR): Battery stick #28 (s/n: 0137) reported OVER_TEMP_ALARM. Status code: 0x1717.
2022-06-15T12:29:31.064Z,1655296171.064 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2022-06-15T12:29:31.067Z,1655296171.067 [BPC1](INFO): Received data from all battery sticks.
2022-06-15T12:32:00.745Z,1655296320.745 [DataOverHttps](IMPORTANT): SBD MTMSN=20220615T123159
2022-06-15T12:32:04.767Z,1655296324.767 [DataOverHttps](INFO): Received command: load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run
2022-06-15T12:32:04.840Z,1655296324.840 [CommandExec](IMPORTANT): got command load ./Missions/underIce/DefaultUnderTimeout.xml
2022-06-15T12:32:04.841Z,1655296324.841 [MissionManager](INFO): Loading Mission from file: ./Missions/underIce/DefaultUnderTimeout.xml
2022-06-15T12:32:05.068Z,1655296325.068 [MissionManager](INFO): DefineArg DefaultUnderTimeout.MissionTimeout = 4.000000 h
2022-06-15T12:32:05.088Z,1655296325.088 [MissionManager](INFO): DefineArg DefaultUnderTimeout.CommsInterval = 10.000000 min
2022-06-15T12:32:05.100Z,1655296325.100 [MissionManager](INFO): DefineArg DefaultUnderTimeout.HomingCommsInterval = 30.000000 min
2022-06-15T12:32:05.107Z,1655296325.107 [MissionManager](INFO): DefineArg DefaultUnderTimeout.TransponderCode = 2.000000 count
2022-06-15T12:32:05.124Z,1655296325.124 [MissionManager](INFO): DefineArg DefaultUnderTimeout.AcousticUpdatePeriod = 60.000000 s
2022-06-15T12:32:05.143Z,1655296325.143 [MissionManager](INFO): DefineArg DefaultUnderTimeout.HomingAcousticUpdatePeriod = 2.500000 s
2022-06-15T12:32:05.172Z,1655296325.172 [MissionManager](INFO): DefineArg DefaultUnderTimeout.NumberOfPings = 1.000000 count
2022-06-15T12:32:05.182Z,1655296325.182 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.TrackingUpdatePeriod = 60.000000 s
2022-06-15T12:32:05.186Z,1655296325.186 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.uModemCommsInterval = 10.000000 min
2022-06-15T12:32:05.202Z,1655296325.202 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.Surface = -1.000000 count
2022-06-15T12:32:05.210Z,1655296325.210 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.Docked = 0.000000 count
2022-06-15T12:32:05.232Z,1655296325.232 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.Home = 1.000000 count
2022-06-15T12:32:05.240Z,1655296325.240 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.DefaultMode = 0.000000 count
2022-06-15T12:32:05.248Z,1655296325.248 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.CaptureMode = -1.000000 count
2022-06-15T12:32:05.256Z,1655296325.256 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.StartComms = 1 bool
2022-06-15T12:32:05.268Z,1655296325.268 [MissionManager](INFO): DefineOutput DefaultUnderTimeout.ElapsedSinceDefaultStarted = 0.000000 min
2022-06-15T12:32:05.318Z,1655296325.318 [DefaultUnderTimeout:E.PitchEnvelope](DEBUG): Construct PitchEnvelope.
2022-06-15T12:32:05.436Z,1655296325.436 [DefaultUnderTimeout:Notify:A:A:A.Wait](DEBUG): Construct Wait.
2022-06-15T12:32:05.446Z,1655296325.446 [DefaultUnderTimeout:Notify:A:C.Execute](DEBUG): Construct Execute.
2022-06-15T12:32:05.464Z,1655296325.464 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.xml
2022-06-15T12:32:05.894Z,1655296325.894 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.DockLat = 41.569317 arcdeg
2022-06-15T12:32:05.898Z,1655296325.898 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.DockLon = -70.747283 arcdeg
2022-06-15T12:32:05.902Z,1655296325.902 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.DetachTimeout = 30.000000 min
2022-06-15T12:32:05.906Z,1655296325.906 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.MidcourseDepth = 6.000000 m
2022-06-15T12:32:05.911Z,1655296325.911 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.MidcourseSpeed = 1.000000 m/s
2022-06-15T12:32:05.915Z,1655296325.915 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.MidcourseTimeout = 6.000000 h
2022-06-15T12:32:05.919Z,1655296325.919 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.TerminalRange = 650.000000 m
2022-06-15T12:32:05.923Z,1655296325.923 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.AcousticTimeout = 5.000000 min
2022-06-15T12:32:05.957Z,1655296325.957 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2022-06-15T12:32:05.961Z,1655296325.961 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.SearchTimeout = 1.000000 h
2022-06-15T12:32:05.965Z,1655296325.965 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.CircleRadius = 25.000000 m
2022-06-15T12:32:05.992Z,1655296325.992 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.CircleMaxError = 1.000000 m
2022-06-15T12:32:05.995Z,1655296325.995 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.CircleTurnToPort = 0 bool
2022-06-15T12:32:06.011Z,1655296326.011 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.DepthDeadband = 0.010000 m
2022-06-15T12:32:06.014Z,1655296326.014 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.RudderDeadband = 0.001000 arcdeg
2022-06-15T12:32:06.018Z,1655296326.018 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.MinAltitude = 2.000000 m
2022-06-15T12:32:06.045Z,1655296326.045 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.MaxDepth = 8.000000 m
2022-06-15T12:32:06.048Z,1655296326.048 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.MinOffshore = 1.000000 m
2022-06-15T12:32:06.062Z,1655296326.062 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.DockingAltitude = nan m
2022-06-15T12:32:06.066Z,1655296326.066 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.InvalidAltitudeTimeout = nan min
2022-06-15T12:32:06.082Z,1655296326.082 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.AltitudeDepthLimit = nan m
2022-06-15T12:32:06.087Z,1655296326.087 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2022-06-15T12:32:06.091Z,1655296326.091 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.DoneTimeout = -1.000000 count
2022-06-15T12:32:06.095Z,1655296326.095 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.Done = 0.000000 count
2022-06-15T12:32:06.130Z,1655296326.130 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.DetachFromDock = 1.000000 count
2022-06-15T12:32:06.133Z,1655296326.133 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.Midcourse = 2.000000 count
2022-06-15T12:32:06.137Z,1655296326.137 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.Terminal = 3.000000 count
2022-06-15T12:32:06.155Z,1655296326.155 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.GuidanceMode = 1.000000 count
2022-06-15T12:32:06.158Z,1655296326.158 [MissionManager](INFO): DefineOutput DefaultUnderTimeout:LineCapture.DockingDepth = 1.000000 m
2022-06-15T12:32:06.162Z,1655296326.162 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.ElapsedRange = 0.000000 min
2022-06-15T12:32:06.218Z,1655296326.218 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture.Range = nan m
2022-06-15T12:32:06.240Z,1655296326.240 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.xml
2022-06-15T12:32:06.278Z,1655296326.278 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2022-06-15T12:32:06.301Z,1655296326.301 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2022-06-15T12:32:06.324Z,1655296326.324 [MissionManager](INFO): DefineArg DefaultUnderTimeout:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2022-06-15T12:32:06.325Z,1655296326.325 [DefaultUnderTimeout:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:32:06.348Z,1655296326.348 [DefaultUnderTimeout:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:32:06.371Z,1655296326.371 [DefaultUnderTimeout:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-06-15T12:32:06.423Z,1655296326.423 [DefaultUnderTimeout:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2022-06-15T12:32:06.437Z,1655296326.437 [DefaultUnderTimeout:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2022-06-15T12:32:06.453Z,1655296326.453 [DefaultUnderTimeout:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2022-06-15T12:32:06.453Z,1655296326.453 [DefaultUnderTimeout:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:32:06.502Z,1655296326.502 [DefaultUnderTimeout:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2022-06-15T12:32:06.510Z,1655296326.510 [DefaultUnderTimeout:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2022-06-15T12:32:06.558Z,1655296326.558 [DefaultUnderTimeout:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:32:06.628Z,1655296326.628 [DefaultUnderTimeout:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2022-06-15T12:32:06.651Z,1655296326.651 [DefaultUnderTimeout:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2022-06-15T12:32:06.679Z,1655296326.679 [DefaultUnderTimeout:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2022-06-15T12:32:06.699Z,1655296326.699 [DefaultUnderTimeout:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2022-06-15T12:32:06.721Z,1655296326.721 [DefaultUnderTimeout:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2022-06-15T12:32:06.770Z,1655296326.770 [DefaultUnderTimeout:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2022-06-15T12:32:06.771Z,1655296326.771 [DefaultUnderTimeout:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2022-06-15T12:32:06.784Z,1655296326.784 [DefaultUnderTimeout:LineCapture:K.Wait](DEBUG): Construct Wait.
2022-06-15T12:32:06.786Z,1655296326.786 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.xml
2022-06-15T12:32:06.830Z,1655296326.830 [MissionManager](INFO): DefineArg DefaultUnderTimeout:SetNavAcoustic.DockLat = 41.569317 arcdeg
2022-06-15T12:32:06.843Z,1655296326.843 [MissionManager](INFO): DefineArg DefaultUnderTimeout:SetNavAcoustic.DockLon = -70.747283 arcdeg
2022-06-15T12:32:06.855Z,1655296326.855 [MissionManager](INFO): DefineArg DefaultUnderTimeout:SetNavAcoustic.DockRange = 5.000000 m
2022-06-15T12:32:06.864Z,1655296326.864 [MissionManager](INFO): DefineArg DefaultUnderTimeout:SetNavAcoustic.RangeTimeout = 5.000000 min
2022-06-15T12:32:06.874Z,1655296326.874 [DefaultUnderTimeout:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2022-06-15T12:32:06.922Z,1655296326.922 [DefaultUnderTimeout:K.Wait](DEBUG): Construct Wait.
2022-06-15T12:32:06.954Z,1655296326.954 [DefaultUnderTimeout:Default:Docked:run:C.Docked](DEBUG): Construct.
2022-06-15T12:32:06.954Z,1655296326.954 [DefaultUnderTimeout:Default:Docked:run:C.Docked](DEBUG): Initializing internal variables to default values.
2022-06-15T12:32:07.084Z,1655296327.084 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-15T12:32:07.108Z,1655296327.108 [DefaultUnderTimeout:Default:Surface:run:SurfaceComms:Read_Iridium_uModem:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-06-15T12:32:07.115Z,1655296327.115 [DefaultUnderTimeout:Default:Surface:run:SurfaceComms:C.Wait](DEBUG): Construct Wait.
2022-06-15T12:32:07.210Z,1655296327.210 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xmlns="Tethys"
    xmlns:Dock="Tethys/Dock"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="DefaultUnderTimeout">

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

    <DefineArg Name="CommsInterval"><Description>
        How often to trigger uModem communications while the mission is in an
        idle state (on the dock).
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="HomingCommsInterval"><Description>
        How often to trigger uModem communications while the mission is actively
        homing to the dock (line capture).
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Dock transponder address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="AcousticUpdatePeriod"><Description>
        Time duration between acoustic queries while the mission is in an idle
        state (on the dock or surface).
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="HomingAcousticUpdatePeriod"><Description>
        Time duration between acoustic queries while the mission is actively
        homing to the dock (line capture).
    </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>

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

    <DefineOutput Name="TrackingUpdatePeriod"><Description>
        Mission variable (don't change). How long to wait between acoustic
        queries.
    </Description><Units:second/><Value>60</Value></DefineOutput>

    <DefineOutput Name="uModemCommsInterval"><Description>
        Mission variable (don't change). The mission updates the value of this
        variable to determine how often to trigger uModem communications.
    </Description><Units:minute/><Value>10</Value></DefineOutput>

    <DefineOutput Name="Surface"><Description>
        Mission variable (don't change). The mission will run in this mode to go
        to the surface after homing attempts have failed.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change). The mission will run in this mode when
        the vehicle is docked.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="Home"><Description>
        Mission variable (don't change). The mission will run in this mode when
        homing to the dock.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="DefaultMode"><Description>
        Mission variable (don't change). The mission sets this variable to
        switch between default modes.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="CaptureMode"><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="StartComms"><Description>
        Mission variable (don't change). The mission sets this variable to reset
        the comms timer. Forces comms when true.
    </Description><True/></DefineOutput>

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

    <Timeout Duration="MissionTimeout"/>

<!-- Initialize mission variables with default values -->

    <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Docked"/></Assign>

    <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

    <Assign><Sequence/><Arg Name="uModemCommsInterval"/><Arg Name="CommsInterval"/></Assign>

    <Assign><Sequence/><Arg Name="StartComms"/><True/></Assign>

<!-- Safety nets -->

    <Guidance:PitchEnvelope>
        <Parallel/>
    </Guidance:PitchEnvelope>

<!-- uModem communication directives -->

    <Aggregate Id="uModemComms">

        <While>
            <Not><Arg Name="DefaultMode"/><Eq><Arg Name="Surface"/></Eq></Not>
            <And><Arg Name="StartComms"/><Or><Elapsed><Arg Name="StartComms"/></Elapsed><Gt><Arg Name="uModemCommsInterval"/></Gt></Or></And>
        </While>

        <Aggregate Id="doComms">

            <Sequence/>

            <Syslog Severity="Info">Initiating uModem comms cycle.</Syslog>

<!-- Reduce range interrogation rates to minimize interruptions to uModem comms packets -->

            <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

            <ReadDatum>
                <Timeout Duration="P10M"/>
                <Universal:platform_communications/>
            </ReadDatum>

            <Aggregate Id="ResumeTracking">

                <Description>
                    Resume rapid acoustic interrogation rate if the mission is
                    still actively homing to the dock.
                </Description>

                <Sequence/>

                <Break>
                    <Not><Arg Name="DefaultMode"/><Eq><Arg Name="Home"/></Eq></Not>
                </Break>

                <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="HomingAcousticUpdatePeriod"/></Assign>

            </Aggregate>

<!-- This assignment restarts the comms timer -->

            <Assign><Sequence/><Arg Name="StartComms"/><False/></Assign>

        </Aggregate>

    </Aggregate>

<!-- Notify directives. -->

    <Aggregate Id="Notify">

        <Parallel/>

        <Aggregate>

            <Sequence/>

            <Aggregate>

                <Sequence Repeat="48"/>

                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Units:minute/><Value>30</Value></Setting>
                </Guidance:Wait>

                <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

                <Syslog Severity="Important">Default Under mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

            </Aggregate>

            <Syslog Severity="Important">Restarting logs.</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
            </Guidance:Execute>

        </Aggregate>

    </Aggregate>

<!-- Add LineCapture directives. -->

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

<!-- Add SetNav directives. -->

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

<!-- Add track acoustic contact directives. -->

    <Aggregate Id="TrackAcousticContact">

        <Parallel/>

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

    </Aggregate>

<!-- Default mission sequence. -->

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Aggregate Id="Default">

        <Sequence/>

        <Aggregate Id="Docked">

            <Description>
                Keep the vehicle in an idle state while on the dock, transition
                to Home mode if detached.
            </Description>

            <While>
                <Arg Name="DefaultMode"/>
                <Eq><Arg Name="Docked"/></Eq>
            </While>

            <Aggregate Id="run">

                <Sequence/>

                <Syslog Severity="Info">Running Docked. DefaultMode:<Arg Name="DefaultMode"/><Units:count/></Syslog>

                <Aggregate Id="initialize">

                    <Sequence/>

                    <Assign><Sequence/><Arg Name="uModemCommsInterval"/><Arg Name="CommsInterval"/></Assign>

                    <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

                    <Assign><Sequence/><Arg Name="StartComms"/><True/></Assign>

                </Aggregate>

                <Dock:Docked>
                    <Sequence/>
                </Dock:Docked>

                <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Home"/></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Home">

            <Description>
                Execute the homing sequence.
            </Description>

            <While>
                <Arg Name="DefaultMode"/>
                <Eq><Arg Name="Home"/></Eq>
            </While>

            <Aggregate Id="run">

                <Sequence/>

                <Syslog Severity="Info">Running Home sequence. DefaultMode:<Arg Name="DefaultMode"/><Units:count/></Syslog>

                <Aggregate Id="initialize">

                    <Sequence/>

                    <Assign><Sequence/><Arg Name="uModemCommsInterval"/><Arg Name="HomingCommsInterval"/></Assign>

                    <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="HomingAcousticUpdatePeriod"/></Assign>

                    <Assign><Sequence/><Arg Name="CaptureMode"/><Arg Name="Surface"/></Assign>

                </Aggregate>

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

                <Call RefId="LineCapture"/>

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

                <Aggregate Id="CheckCaptureSuccess">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="CaptureMode"/><Eq><Arg Name="Docked"/></Eq></Not>
                    </Break>

                    <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Docked"/></Assign>

                </Aggregate>

                <Assign><Sequence/><Arg Name="DefaultMode"/><Arg Name="Surface"/></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Surface">

            <While>
                <Arg Name="DefaultMode"/>
                <Eq><Arg Name="Surface"/></Eq>
            </While>

            <Aggregate Id="run">

                <Sequence/>

                <Syslog Severity="Info">Running Surface sequence. DefaultMode:<Arg Name="DefaultMode"/><Units:count/></Syslog>

                <Aggregate Id="initialize">

                    <Sequence/>

                    <Assign><Sequence/><Arg Name="TrackingUpdatePeriod"/><Arg Name="AcousticUpdatePeriod"/></Assign>

                </Aggregate>

                <Guidance:GoToSurface>
                    <Parallel/>
                </Guidance:GoToSurface>

                <Aggregate Id="SurfaceComms">

                    <Sequence Repeat="288"/>

                    <ReadDatum Id="Read_GPS">
                        <Timeout Duration="P5M"/>
                        <Universal:time_fix/>
                    </ReadDatum>

                    <ReadDatum Id="Read_Iridium_uModem">
                        <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>

                </Aggregate>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2022-06-15T12:32:07.211Z,1655296327.211 [CommandExec](IMPORTANT): Loaded ./Missions/underIce/DefaultUnderTimeout.xml
2022-06-15T12:32:10.984Z,1655296330.984 [CommandExec](IMPORTANT): got command set DefaultUnderTimeout.MissionTimeout 2 hour
2022-06-15T12:32:10.985Z,1655296330.985 [CommandExec](IMPORTANT): got command run
2022-06-15T12:32:10.988Z,1655296330.988 [CommandExec](IMPORTANT): Running 
2022-06-15T12:32:11.074Z,1655296331.074 [DefaultWithUndock] Stopped
2022-06-15T12:32:11.074Z,1655296331.074 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2022-06-15T12:32:11.074Z,1655296331.074 [DefaultWithUndock:SurfaceDefault] Stopped
2022-06-15T12:32:11.074Z,1655296331.074 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:32:11.075Z,1655296331.075 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2022-06-15T12:32:11.075Z,1655296331.075 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:32:11.075Z,1655296331.075 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-15T12:32:11.075Z,1655296331.075 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:32:11.075Z,1655296331.075 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-15T12:32:11.079Z,1655296331.079 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:32:11.079Z,1655296331.079 [MissionManager](IMPORTANT): Started mission DefaultUnderTimeout
2022-06-15T12:32:11.080Z,1655296331.080 [DefaultUnderTimeout] Running Loop=1
2022-06-15T12:32:11.080Z,1655296331.080 [DefaultUnderTimeout](DEBUG): Aggregate::initialize DefaultUnderTimeout
2022-06-15T12:32:11.080Z,1655296331.080 [DefaultUnderTimeout:E.PitchEnvelope] Running Loop=1
2022-06-15T12:32:11.080Z,1655296331.080 [DefaultUnderTimeout:E.PitchEnvelope](DEBUG): Initialize PitchEnvelope.
2022-06-15T12:32:11.080Z,1655296331.080 [DefaultUnderTimeout:E.PitchEnvelope](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:32:11.081Z,1655296331.081 [DefaultUnderTimeout:E.PitchEnvelope](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:32:11.081Z,1655296331.081 [DefaultUnderTimeout:E.PitchEnvelope](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:32:11.081Z,1655296331.081 [DefaultUnderTimeout:uModemComms] Running Loop=1
2022-06-15T12:32:11.081Z,1655296331.081 [DefaultUnderTimeout:uModemComms](DEBUG): Aggregate::initialize DefaultUnderTimeout:uModemComms
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:uModemComms:doComms] Running Loop=1
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:uModemComms:doComms](DEBUG): Aggregate::initialize DefaultUnderTimeout:uModemComms:doComms
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:uModemComms:doComms:A] Running Loop=1
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:Notify] Running Loop=1
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:Notify](DEBUG): Aggregate::initialize DefaultUnderTimeout:Notify
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:Notify:A] Running Loop=1
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:Notify:A](DEBUG): Aggregate::initialize DefaultUnderTimeout:Notify:A
2022-06-15T12:32:11.082Z,1655296331.082 [DefaultUnderTimeout:Notify:A:A] Running Loop=1
2022-06-15T12:32:11.083Z,1655296331.083 [DefaultUnderTimeout:Notify:A:A](DEBUG): Aggregate::initialize DefaultUnderTimeout:Notify:A:A
2022-06-15T12:32:11.083Z,1655296331.083 [DefaultUnderTimeout:Notify:A:A:A.Wait] Running Loop=1
2022-06-15T12:32:11.083Z,1655296331.083 [DefaultUnderTimeout:Notify:A:A:A.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:32:11.083Z,1655296331.083 [DefaultUnderTimeout:TrackAcousticContact] Running Loop=1
2022-06-15T12:32:11.083Z,1655296331.083 [DefaultUnderTimeout:TrackAcousticContact](DEBUG): Aggregate::initialize DefaultUnderTimeout:TrackAcousticContact
2022-06-15T12:32:11.087Z,1655296331.087 [DefaultUnderTimeout:TrackAcousticContact:A.] Running Loop=1
2022-06-15T12:32:11.087Z,1655296331.087 [DefaultUnderTimeout:TrackAcousticContact:A.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:32:11.087Z,1655296331.087 [DefaultUnderTimeout:A] Running Loop=1
2022-06-15T12:32:11.088Z,1655296331.088 [DefaultUnderTimeout:TrackAcousticContact] Running Loop=1
2022-06-15T12:32:11.088Z,1655296331.088 [DefaultUnderTimeout:TrackAcousticContact:A.] Running Loop=1
2022-06-15T12:32:11.089Z,1655296331.089 [DefaultUnderTimeout:Notify] Running Loop=1
2022-06-15T12:32:11.089Z,1655296331.089 [DefaultUnderTimeout:uModemComms] Running Loop=1
2022-06-15T12:32:11.089Z,1655296331.089 [DefaultUnderTimeout:uModemComms:doComms:A](INFO): Initiating uModem comms cycle.
2022-06-15T12:32:11.089Z,1655296331.089 [DefaultUnderTimeout:uModemComms:doComms:A] Stopped
2022-06-15T12:32:11.089Z,1655296331.089 [DefaultUnderTimeout:uModemComms:doComms:B] Running Loop=1
2022-06-15T12:32:11.089Z,1655296331.089 [DefaultUnderTimeout:E.PitchEnvelope] Running Loop=1
2022-06-15T12:32:11.090Z,1655296331.090 [DefaultUnderTimeout:A] Stopped
2022-06-15T12:32:11.090Z,1655296331.090 [DefaultUnderTimeout:B] Running Loop=1
2022-06-15T12:32:11.560Z,1655296331.560 [DefaultUnderTimeout:uModemComms:doComms:B] Stopped
2022-06-15T12:32:11.560Z,1655296331.560 [DefaultUnderTimeout:uModemComms:doComms:C] Running Loop=1
2022-06-15T12:32:11.562Z,1655296331.562 [DefaultUnderTimeout:B] Stopped
2022-06-15T12:32:11.562Z,1655296331.562 [DefaultUnderTimeout:C] Running Loop=1
2022-06-15T12:32:11.877Z,1655296331.877 [DefaultUnderTimeout:uModemComms:doComms:C](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-15T12:32:11.878Z,1655296331.878 [DefaultUnderTimeout:C] Stopped
2022-06-15T12:32:11.878Z,1655296331.878 [DefaultUnderTimeout:D] Running Loop=1
2022-06-15T12:32:12.273Z,1655296332.273 [DefaultUnderTimeout:D] Stopped
2022-06-15T12:32:12.273Z,1655296332.273 [DefaultUnderTimeout:K.Wait] Running Loop=1
2022-06-15T12:32:12.273Z,1655296332.273 [DefaultUnderTimeout:K.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:32:15.811Z,1655296335.811 [DataOverHttps](INFO): Sending 189 bytes from file Logs/20220615T122152/Courier0007.lzma
2022-06-15T12:32:16.813Z,1655296336.813 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0007.lzma.bak
2022-06-15T12:32:16.813Z,1655296336.813 [DataOverHttps](INFO): SBD MOMSN=1941320
2022-06-15T12:32:25.851Z,1655296345.851 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20220615T122152/Courier0010.lzma
2022-06-15T12:32:26.008Z,1655296346.008 [DefaultUnderTimeout:K.Wait](INFO): Done Waiting.
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:K.Wait] Stopped
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:K.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default] Running Loop=1
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default:Docked] Running Loop=1
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default:Docked](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Docked
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default:Docked:run] Running Loop=1
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default:Docked:run](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Docked:run
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default:Docked:run:A] Running Loop=1
2022-06-15T12:32:26.009Z,1655296346.009 [DefaultUnderTimeout:Default:Home] Running Loop=1
2022-06-15T12:32:26.010Z,1655296346.010 [DefaultUnderTimeout:Default:Home](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Home
2022-06-15T12:32:26.010Z,1655296346.010 [DefaultUnderTimeout:Default:Home:run] Running Loop=1
2022-06-15T12:32:26.010Z,1655296346.010 [DefaultUnderTimeout:Default:Home:run](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Home:run
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Home:run:A] Running Loop=1
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Surface] Running Loop=1
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Surface](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Surface
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Surface:run] Running Loop=1
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Surface:run](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Surface:run
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface] Running Loop=1
2022-06-15T12:32:26.011Z,1655296346.011 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:32:26.012Z,1655296346.012 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-15T12:32:26.012Z,1655296346.012 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-15T12:32:26.012Z,1655296346.012 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:32:26.012Z,1655296346.012 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:32:26.013Z,1655296346.013 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:32:26.013Z,1655296346.013 [DefaultUnderTimeout:Default:Surface:run:A] Running Loop=1
2022-06-15T12:32:26.435Z,1655296346.435 [DefaultUnderTimeout:Default:Surface] Stopped
2022-06-15T12:32:26.435Z,1655296346.435 [DefaultUnderTimeout:Default:Surface](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Surface
2022-06-15T12:32:26.435Z,1655296346.435 [DefaultUnderTimeout:Default:Surface:run] Stopped
2022-06-15T12:32:26.435Z,1655296346.435 [DefaultUnderTimeout:Default:Surface:run](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Surface:run
2022-06-15T12:32:26.435Z,1655296346.435 [DefaultUnderTimeout:Default:Surface:run:A] Stopped
2022-06-15T12:32:26.435Z,1655296346.435 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface] Stopped
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Surface:run:C.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Home] Stopped
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Home](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Home
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Home:run] Stopped
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Home:run](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Home:run
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Home:run:A] Stopped
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Docked] Running Loop=1
2022-06-15T12:32:26.436Z,1655296346.436 [DefaultUnderTimeout:Default:Docked:run:A](INFO): Running Docked. DefaultMode: 0.000000 count 
2022-06-15T12:32:26.437Z,1655296346.437 [DefaultUnderTimeout:Default:Docked:run:A] Stopped
2022-06-15T12:32:26.437Z,1655296346.437 [DefaultUnderTimeout:Default:Docked:run:initialize] Running Loop=1
2022-06-15T12:32:26.437Z,1655296346.437 [DefaultUnderTimeout:Default:Docked:run:initialize](DEBUG): Aggregate::initialize DefaultUnderTimeout:Default:Docked:run:initialize
2022-06-15T12:32:26.437Z,1655296346.437 [DefaultUnderTimeout:Default:Docked:run:initialize:A] Running Loop=1
2022-06-15T12:32:26.837Z,1655296346.837 [DefaultUnderTimeout:Default:Docked:run:initialize:A] Stopped
2022-06-15T12:32:26.838Z,1655296346.838 [DefaultUnderTimeout:Default:Docked:run:initialize:B] Running Loop=1
2022-06-15T12:32:26.853Z,1655296346.853 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0010.lzma.bak
2022-06-15T12:32:26.853Z,1655296346.853 [DataOverHttps](INFO): SBD MOMSN=1941322
2022-06-15T12:32:27.266Z,1655296347.266 [DefaultUnderTimeout:Default:Docked:run:initialize:B] Stopped
2022-06-15T12:32:27.266Z,1655296347.266 [DefaultUnderTimeout:Default:Docked:run:initialize:C] Running Loop=1
2022-06-15T12:32:27.636Z,1655296347.636 [DefaultUnderTimeout:Default:Docked:run:initialize:C] Stopped
2022-06-15T12:32:27.636Z,1655296347.636 [DefaultUnderTimeout:Default:Docked:run:initialize](INFO): Completed DefaultUnderTimeout:Default:Docked:run:initialize
2022-06-15T12:32:27.636Z,1655296347.636 [DefaultUnderTimeout:Default:Docked:run:initialize] Stopped
2022-06-15T12:32:27.637Z,1655296347.637 [DefaultUnderTimeout:Default:Docked:run:initialize](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Docked:run:initialize
2022-06-15T12:32:27.637Z,1655296347.637 [DefaultUnderTimeout:Default:Docked:run:C.Docked] Running Loop=1
2022-06-15T12:32:27.637Z,1655296347.637 [DefaultUnderTimeout:Default:Docked:run:C.Docked](DEBUG): Initialize.
2022-06-15T12:32:27.637Z,1655296347.637 [DefaultUnderTimeout:Default:Docked:run:C.Docked](DEBUG): Initializing internal variables to default values.
2022-06-15T12:32:27.637Z,1655296347.637 [DefaultUnderTimeout:Default:Docked:run:C.Docked](INFO): Maintaining depth of 6.000000 m.
2022-06-15T12:32:27.638Z,1655296347.638 [DefaultUnderTimeout:Default:Docked:run:C.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2022-06-15T12:32:28.058Z,1655296348.058 [DefaultUnderTimeout:Default:Docked:run:C.Docked](INFO): Detected possible state switch to DETACHED.
2022-06-15T12:32:36.918Z,1655296356.918 [DataOverHttps](INFO): Sending 284 bytes from file Logs/20220615T122152/Express0008.lzma
2022-06-15T12:32:37.917Z,1655296357.917 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0008.lzma.bak
2022-06-15T12:32:37.917Z,1655296357.917 [DataOverHttps](INFO): SBD MOMSN=1941324
2022-06-15T12:32:48.031Z,1655296368.031 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20220615T122152/Express0011.lzma
2022-06-15T12:32:49.034Z,1655296369.034 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0011.lzma.bak
2022-06-15T12:32:49.034Z,1655296369.034 [DataOverHttps](INFO): SBD MOMSN=1941333
2022-06-15T12:32:51.083Z,1655296371.083 [DefaultUnderTimeout:uModemComms:doComms:C] Stopped
2022-06-15T12:32:51.087Z,1655296371.087 [DefaultUnderTimeout:uModemComms:doComms:ResumeTracking] Running Loop=1
2022-06-15T12:32:51.088Z,1655296371.088 [DefaultUnderTimeout:uModemComms:doComms:ResumeTracking](DEBUG): Aggregate::initialize DefaultUnderTimeout:uModemComms:doComms:ResumeTracking
2022-06-15T12:32:51.088Z,1655296371.088 [DefaultUnderTimeout:uModemComms:doComms:ResumeTracking:A] Running Loop=1
2022-06-15T12:32:51.660Z,1655296371.660 [DefaultUnderTimeout:uModemComms:doComms:ResumeTracking] Stopped
2022-06-15T12:32:51.661Z,1655296371.661 [DefaultUnderTimeout:uModemComms:doComms:ResumeTracking](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:uModemComms:doComms:ResumeTracking
2022-06-15T12:32:51.661Z,1655296371.661 [DefaultUnderTimeout:uModemComms:doComms:ResumeTracking:A] Stopped
2022-06-15T12:32:51.661Z,1655296371.661 [DefaultUnderTimeout:uModemComms:doComms:E] Running Loop=1
2022-06-15T12:32:51.923Z,1655296371.923 [DefaultUnderTimeout:uModemComms:doComms:E] Stopped
2022-06-15T12:32:51.927Z,1655296371.927 [DefaultUnderTimeout:uModemComms:doComms](INFO): Completed DefaultUnderTimeout:uModemComms:doComms
2022-06-15T12:32:51.927Z,1655296371.927 [DefaultUnderTimeout:uModemComms:doComms] Stopped
2022-06-15T12:32:51.928Z,1655296371.928 [DefaultUnderTimeout:uModemComms:doComms](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:uModemComms:doComms
2022-06-15T12:32:51.928Z,1655296371.928 [DefaultUnderTimeout:uModemComms](INFO): Completed DefaultUnderTimeout:uModemComms
2022-06-15T12:33:11.343Z,1655296391.343 [DefaultUnderTimeout:TrackAcousticContact:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:33:12.068Z,1655296392.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:33:12.457Z,1655296392.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:33:13.279Z,1655296393.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123313.69*50

2022-06-15T12:33:15.705Z,1655296395.705 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:34:00.592Z,1655296440.592 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239399
2022-06-15T12:34:11.468Z,1655296451.468 [DefaultUnderTimeout:TrackAcousticContact:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:34:12.247Z,1655296452.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:34:12.655Z,1655296452.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:34:13.498Z,1655296453.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123413.87*57

2022-06-15T12:34:15.917Z,1655296455.917 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:34:31.223Z,1655296471.223 [Radio_Surface](INFO): Powering down
2022-06-15T12:34:36.748Z,1655296476.748 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:34:37.752Z,1655296477.752 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2022-06-15T12:35:11.712Z,1655296511.712 [DefaultUnderTimeout:TrackAcousticContact:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:35:12.463Z,1655296512.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:35:12.856Z,1655296512.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:35:13.672Z,1655296513.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123514.08*56

2022-06-15T12:35:16.085Z,1655296516.085 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:35:31.491Z,1655296531.491 [CBIT](CRITICAL): STOP DEPTH REACHED. Terminating Mission.
2022-06-15T12:35:31.491Z,1655296531.491 [Supervisor](INFO): Stop Mission called by CBIT::checkDepth
2022-06-15T12:35:31.879Z,1655296531.879 [MissionManager](INFO): MissionManager is completed.
2022-06-15T12:35:31.880Z,1655296531.880 [MissionManager](INFO): Uninitializing Mission DefaultUnderTimeout
2022-06-15T12:35:31.881Z,1655296531.881 [DefaultUnderTimeout] Stopped
2022-06-15T12:35:31.881Z,1655296531.881 [DefaultUnderTimeout](DEBUG): Aggregate::uninitialize DefaultUnderTimeout
2022-06-15T12:35:31.881Z,1655296531.881 [DefaultUnderTimeout:E.PitchEnvelope] Stopped
2022-06-15T12:35:31.882Z,1655296531.882 [DefaultUnderTimeout:E.PitchEnvelope](DEBUG): Uninitialize PitchEnvelope.
2022-06-15T12:35:31.882Z,1655296531.882 [DefaultUnderTimeout:uModemComms] Stopped
2022-06-15T12:35:31.883Z,1655296531.883 [DefaultUnderTimeout:uModemComms](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:uModemComms
2022-06-15T12:35:31.883Z,1655296531.883 [DefaultUnderTimeout:Notify] Stopped
2022-06-15T12:35:31.884Z,1655296531.884 [DefaultUnderTimeout:Notify](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Notify
2022-06-15T12:35:31.884Z,1655296531.884 [DefaultUnderTimeout:Notify:A] Stopped
2022-06-15T12:35:31.884Z,1655296531.884 [DefaultUnderTimeout:Notify:A](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Notify:A
2022-06-15T12:35:31.885Z,1655296531.885 [DefaultUnderTimeout:Notify:A:A] Stopped
2022-06-15T12:35:31.885Z,1655296531.885 [DefaultUnderTimeout:Notify:A:A](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Notify:A:A
2022-06-15T12:35:31.885Z,1655296531.885 [DefaultUnderTimeout:Notify:A:A:A.Wait] Stopped
2022-06-15T12:35:31.885Z,1655296531.885 [DefaultUnderTimeout:Notify:A:A:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:35:31.885Z,1655296531.885 [DefaultUnderTimeout:TrackAcousticContact] Stopped
2022-06-15T12:35:31.885Z,1655296531.885 [DefaultUnderTimeout:TrackAcousticContact](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:TrackAcousticContact
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:TrackAcousticContact:A.] Stopped
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:TrackAcousticContact:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default] Stopped
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default:Docked] Stopped
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default:Docked](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Docked
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default:Docked:run] Stopped
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default:Docked:run](DEBUG): Aggregate::uninitialize DefaultUnderTimeout:Default:Docked:run
2022-06-15T12:35:31.886Z,1655296531.886 [DefaultUnderTimeout:Default:Docked:run:C.Docked] Stopped
2022-06-15T12:35:32.010Z,1655296532.010 [CommandExec](FAULT): Scheduling is paused
2022-06-15T12:35:32.010Z,1655296532.010 [CBIT](INFO): Critical error at 20220615T123531
2022-06-15T12:35:32.261Z,1655296532.261 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-15T12:35:32.261Z,1655296532.261 [DefaultWithUndock] Running Loop=1
2022-06-15T12:35:32.261Z,1655296532.261 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-15T12:35:32.261Z,1655296532.261 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-15T12:35:32.261Z,1655296532.261 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:36:02.565Z,1655296562.565 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-15T12:36:02.565Z,1655296562.565 [DefaultWithUndock:A.Wait] Stopped
2022-06-15T12:36:02.565Z,1655296562.565 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:36:02.565Z,1655296562.565 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-15T12:36:02.565Z,1655296562.565 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-15T12:36:02.566Z,1655296562.566 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-15T12:36:02.566Z,1655296562.566 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:36:02.566Z,1655296562.566 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-15T12:36:02.566Z,1655296562.566 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-15T12:36:02.566Z,1655296562.566 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:36:03.366Z,1655296563.366 [PowerOnly](INFO): Powering up loadControl
2022-06-15T12:36:05.474Z,1655296565.474 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-15T12:36:05.474Z,1655296565.474 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:05.842Z,1655296565.842 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2022-06-15T12:36:06.210Z,1655296566.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:36:06.616Z,1655296566.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:36:06.640Z,1655296566.640 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2022-06-15T12:36:07.449Z,1655296567.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123607.83*54

2022-06-15T12:36:08.268Z,1655296568.268 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:09.848Z,1655296569.848 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:36:11.070Z,1655296571.070 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:11.870Z,1655296571.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:36:12.272Z,1655296572.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:36:13.102Z,1655296573.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123613.49*57

2022-06-15T12:36:13.895Z,1655296573.895 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:15.504Z,1655296575.504 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:36:15.921Z,1655296575.921 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2022-06-15T12:36:16.409Z,1655296576.409 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-15T12:36:16.410Z,1655296576.410 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:17.114Z,1655296577.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:36:17.520Z,1655296577.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:36:18.358Z,1655296578.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123618.73*55

2022-06-15T12:36:19.151Z,1655296579.151 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:20.752Z,1655296580.752 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:36:21.974Z,1655296581.974 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:22.774Z,1655296582.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:36:23.185Z,1655296583.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:36:24.002Z,1655296584.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123624.39*54

2022-06-15T12:36:24.821Z,1655296584.821 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:26.417Z,1655296586.417 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:36:27.656Z,1655296587.656 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:28.426Z,1655296588.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:36:28.840Z,1655296588.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:36:29.650Z,1655296589.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123630.05*5E

2022-06-15T12:36:30.512Z,1655296590.512 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:32.061Z,1655296592.061 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:36:33.294Z,1655296593.294 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:34.082Z,1655296594.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:36:34.489Z,1655296594.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:36:35.306Z,1655296595.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123635.70*59

2022-06-15T12:36:36.166Z,1655296596.166 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:36.569Z,1655296596.569 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-15T12:36:37.717Z,1655296597.717 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:36:38.576Z,1655296598.576 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-15T12:36:38.945Z,1655296598.945 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-15T12:36:38.946Z,1655296598.946 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-15T12:36:38.946Z,1655296598.946 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:36:38.946Z,1655296598.946 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:LeaveDock] Stopped
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-15T12:36:38.947Z,1655296598.947 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:36:38.948Z,1655296598.948 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-15T12:36:38.948Z,1655296598.948 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-15T12:36:38.948Z,1655296598.948 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:36:38.949Z,1655296598.949 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:36:38.949Z,1655296598.949 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:36:39.765Z,1655296599.765 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm (1 active estimators).
2022-06-15T12:36:40.100Z,1655296600.100 [Radio_Surface](INFO): Powering up
2022-06-15T12:36:46.284Z,1655296606.284 [DataOverHttps](INFO): Radio surface powered ON.
2022-06-15T12:37:16.408Z,1655296636.408 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:37:18.523Z,1655296638.523 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2022-06-15T12:37:18.523Z,1655296638.523 [RDI_Pathfinder] Communications Fault, FailCount= 1
2022-06-15T12:37:18.523Z,1655296638.523 [RDI_Pathfinder](ERROR): Communications Fault
2022-06-15T12:37:18.646Z,1655296638.646 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2022-06-15T12:37:18.972Z,1655296638.972 [RDI_Pathfinder](INFO): Powering down
2022-06-15T12:37:19.859Z,1655296639.859 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2022-06-15T12:37:19.859Z,1655296639.859 [RDI_Pathfinder] No Fault, FailCount= 1
2022-06-15T12:37:20.108Z,1655296640.108 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2022-06-15T12:37:34.651Z,1655296654.651 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:37:34.689Z,1655296654.689 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-15T12:37:34.689Z,1655296654.689 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:37:34.689Z,1655296654.689 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T12:37:50.013Z,1655296670.013 [NAL9602](INFO): SBD MO Status=1, MOMSN=40793, MT Status=0, MTMSN=0
2022-06-15T12:37:50.013Z,1655296670.013 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:37:51.223Z,1655296671.223 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,123750.00,A,4135.94560,N,07043.49618,W,0.875,328.47,150622,,,A*73
2022-06-15T12:37:51.226Z,1655296671.226 [NAL9602](INFO): GPS fix at 20220615T123750: (41.599093, -70.724936)
2022-06-15T12:37:51.238Z,1655296671.238 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T12:37:51.238Z,1655296671.238 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T12:37:51.548Z,1655296671.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:38:01.246Z,1655296681.246 [NAL9602](INFO): SBD MO Status=1, MOMSN=40794, MT Status=0, MTMSN=0
2022-06-15T12:38:01.311Z,1655296681.311 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Courier0013.lzma
2022-06-15T12:38:01.314Z,1655296681.314 [NAL9602](INFO): Packets left to send: 1
2022-06-15T12:38:10.975Z,1655296690.975 [NAL9602](INFO): SBD MO Status=1, MOMSN=40795, MT Status=0, MTMSN=0
2022-06-15T12:38:11.036Z,1655296691.036 [NAL9602](INFO): Sent 11 bytes from file Logs/20220615T122152/Courier0013.lzma
2022-06-15T12:38:11.036Z,1655296691.036 [NAL9602](INFO): Packets left to send: 0
2022-06-15T12:38:24.221Z,1655296704.221 [NAL9602](INFO): SBD MO Status=1, MOMSN=40796, MT Status=0, MTMSN=0
2022-06-15T12:38:24.280Z,1655296704.280 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Express0014.lzma
2022-06-15T12:38:24.280Z,1655296704.280 [NAL9602](INFO): Packets left to send: 1
2022-06-15T12:38:26.692Z,1655296706.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:38:36.579Z,1655296716.579 [NAL9602](INFO): SBD MO Status=1, MOMSN=40797, MT Status=0, MTMSN=0
2022-06-15T12:38:36.639Z,1655296716.639 [NAL9602](INFO): Sent 35 bytes from file Logs/20220615T122152/Express0014.lzma
2022-06-15T12:38:36.640Z,1655296716.640 [NAL9602](INFO): Packets left to send: 0
2022-06-15T12:38:42.295Z,1655296722.295 [NAL9602](INFO): SBD MO Status=0, MOMSN=40798, MT Status=0, MTMSN=0
2022-06-15T12:38:42.397Z,1655296722.397 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T12:38:42.397Z,1655296722.397 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-15T12:38:42.397Z,1655296722.397 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:39:01.832Z,1655296741.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:39:12.997Z,1655296752.997 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:39:36.979Z,1655296776.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:39:46.966Z,1655296786.966 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2022-06-15T12:40:07.104Z,1655296807.104 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003090
2022-06-15T12:43:16.889Z,1655296996.889 [DataOverHttps](IMPORTANT): SBD MTMSN=20220615T124315
2022-06-15T12:43:20.919Z,1655297000.919 [DataOverHttps](INFO): Received command: schedule clear; schedule resume
2022-06-15T12:43:21.007Z,1655297001.007 [CommandExec](IMPORTANT): got command schedule clear
2022-06-15T12:43:21.008Z,1655297001.008 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2022-06-15T12:43:21.008Z,1655297001.008 [CommandExec](IMPORTANT): got command schedule resume
2022-06-15T12:43:21.008Z,1655297001.008 [CommandExec](IMPORTANT): Scheduling is resumed
2022-06-15T12:43:42.922Z,1655297022.922 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2022-06-15T12:43:42.922Z,1655297022.922 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-15T12:43:42.922Z,1655297022.922 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:43:42.922Z,1655297022.922 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2022-06-15T12:43:43.342Z,1655297023.342 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2022-06-15T12:43:43.342Z,1655297023.342 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 8.184681 min 
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2022-06-15T12:43:43.718Z,1655297023.718 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:43:43.719Z,1655297023.719 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T12:43:45.726Z,1655297025.726 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,124344.00,A,4135.94430,N,07043.51151,W,0.758,272.39,150622,,,A*75
2022-06-15T12:43:45.729Z,1655297025.729 [NAL9602](INFO): GPS fix at 20220615T124344: (41.599072, -70.725192)
2022-06-15T12:43:45.741Z,1655297025.741 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T12:43:45.741Z,1655297025.741 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T12:43:50.043Z,1655297030.043 [DataOverHttps](INFO): Sending 86 bytes from file Logs/20220615T122152/Courier0016.lzma
2022-06-15T12:43:51.057Z,1655297031.057 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0016.lzma.bak
2022-06-15T12:43:51.058Z,1655297031.058 [DataOverHttps](IMPORTANT): SBD MOMSN=1941353, MTMSN=20220615T124349
2022-06-15T12:43:55.075Z,1655297035.075 [DataOverHttps](INFO): Received command: load Science/mapPatch_undock.xml;set mapPatch_undock.MissionTimeout 1 h;run
2022-06-15T12:43:55.168Z,1655297035.168 [CommandExec](IMPORTANT): got command load ./Missions/Science/mapPatch_undock.xml
2022-06-15T12:43:55.169Z,1655297035.169 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/mapPatch_undock.xml
2022-06-15T12:43:56.756Z,1655297036.756 [MissionManager](INFO): DefineArg mapPatch_undock.MissionTimeout = 2.000000 h
2022-06-15T12:43:56.759Z,1655297036.759 [MissionManager](INFO): DefineArg mapPatch_undock.DetachTimeout = 20.000000 min
2022-06-15T12:43:56.766Z,1655297036.766 [MissionManager](INFO): DefineArg mapPatch_undock.TransponderCode = 2.000000 count
2022-06-15T12:43:56.773Z,1655297036.773 [MissionManager](INFO): DefineArg mapPatch_undock.Speed = 1.000000 m/s
2022-06-15T12:43:56.777Z,1655297036.777 [MissionManager](INFO): DefineArg mapPatch_undock.CommsAtMissionStart = 1 bool
2022-06-15T12:43:56.792Z,1655297036.792 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDetectChl = 0 bool
2022-06-15T12:43:56.795Z,1655297036.795 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDetectSalinity = 0 bool
2022-06-15T12:43:56.802Z,1655297036.802 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDetectOil = 1 bool
2022-06-15T12:43:56.806Z,1655297036.806 [MissionManager](INFO): DefineArg mapPatch_undock.DetectTheTrough = 0 bool
2022-06-15T12:43:56.817Z,1655297036.817 [MissionManager](INFO): DefineArg mapPatch_undock.MinAltitude = 3.000000 m
2022-06-15T12:43:56.819Z,1655297036.819 [MissionManager](INFO): DefineArg mapPatch_undock.MinAltitude = 3.000000 m
2022-06-15T12:43:56.832Z,1655297036.832 [MissionManager](INFO): DefineArg mapPatch_undock.MaxDepth = 10.000000 m
2022-06-15T12:43:56.835Z,1655297036.835 [MissionManager](INFO): DefineArg mapPatch_undock.MinWaterDepth = 10.000000 m
2022-06-15T12:43:56.853Z,1655297036.853 [MissionManager](INFO): DefineArg mapPatch_undock.MinOffshore = 2000.000000 m
2022-06-15T12:43:56.856Z,1655297036.856 [MissionManager](INFO): DefineArg mapPatch_undock.MinDistFromPolygonSides = 200.000000 m
2022-06-15T12:43:56.859Z,1655297036.859 [MissionManager](INFO): DefineArg mapPatch_undock.NeedCommsTimeInTransit = 120.000000 min
2022-06-15T12:43:56.869Z,1655297036.869 [MissionManager](INFO): DefineArg mapPatch_undock.NeedCommsTimePatchMapping = 120.000000 min
2022-06-15T12:43:56.872Z,1655297036.872 [MissionManager](INFO): DefineArg mapPatch_undock.CheckNaNTimeout = 20.000000 min
2022-06-15T12:43:56.880Z,1655297036.880 [MissionManager](INFO): DefineArg mapPatch_undock.TimePastOffPeakThreshold = 15.000000 min
2022-06-15T12:43:56.883Z,1655297036.883 [MissionManager](INFO): DefineArg mapPatch_undock.WaitAfterHittingWall = 5.000000 min
2022-06-15T12:43:56.896Z,1655297036.896 [MissionManager](INFO): DefineArg mapPatch_undock.MaxWaitAfterHittingWall = 20.000000 min
2022-06-15T12:43:56.899Z,1655297036.899 [MissionManager](INFO): DefineArg mapPatch_undock.LatPatchMappingStart = nan arcdeg
2022-06-15T12:43:56.910Z,1655297036.910 [MissionManager](INFO): DefineArg mapPatch_undock.LonPatchMappingStart = nan arcdeg
2022-06-15T12:43:56.921Z,1655297036.921 [MissionManager](INFO): DefineArg mapPatch_undock.Repeat = 20.000000 count
2022-06-15T12:43:56.926Z,1655297036.926 [MissionManager](INFO): DefineArg mapPatch_undock.WpMaxDistance = 4000.000000 m
2022-06-15T12:43:56.938Z,1655297036.938 [MissionManager](INFO): DefineArg mapPatch_undock.WpTimeoutBase = 4000.000000 s
2022-06-15T12:43:56.952Z,1655297036.952 [MissionManager](INFO): DefineArg mapPatch_undock.TransitYoYoMinDepth = 2.000000 m
2022-06-15T12:43:56.955Z,1655297036.955 [MissionManager](INFO): DefineArg mapPatch_undock.TransitYoYoMaxDepth = 8.000000 m
2022-06-15T12:43:56.962Z,1655297036.962 [MissionManager](INFO): DefineArg mapPatch_undock.PatchMappingYoYoMinDepth = 2.000000 m
2022-06-15T12:43:56.966Z,1655297036.966 [MissionManager](INFO): DefineArg mapPatch_undock.PatchMappingYoYoMaxDepth = 8.000000 m
2022-06-15T12:43:56.981Z,1655297036.981 [MissionManager](INFO): DefineArg mapPatch_undock.YoYoMinAltitude = 3.000000 m
2022-06-15T12:43:56.986Z,1655297036.986 [MissionManager](INFO): DefineArg mapPatch_undock.YoYoUpPitch = 20.000000 arcdeg
2022-06-15T12:43:56.998Z,1655297036.998 [MissionManager](INFO): DefineArg mapPatch_undock.YoYoDownPitch = -20.000000 arcdeg
2022-06-15T12:43:57.011Z,1655297037.011 [MissionManager](INFO): DefineArg mapPatch_undock.PeakShallowBnd = 2.000000 m
2022-06-15T12:43:57.014Z,1655297037.014 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDeepBnd = 8.000000 m
2022-06-15T12:43:57.025Z,1655297037.025 [MissionManager](INFO): DefineArg mapPatch_undock.BeginThresholdChl = 1.000000 ug/l
2022-06-15T12:43:57.029Z,1655297037.029 [MissionManager](INFO): DefineArg mapPatch_undock.BeginThresholdSalt = 33.000000 psu
2022-06-15T12:43:57.036Z,1655297037.036 [MissionManager](INFO): DefineArg mapPatch_undock.BeginThresholdOil = 0.100000 kg/m3
2022-06-15T12:43:57.039Z,1655297037.039 [MissionManager](INFO): DefineArg mapPatch_undock.WpBearing = 210.000000 arcdeg
2022-06-15T12:43:57.078Z,1655297037.078 [MissionManager](INFO): DefineArg mapPatch_undock.OffPeakFraction = 10.000000 %
2022-06-15T12:43:57.090Z,1655297037.090 [MissionManager](INFO): DefineArg mapPatch_undock.DetectionTimeout = 30.000000 min
2022-06-15T12:43:57.097Z,1655297037.097 [MissionManager](INFO): DefineArg mapPatch_undock.TimeWindowPeakRpt = nan min
2022-06-15T12:43:57.129Z,1655297037.129 [MissionManager](INFO): DefineArg mapPatch_undock.LowPassWindowLen = 20.000000 count
2022-06-15T12:43:57.161Z,1655297037.161 [MissionManager](INFO): DefineArg mapPatch_undock.MedianFilterLength = 5.000000 count
2022-06-15T12:43:57.172Z,1655297037.172 [MissionManager](INFO): DefineArg mapPatch_undock.NumOfProfilesSlidingwindow = 50.000000 count
2022-06-15T12:43:57.178Z,1655297037.178 [MissionManager](INFO): DefineArg mapPatch_undock.FilterWidthHorizontal = 4.000000 count
2022-06-15T12:43:57.192Z,1655297037.192 [MissionManager](INFO): DefineArg mapPatch_undock.MicromodemCommsInterval = 5.000000 min
2022-06-15T12:43:57.202Z,1655297037.202 [MissionManager](INFO): DefineArg mapPatch_undock.TrackingUpdatePeriod = 2.500000 s
2022-06-15T12:43:57.205Z,1655297037.205 [MissionManager](INFO): DefineArg mapPatch_undock.NumberOfPings = 1.000000 count
2022-06-15T12:43:57.216Z,1655297037.216 [MissionManager](INFO): DefineArg mapPatch_undock.DepChangeThreshAttitudeFlip = 1.000000 m
2022-06-15T12:43:57.224Z,1655297037.224 [MissionManager](INFO): DefineArg mapPatch_undock.WaterFrame = 1 bool
2022-06-15T12:43:57.232Z,1655297037.232 [MissionManager](INFO): DefineArg mapPatch_undock.PatchMode = 0 bool
2022-06-15T12:43:57.244Z,1655297037.244 [MissionManager](INFO): DefineArg mapPatch_undock.TurnAngleBase = 120.000000 arcdeg
2022-06-15T12:43:57.247Z,1655297037.247 [MissionManager](INFO): DefineArg mapPatch_undock.Reverse = 180.000000 arcdeg
2022-06-15T12:43:57.258Z,1655297037.258 [MissionManager](INFO): DefineArg mapPatch_undock.TwoPi = 360.000000 arcdeg
2022-06-15T12:43:57.262Z,1655297037.262 [MissionManager](INFO): DefineArg mapPatch_undock.MassDefault = -0.229073 cm
2022-06-15T12:43:57.269Z,1655297037.269 [MissionManager](INFO): DefineArg mapPatch_undock.BuoyancyNeutral = 386.368927 cc
2022-06-15T12:43:57.274Z,1655297037.274 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundNotContinuedFlightLowEnabled = 1 bool
2022-06-15T12:43:57.285Z,1655297037.285 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundNotContinuedFlightHighEnabled = 1 bool
2022-06-15T12:43:57.289Z,1655297037.289 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundContinuedFlightLowEnabled = 1 bool
2022-06-15T12:43:57.304Z,1655297037.304 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundContinuedFlightHighEnabled = 1 bool
2022-06-15T12:43:57.311Z,1655297037.311 [MissionManager](INFO): DefineOutput mapPatch_undock.LegNotContinuedFlightEnabled = 1 bool
2022-06-15T12:43:57.314Z,1655297037.314 [MissionManager](INFO): DefineOutput mapPatch_undock.LegContinuedFlightLowEnabled = 1 bool
2022-06-15T12:43:57.325Z,1655297037.325 [MissionManager](INFO): DefineOutput mapPatch_undock.LegContinuedFlightHighEnabled = 1 bool
2022-06-15T12:43:57.329Z,1655297037.329 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchDetectOn = 1 bool
2022-06-15T12:43:57.340Z,1655297037.340 [MissionManager](INFO): DefineOutput mapPatch_undock.ZigDone = 0 bool
2022-06-15T12:43:57.347Z,1655297037.347 [MissionManager](INFO): DefineOutput mapPatch_undock.LegContinuedFlight = 0 bool
2022-06-15T12:43:57.350Z,1655297037.350 [MissionManager](INFO): DefineOutput mapPatch_undock.MissionStartCommsCompleted = 0 bool
2022-06-15T12:43:57.354Z,1655297037.354 [MissionManager](INFO): DefineOutput mapPatch_undock.Turn = nan arcdeg
2022-06-15T12:43:57.369Z,1655297037.369 [MissionManager](INFO): DefineOutput mapPatch_undock.WpTimeout = nan s
2022-06-15T12:43:57.373Z,1655297037.373 [MissionManager](INFO): DefineOutput mapPatch_undock.SideLastHit = nan count
2022-06-15T12:43:57.384Z,1655297037.384 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakChl = nan ug/l
2022-06-15T12:43:57.391Z,1655297037.391 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakChlPriorToContinuedFlight = nan ug/l
2022-06-15T12:43:57.394Z,1655297037.394 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakSalinity = nan psu
2022-06-15T12:43:57.398Z,1655297037.398 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakSalinityPriorToContinuedFlight = nan psu
2022-06-15T12:43:57.414Z,1655297037.414 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakOil = nan kg/m3
2022-06-15T12:43:57.428Z,1655297037.428 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakOilPriorToContinuedFlight = nan kg/m3
2022-06-15T12:43:57.436Z,1655297037.436 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakDepth = nan m
2022-06-15T12:43:57.442Z,1655297037.442 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakLatitude = nan arcdeg
2022-06-15T12:43:57.445Z,1655297037.445 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakLongitude = nan arcdeg
2022-06-15T12:43:57.488Z,1655297037.488 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakDistance = 0.000000 m
2022-06-15T12:43:57.508Z,1655297037.508 [MissionManager](INFO): DefineOutput mapPatch_undock.StoppedForNaNPatchPeak = 0 bool
2022-06-15T12:43:57.510Z,1655297037.510 [MissionManager](INFO): DefineOutput mapPatch_undock.StoppedForBeingOutsideOfPolygon = 0 bool
2022-06-15T12:43:57.518Z,1655297037.518 [MissionManager](INFO): DefineOutput mapPatch_undock.ElapsedSinceStart = 0.000000 h
2022-06-15T12:43:57.521Z,1655297037.521 [MissionManager](INFO): DefineOutput mapPatch_undock.ElapsedSinceLastHittingWall = 0.000000 h
2022-06-15T12:43:57.533Z,1655297037.533 [MissionManager](INFO): DefineOutput mapPatch_undock.ElapsedSinceEndOfTransit = 0.000000 h
2022-06-15T12:43:57.534Z,1655297037.534 [mapPatch_undock:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:43:57.551Z,1655297037.551 [mapPatch_undock:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:43:57.569Z,1655297037.569 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2022-06-15T12:43:57.658Z,1655297037.658 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.DiveInterval = 3.000000 h
2022-06-15T12:43:57.662Z,1655297037.662 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.WaitForPitchUp = 10.000000 min
2022-06-15T12:43:57.673Z,1655297037.673 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.SurfacePitch = 20.000000 arcdeg
2022-06-15T12:43:57.680Z,1655297037.680 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.SurfaceDepthRate = nan m/s
2022-06-15T12:43:57.688Z,1655297037.688 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.SurfaceSpeed = 1.000000 m/s
2022-06-15T12:43:57.690Z,1655297037.690 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.GPSTimeout = 7.000000 min
2022-06-15T12:43:57.698Z,1655297037.698 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.CommsTimeout = 30.000000 min
2022-06-15T12:43:57.713Z,1655297037.713 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-15T12:43:57.751Z,1655297037.751 [mapPatch_undock:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-06-15T12:43:57.759Z,1655297037.759 [mapPatch_undock:E.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-06-15T12:43:57.786Z,1655297037.786 [mapPatch_undock:F.Pitch](DEBUG): Construct.
2022-06-15T12:43:57.818Z,1655297037.818 [mapPatch_undock:G.Buoyancy](DEBUG): Construct Buoyancy.
2022-06-15T12:43:57.826Z,1655297037.826 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.xml
2022-06-15T12:43:57.901Z,1655297037.901 [MissionManager](INFO): DefineArg mapPatch_undock:MicromodemComms.Timeout = 10.000000 min
2022-06-15T12:43:57.924Z,1655297037.924 [MissionManager](INFO): DefineArg mapPatch_undock:MicromodemComms.CommsInterval = 5.000000 min
2022-06-15T12:43:57.933Z,1655297037.933 [MissionManager](INFO): RedefineArg mapPatch_undock:MicromodemComms.CommsInterval = reader:mapPatch_undock.MicromodemCommsInterval
2022-06-15T12:43:57.934Z,1655297037.934 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-06-15T12:43:58.521Z,1655297038.521 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectChlActive = 0 bool
2022-06-15T12:43:58.528Z,1655297038.528 [MissionManager](INFO): DefineArg mapPatch_undock:Science.TimeWindowPeakReport = nan min
2022-06-15T12:43:58.530Z,1655297038.530 [MissionManager](INFO): DefineArg mapPatch_undock:Science.HighestChlPeakReportActive = 0 bool
2022-06-15T12:43:58.543Z,1655297038.543 [MissionManager](INFO): DefineArg mapPatch_undock:Science.HighestSaltPeakReportActive = 0 bool
2022-06-15T12:43:58.546Z,1655297038.546 [MissionManager](INFO): DefineArg mapPatch_undock:Science.HighestOilPeakReportActive = 0 bool
2022-06-15T12:43:58.549Z,1655297038.549 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PatchTracking = 0 bool
2022-06-15T12:43:58.564Z,1655297038.564 [MissionManager](INFO): DefineArg mapPatch_undock:Science.DetectTrough = 0 bool
2022-06-15T12:43:58.567Z,1655297038.567 [MissionManager](INFO): DefineArg mapPatch_undock:Science.FilterWidthHorizontal = 3.000000 count
2022-06-15T12:43:58.574Z,1655297038.574 [MissionManager](INFO): DefineArg mapPatch_undock:Science.NumProfilesSlidingwindow = 100.000000 count
2022-06-15T12:43:58.577Z,1655297038.577 [MissionManager](INFO): DefineArg mapPatch_undock:Science.OffPeakFractionHorizontal = 80.000000 %
2022-06-15T12:43:58.592Z,1655297038.592 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectNO3Active = 0 bool
2022-06-15T12:43:58.600Z,1655297038.600 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectOilActive = 0 bool
2022-06-15T12:43:58.602Z,1655297038.602 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectFDOMActive = 0 bool
2022-06-15T12:43:58.606Z,1655297038.606 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectSalinityActive = 0 bool
2022-06-15T12:43:58.616Z,1655297038.616 [MissionManager](INFO): DefineArg mapPatch_undock:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-06-15T12:43:58.632Z,1655297038.632 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledAanderaaO2 = 0 bool
2022-06-15T12:43:58.647Z,1655297038.647 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledNeilBrown = 0 bool
2022-06-15T12:43:58.651Z,1655297038.651 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledSeabird = 1 bool
2022-06-15T12:43:58.658Z,1655297038.658 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledWetLabsBB2FL = 0 bool
2022-06-15T12:43:58.706Z,1655297038.706 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-06-15T12:43:58.718Z,1655297038.718 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledWetLabsUBAT = 0 bool
2022-06-15T12:43:58.725Z,1655297038.725 [MissionManager](INFO): DefineArg mapPatch_undock:Science.LowPassWindowLength = 20.000000 count
2022-06-15T12:43:58.744Z,1655297038.744 [MissionManager](INFO): DefineArg mapPatch_undock:Science.MedianFilterLen = 5.000000 count
2022-06-15T12:43:58.755Z,1655297038.755 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakShallowBound = nan m
2022-06-15T12:43:58.758Z,1655297038.758 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDeepBound = nan m
2022-06-15T12:43:58.765Z,1655297038.765 [MissionManager](INFO): DefineArg mapPatch_undock:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-06-15T12:43:58.769Z,1655297038.769 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChl = 0.000000 ug/l
2022-06-15T12:43:58.784Z,1655297038.784 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlDepth = 0.000000 m
2022-06-15T12:43:58.791Z,1655297038.791 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlTemperature = 0.000000 degC
2022-06-15T12:43:58.798Z,1655297038.798 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlLatitude = nan arcdeg
2022-06-15T12:43:58.803Z,1655297038.803 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlLongitude = nan arcdeg
2022-06-15T12:43:58.810Z,1655297038.810 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3 = 0.000000 umol/l
2022-06-15T12:43:58.814Z,1655297038.814 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3Depth = 0.000000 m
2022-06-15T12:43:58.829Z,1655297038.829 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3Latitude = nan arcdeg
2022-06-15T12:43:58.833Z,1655297038.833 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3Longitude = nan arcdeg
2022-06-15T12:43:58.845Z,1655297038.845 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOil = 0.000000 kg/m3
2022-06-15T12:43:58.852Z,1655297038.852 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOilDepth = 0.000000 m
2022-06-15T12:43:58.855Z,1655297038.855 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOilLatitude = nan arcdeg
2022-06-15T12:43:58.862Z,1655297038.862 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOilLongitude = nan arcdeg
2022-06-15T12:43:58.865Z,1655297038.865 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOM = 0.000000 ppb
2022-06-15T12:43:58.880Z,1655297038.880 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMDepth = 0.000000 m
2022-06-15T12:43:58.884Z,1655297038.884 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMTemperature = nan degC
2022-06-15T12:43:58.890Z,1655297038.890 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMLatitude = nan arcdeg
2022-06-15T12:43:58.908Z,1655297038.908 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMLongitude = nan arcdeg
2022-06-15T12:43:58.925Z,1655297038.925 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchFDOMDistance = nan m
2022-06-15T12:43:58.943Z,1655297038.943 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSalt = 0.000000 psu
2022-06-15T12:43:58.950Z,1655297038.950 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltDepth = 0.000000 m
2022-06-15T12:43:58.953Z,1655297038.953 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltTemperature = 0.000000 degC
2022-06-15T12:43:58.965Z,1655297038.965 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltLatitude = nan arcdeg
2022-06-15T12:43:58.972Z,1655297038.972 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltLongitude = nan arcdeg
2022-06-15T12:43:58.975Z,1655297038.975 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChl = 0.000000 ug/l
2022-06-15T12:43:58.982Z,1655297038.982 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlDepth = 0.000000 m
2022-06-15T12:43:58.985Z,1655297038.985 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlLatitude = nan arcdeg
2022-06-15T12:43:58.997Z,1655297038.997 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlLongitude = nan arcdeg
2022-06-15T12:43:59.004Z,1655297039.004 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlDistance = nan m
2022-06-15T12:43:59.007Z,1655297039.007 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSalt = 0.000000 psu
2022-06-15T12:43:59.014Z,1655297039.014 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltDepth = 0.000000 m
2022-06-15T12:43:59.029Z,1655297039.029 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltLatitude = nan arcdeg
2022-06-15T12:43:59.037Z,1655297039.037 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltLongitude = nan arcdeg
2022-06-15T12:43:59.044Z,1655297039.044 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltDistance = nan m
2022-06-15T12:43:59.047Z,1655297039.047 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOil = 0.000000 psu
2022-06-15T12:43:59.054Z,1655297039.054 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilDepth = 0.000000 m
2022-06-15T12:43:59.133Z,1655297039.133 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilLatitude = nan arcdeg
2022-06-15T12:43:59.145Z,1655297039.145 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilLongitude = nan arcdeg
2022-06-15T12:43:59.152Z,1655297039.152 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilDistance = nan m
2022-06-15T12:43:59.249Z,1655297039.249 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:43:59.274Z,1655297039.274 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:43:59.320Z,1655297039.320 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:43:59.371Z,1655297039.371 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:43:59.394Z,1655297039.394 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:43:59.424Z,1655297039.424 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:43:59.456Z,1655297039.456 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:43:59.521Z,1655297039.521 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:43:59.559Z,1655297039.559 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDetectChlActive = reader:mapPatch_undock.PeakDetectChl
2022-06-15T12:43:59.561Z,1655297039.561 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDetectSalinityActive = reader:mapPatch_undock.PeakDetectSalinity
2022-06-15T12:43:59.563Z,1655297039.563 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDetectOilActive = reader:mapPatch_undock.PeakDetectOil
2022-06-15T12:43:59.569Z,1655297039.569 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.DetectTrough = reader:mapPatch_undock.DetectTheTrough
2022-06-15T12:43:59.570Z,1655297039.570 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.TimeWindowPeakReport = reader:mapPatch_undock.TimeWindowPeakRpt
2022-06-15T12:43:59.576Z,1655297039.576 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.LowPassWindowLength = reader:mapPatch_undock.LowPassWindowLen
2022-06-15T12:43:59.578Z,1655297039.578 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.MedianFilterLen = reader:mapPatch_undock.MedianFilterLength
2022-06-15T12:43:59.583Z,1655297039.583 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakShallowBound = reader:mapPatch_undock.PeakShallowBnd
2022-06-15T12:43:59.593Z,1655297039.593 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDeepBound = reader:mapPatch_undock.PeakDeepBnd
2022-06-15T12:43:59.594Z,1655297039.594 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.DepChangeThreshForAttitudeFlip = reader:mapPatch_undock.DepChangeThreshAttitudeFlip
2022-06-15T12:43:59.600Z,1655297039.600 [mapPatch_undock:J.SetSpeed](DEBUG): Construct.
2022-06-15T12:43:59.994Z,1655297039.994 [mapPatch_undock:Wait:B.Wait](DEBUG): Construct Wait.
2022-06-15T12:44:00.003Z,1655297040.003 [mapPatch_undock:Detach:A_Timeout:B.Execute](DEBUG): Construct Execute.
2022-06-15T12:44:00.047Z,1655297040.047 [mapPatch_undock:Detach:C.Undock](DEBUG): Construct.
2022-06-15T12:44:00.060Z,1655297040.060 [mapPatch_undock:Detach:C.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:44:00.095Z,1655297040.095 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20220615T122152/Courier0019.lzma
2022-06-15T12:44:00.138Z,1655297040.138 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:44:00.199Z,1655297040.199 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:44:00.220Z,1655297040.220 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Construct YoYo.
2022-06-15T12:44:00.236Z,1655297040.236 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:44:00.270Z,1655297040.270 [mapPatch_undock:PatchPeakIsNaN:B.Execute](DEBUG): Construct Execute.
2022-06-15T12:44:00.385Z,1655297040.385 [mapPatch_undock:PatchMapping:J.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:44:00.423Z,1655297040.423 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:44:00.463Z,1655297040.463 [mapPatch_undock:PatchMapping:L.YoYo](DEBUG): Construct YoYo.
2022-06-15T12:44:00.506Z,1655297040.506 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute](DEBUG): Construct Execute.
2022-06-15T12:44:00.601Z,1655297040.601 [mapPatch_undock:PatchMapping:ChlPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:44:00.823Z,1655297040.823 [mapPatch_undock:PatchMapping:SalinityPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:44:00.997Z,1655297040.997 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:44:01.097Z,1655297041.097 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0019.lzma.bak
2022-06-15T12:44:01.097Z,1655297041.097 [DataOverHttps](INFO): SBD MOMSN=1941357
2022-06-15T12:44:01.257Z,1655297041.257 [mapPatch_undock:PatchMapping:Zig:LegContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:44:01.403Z,1655297041.403 [mapPatch_undock:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:44:01.516Z,1655297041.516 [NAL9602](INFO): SBD MO Status=0, MOMSN=40799, MT Status=0, MTMSN=0
2022-06-15T12:44:01.516Z,1655297041.516 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:44:01.847Z,1655297041.847 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Dock="Tethys/Dock"       
       xmlns:Trigger="Tethys/Trigger" 
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="mapPatch_undock">

    <Description>
        Vehicle yo-yos with patch detect enabled for oil concentration. NOTE:
        oil concentrations may vary strongly with depth! Suggested settings for
        simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData =
        "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
        eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
        vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
        71.2225805280196 arcdeg; // Initial latitude initLon =
        -163.5093252100575 arcdeg; // Initial longitude
        Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
        WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
        WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
        "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
        1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
        WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
        WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
        WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
        WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
        WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
        WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
        WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
        "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
    </Description>

<!-- Vehicle safety parameters -->

    <DefineArg Name="MissionTimeout"><Description>
        Timeout for the entire mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="DetachTimeout"><Description>
        Timeout for detaching from dock.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>2</Value></DefineArg>

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

    <DefineArg Name="CommsAtMissionStart"><Description>
        Whether to do comms at start of mission.
    </Description><True/></DefineArg>

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

    <DefineArg Name="PeakDetectChl"><Description>
        Chlorophyll patch mapping.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectSalinity"><Description>
        Salinity patch mapping.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectOil"><Description>
        Oil patch mapping.
    </Description><True/></DefineArg>

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

    <DefineArg Name="DetectTheTrough"><Description>
        Whether to track a trough. If false, track peak; if true, track trough.
        Default is false.
    </Description><False/></DefineArg>

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinWaterDepth"><Description>
        Minimum water depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="MinDistFromPolygonSides"><Description>
        If a operational safety polygon is specified and the vehicle is closer
        than this minimum distance to the polygon sides, turn back.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        Maximum time between surfacings for communications during transit
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="NeedCommsTimePatchMapping"><Description>
        Maximum time between surfacings for communications during patch mapping.
        This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of
        CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="CheckNaNTimeout"><Description>
        If the patch peak value is NaN by this time, stop mission.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="TimePastOffPeakThreshold"><Description>
        Time to swim past off-peak threshold point, in order to cover low-value
        areas.
<!--debug      
    </Description><Units:minute/><Value>60</Value></DefineArg>
-->
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="WaitAfterHittingWall"><Description>
        After the vehicle bounces off the boundary (defined by the shortest
        distance to polygon sides), wait this long before re-checking the
        distance.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxWaitAfterHittingWall"><Description>
        If the elapsed time since the last wall hit is longer than
        MaxWaitAfterHittingWall and the shortest distance to the same wall still
        violates MinDistFromPolygonSides, then turn or reverse course (depending
        which wall is hit). If the elapsed time since the last wall hit is
        shorter than MaxWaitAfterHittingWall and the shortest distance to the
        same wall violates MinDistFromPolygonSides, do not turn or reverse
        course, because it is possible that the vehicle was on surface for
        communications since the last wall hit.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="LatPatchMappingStart"><Description>
        Latitude of patch mapping start location. If nan, transit is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>36.810</Value></DefineArg>
-->

    <DefineArg Name="LonPatchMappingStart"><Description>
        Longitude of patch mapping start location. If nan, transit is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.855</Value></DefineArg>
-->

    <DefineArg Name="Repeat"><Description>
        Maximum number of rounds (one round = one full set of sweeps in four
        directions)
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="WpMaxDistance"><Description>
        Maximum length of each mapping leg
    </Description><Units:meter/><Value>4000</Value></DefineArg>

    <DefineArg Name="WpTimeoutBase"><Description>
        Maximum duration of each mapping leg
    </Description><Units:second/><Value>4000</Value></DefineArg>

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

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>8</Value></DefineArg>

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

    <DefineArg Name="PatchMappingYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during patch mapping.
<!--debug      
    </Description><Units:meter/><Value>25</Value></DefineArg>
-->
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20</Value></DefineArg>

    <DefineArg Name="PeakShallowBnd"><Description>
        Shallow depth bound for detecting peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="PeakDeepBnd"><Description>
        Deep depth bound for detecting peak on each descent or ascent profile.
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="BeginThresholdChl"><Description>
        If non-NaN, sets chlorophyll threshold for starting horizontal patch
        detection
    </Description><Units:microgram_per_liter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="BeginThresholdSalt"><Description>
        If non-NaN, sets salinity threshold for starting horizontal patch
        detection
    </Description><Units:psu/><Value>33.0</Value></DefineArg>

    <DefineArg Name="BeginThresholdOil"><Description>
        If non-NaN, sets threshold for starting horizontal patch detection
    </Description><Units:kilogram_per_cubic_meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="WpBearing"><Description>
        Bearing being followed in the current leg. Set this to initialize start
        direction of patch mapping.
    </Description><Units:degree/><Value>210</Value></DefineArg>

    <DefineArg Name="OffPeakFraction"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
<!--debug	
    </Description><Units:percent/><Value>10</Value></DefineArg>
-->
    </Description><Units:percent/><Value>10</Value></DefineArg>

    <DefineArg Name="DetectionTimeout"><Description>
        Look for signal for this long. If none found within this timeout, switch
        to the next leg.
    </Description><Units:minute/><Value>30</Value></DefineArg>

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

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

    <DefineArg Name="MedianFilterLength"><Description>
        Median filter length (only for chlorophyll fluorescence which tends to
        have spikes). The median-filtered signal enters the succeeding low-pass
        filter. If set to 1, then no median filtering, i.e., the raw
        fluorescence signal directly enters the low-pass filter.
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="NumOfProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. The highest per-yoyo peak (after
        low-pass filtering by a filter of length FilterWidthHorizontal) is
        picked out within this window.
    </Description><Units:count/><Value>50</Value></DefineArg>

    <DefineArg Name="FilterWidthHorizontal"><Description>
        Width of boxcar filter used in horizontal patch detection
    </Description><Units:count/><Value>4</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description></Description><Units:minute/><Value>5</Value></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 return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>1</Value></DefineArg>

    <DefineArg Name="WaterFrame"><Description>
        Set WaterFrame true to drive towards waypoints in the water frame of
        reference
    </Description><True/></DefineArg>

    <DefineArg Name="PatchMode"><Description>
        If true, use center of "in peak" range as the turn-around point. If
        false use maximum horizontal peak location as the turn-around point.
    </Description><False/></DefineArg>

    <DefineArg Name="TurnAngleBase"><Description>
        Zigzag turn angle.
    </Description><Units:degree/><Value>120</Value></DefineArg>

    <DefineArg Name="Reverse"><Description>
        Change in bearing which reverses vehicle direction
    </Description><Units:degree/><Value>180</Value></DefineArg>

    <DefineArg Name="TwoPi"><Description>
        Applied to stop run-up of angles
    </Description><Units:degree/><Value>360</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

<!-- Internal variable settings -->

    <DefineOutput Name="PeakFoundNotContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundNotContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegNotContinuedFlightEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PatchDetectOn"><Description>
        Mission sets this to true when looking for the patch peak. Initialized
        to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="ZigDone"><Description>
        Mission sets this to true when the zig transect has been completed.
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="LegContinuedFlight"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="MissionStartCommsCompleted"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="Turn"><Description>
        Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WpTimeout"><Description>
        Initialized to NaN.
    </Description><Units:second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="SideLastHit"><Units:count/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakChl"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakChlPriorToContinuedFlight"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakSalinity"><Units:psu/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakSalinityPriorToContinuedFlight"><Units:psu/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakOil"><Units:kilogram_per_cubic_meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakOilPriorToContinuedFlight"><Units:kilogram_per_cubic_meter/><Value>NaN</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="StoppedForNaNPatchPeak"><Description>
        Mission stopped because patch peak value is NaN. Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StoppedForBeingOutsideOfPolygon"><Description>
        Mission stopped because the vehicle is outside of the polygon.
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ElapsedSinceStart"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceLastHittingWall"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceEndOfTransit"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- And now the mission -->

<!-- Uncomment to speed up simulation
    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
    </Guidance:SetSpeed>
-->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

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

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

    <Guidance:WaterDepthEnvelope>
        <Parallel/>
        <Setting><Guidance:WaterDepthEnvelope.minWaterDepth/><Arg Name="MinWaterDepth"/></Setting>
    </Guidance:WaterDepthEnvelope>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

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

<!-- If we're executing here or below, lets' get science data! -->

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><Arg Name="PeakDetectChl"/></RedefineArg>
        <RedefineArg Name="PeakDetectSalinityActive"><Arg Name="PeakDetectSalinity"/></RedefineArg>
        <RedefineArg Name="PeakDetectOilActive"><Arg Name="PeakDetectOil"/></RedefineArg>
        <RedefineArg Name="DetectTrough"><Arg Name="DetectTheTrough"/></RedefineArg>
        <RedefineArg Name="TimeWindowPeakReport"><Arg Name="TimeWindowPeakRpt"/></RedefineArg>
        <RedefineArg Name="LowPassWindowLength"><Arg Name="LowPassWindowLen"/></RedefineArg>
        <RedefineArg Name="MedianFilterLen"><Arg Name="MedianFilterLength"/></RedefineArg>
        <RedefineArg Name="PeakShallowBound"><Arg Name="PeakShallowBnd"/></RedefineArg>
        <RedefineArg Name="PeakDeepBound"><Arg Name="PeakDeepBnd"/></RedefineArg>
        <RedefineArg Name="DepChangeThreshForAttitudeFlip"><Arg Name="DepChangeThreshAttitudeFlip"/></RedefineArg>
    </Insert>

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

    <Aggregate Id="SyslogWpMaxDistanceReached">

        <When>
            <Called/>
        </When>

        <Break><Arg Name="LegContinuedFlight"/>
            <Or><Not><Arg Name="LegNotContinuedFlightEnabled"/></Not></Or>
        </Break>

        <Aggregate Id="SyslogWpMaxDistanceReachedChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogWpMaxDistanceReachedSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogWpMaxDistanceReachedOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundNotContinuedFlightLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdChl"/><Units:microgram_per_liter/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdSalt"/><Units:psu/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdOil"/><Units:kilogram_per_cubic_meter/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundNotContinuedFlightHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogHittingWall">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogHittingWallChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/> is less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/>. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SyslogHittingWallSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/> is less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/>. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SyslogHittingWallOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/> is less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/>. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Wait">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/> before the next leg.</Syslog>

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

    </Aggregate>

    <Aggregate Id="Detach">

        <Sequence/>

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out trying to detach from dock. Stopping mission.</Syslog>
            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>
        </Timeout>

        <Syslog Severity="Important">Detaching from dock.</Syslog>

<!-- Turn on tracking so we get some ranges to see how far we are from the dock -->

        <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>

<!-- Time to leave the dock! -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="MissionStartComms">

        <Sequence/>

        <When>
            <Arg Name="CommsAtMissionStart"/>
            <And><Not><Arg Name="MissionStartCommsCompleted"/></Not></And>
        </When>

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

        <Assign><Sequence/><Arg Name="MissionStartCommsCompleted"/><True/></Assign>

    </Aggregate>

    <Aggregate Id="MissionStartSettings">

        <Assign><Sequence/><Arg Name="ElapsedSinceStart"/><Units:hour/><Value>0</Value></Assign>

        <Assign><Sequence/><Arg Name="ElapsedSinceLastHittingWall"/><Units:hour/><Value>0</Value></Assign>

        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="TurnAngleBase"/></Assign>

        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

    </Aggregate>

    <Aggregate Id="TransitToPatchMappingStartLocation">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or>
        </Break>

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="TransitYoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="TransitYoYoMaxDepth"/></Setting>
        </Guidance:DepthEnvelope>

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

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:YoYo>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="LatPatchMappingStart"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="LonPatchMappingStart"/></Setting>
        </Guidance:Waypoint>

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

        <Assign><Sequence/><Arg Name="ElapsedSinceEndOfTransit"/><Units:hour/><Value>0</Value></Assign>

    </Aggregate>

    <Aggregate Id="PatchPeakIsNaN">

        <Sequence/>

        <When>
            <Elapsed><Arg Name="ElapsedSinceStart"/></Elapsed>
            <Gt><Arg Name="CheckNaNTimeout"/></Gt>
            <And><IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN><Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or></And>
            <Or><Elapsed><Arg Name="ElapsedSinceEndOfTransit"/></Elapsed><Gt><Arg Name="CheckNaNTimeout"/></Gt><And><Not><IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN><Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or></Not></And></Or>
        </When>

        <Break><Arg Name="PeakDetectChl"/>
            <And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And>
            <Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Or>
            <Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Or>
            <Or><Arg Name="StoppedForNaNPatchPeak"/></Or>
        </Break>

        <Syslog Severity="Important">Patch peak value is NaN. Stopping mission.</Syslog>

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
        </Guidance:Execute>

        <Assign><Sequence/><Arg Name="StoppedForNaNPatchPeak"/><True/></Assign>

    </Aggregate>

    <Aggregate Id="PatchMapping">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="LegNotContinuedFlightEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="LegContinuedFlightLowEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="LegContinuedFlightHighEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="ZigDone"/><False/></Assign>

        <Assign><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="PatchMappingYoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="PatchMappingYoYoMaxDepth"/></Setting>
        </Guidance:DepthEnvelope>

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

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="OutsideOfPolygon">

            <Parallel/>

            <Break>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon/>
                <Or><Arg Name="StoppedForBeingOutsideOfPolygon"/></Or>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. The vehicle is outside of the polygon. Stopping mission.</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

            <Assign><Sequence/><Arg Name="StoppedForBeingOutsideOfPolygon"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="HitWallTerminateZigSide0Side2">

            <Sequence/>

            <When>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/>
                <Le><Arg Name="MinDistFromPolygonSides"/></Le>
                <And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Gt><Arg Name="WaitAfterHittingWall"/></Gt></And>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>0</Value></Eq><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>2</Value></Eq></Or></And>
                <And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Arg Name="SideLastHit"/></Eq><And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Lt><Arg Name="MaxWaitAfterHittingWall"/></Lt></And></Not></And>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Assign><Sequence/><Arg Name="ElapsedSinceLastHittingWall"/><Units:hour/><Value>0</Value></Assign>

            <Assign><Sequence/><Arg Name="SideLastHit"/><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/></Assign>

            <Call Id="SyslogHittingWallZigSide0Side2" RefId="SyslogHittingWall"/>

            <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
            </Mod></Assign>

            <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

            <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

            <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

            <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="HitWallTerminateZigSide1Side3">

            <Sequence/>

            <When>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/>
                <Le><Arg Name="MinDistFromPolygonSides"/></Le>
                <And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Gt><Arg Name="WaitAfterHittingWall"/></Gt></And>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>1</Value></Eq><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>3</Value></Eq></Or></And>
                <And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Arg Name="SideLastHit"/></Eq><And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Lt><Arg Name="MaxWaitAfterHittingWall"/></Lt></And></Not></And>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Assign><Sequence/><Arg Name="ElapsedSinceLastHittingWall"/><Units:hour/><Value>0</Value></Assign>

            <Assign><Sequence/><Arg Name="SideLastHit"/><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/></Assign>

            <Call Id="SyslogHittingWallZigSide1Side3" RefId="SyslogHittingWall"/>

            <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
            </Mod></Assign>

            <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

            <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

            <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="ChlPatchDetectionZig">

            <Sequence/>

            <When>
                <Arg Name="PeakDetectChl"/>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakChl"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakChlDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakChlLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakChlLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdChl"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakChl"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

                <Break><Arg Name="ZigDone"/>
                </Break>

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

                    <Break><Arg Name="LegContinuedFlight"/>
                    </Break>

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Gt><Arg Name="BeginThresholdChl"/></Gt>
                            <Or><Not><Arg Name="PatchPeakChl"/><Gt><Units:microgram_per_liter/><Value>0.0</Value></Gt></Not></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Le><Arg Name="BeginThresholdChl"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Arg Name="PatchPeakChl"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><True/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                    </Break>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Gt><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Le><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SalinityPatchDetectionZig">

            <Sequence/>

            <When>
                <Arg Name="PeakDetectSalinity"/>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakSalt"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakSaltDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakSaltLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakSaltLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdSalt"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakSalinity"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

                <Break><Arg Name="ZigDone"/>
                </Break>

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

                    <Break><Arg Name="LegContinuedFlight"/>
                    </Break>

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Gt><Arg Name="BeginThresholdSalt"/></Gt>
                            <Or><Not><Arg Name="PatchPeakSalinity"/><Gt><Units:psu/><Value>0.0</Value></Gt></Not></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Le><Arg Name="BeginThresholdSalt"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Arg Name="PatchPeakSalinity"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><True/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                    </Break>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Gt><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Le><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="OilPatchDetectionZig">

            <Sequence/>

            <When>
                <Arg Name="PeakDetectOil"/>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakOil"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakOilDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakOilLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakOilLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdOil"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakOil"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

                <Break><Arg Name="ZigDone"/>
                </Break>

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

                    <Break><Arg Name="LegContinuedFlight"/>
                    </Break>

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Gt><Arg Name="BeginThresholdOil"/></Gt>
                            <Or><Not><Arg Name="PatchPeakOil"/><Gt><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Gt></Not></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Le><Arg Name="BeginThresholdOil"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Arg Name="PatchPeakOil"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><True/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                    </Break>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Gt><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Le><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Zig">

            <Description>
                Completes transect's maximum distance.
            </Description>

            <Sequence/>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Aggregate Id="LegContinuedFlight">

                <Break>
                    <Not><Arg Name="LegContinuedFlight"/></Not>
                    <Or><Not><Arg Name="LegContinuedFlightLowEnabled"/><Or><Arg Name="LegContinuedFlightHighEnabled"/></Or></Not></Or>
                </Break>

                <Assign><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

                <Syslog Severity="Important">Bearing = <Arg Name="WpBearing"/><Units:degree/></Syslog>

                <Aggregate Id="ZigCompleteMaxDist">

                    <Guidance:Waypoint Id="ZigMaxDist">
                        <Sequence/>
                        <Break><Arg Name="ZigDone"/>
                        </Break>
                        <Timeout Duration="WpTimeout"/>
                        <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                        <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                        <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
                    </Guidance:Waypoint>

                </Aggregate>

                <Aggregate Id="LegContinuedFlightPatchValueLow">

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                        <Or><Arg Name="LegContinuedFlight"/><And><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Gt><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And><Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Gt><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And></Or><Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Gt><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And></Or></And></Or>
                        <Or><Not><Arg Name="LegContinuedFlightLowEnabled"/></Not></Or>
                    </Break>

                    <Assign><Sequence/><Arg Name="LegNotContinuedFlightEnabled"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlightHighEnabled"/><False/></Assign>

                    <Call Id="ContinuedFlightCompletedPatchValueLow" RefId="SyslogContinuedFlightCompletedPatchValueLow"/>

                    <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                    </Mod></Assign>

                    <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                    <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="LegContinuedFlightPatchValueHigh">

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                        <Or><Arg Name="LegContinuedFlight"/><And><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Le><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And><Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Le><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And></Or><Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Le><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And></Or></And></Or>
                        <Or><Not><Arg Name="LegContinuedFlightHighEnabled"/></Not></Or>
                    </Break>

                    <Assign><Sequence/><Arg Name="LegNotContinuedFlightEnabled"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlightLowEnabled"/><False/></Assign>

                    <Call Id="ContinuedFlightCompletedPatchValueHigh" RefId="SyslogContinuedFlightCompletedPatchValueHigh"/>

                    <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                </Aggregate>

            </Aggregate>

            <Aggregate Id="LegNotContinuedFlight">

                <Break><Arg Name="LegContinuedFlight"/>
                    <Or><Not><Arg Name="LegNotContinuedFlightEnabled"/></Not></Or>
                </Break>

                <Assign><Sequence/><Arg Name="LegContinuedFlightLowEnabled"/><False/></Assign>

                <Assign><Sequence/><Arg Name="LegContinuedFlightHighEnabled"/><False/></Assign>

                <Assign><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

                <Syslog Severity="Important">Bearing = <Arg Name="WpBearing"/><Units:degree/></Syslog>

                <Aggregate Id="ZigCompleteMaxDist">

                    <Guidance:Waypoint Id="ZigMaxDist">
                        <Sequence/>
                        <Break><Arg Name="ZigDone"/>
                        </Break>
                        <Timeout Duration="WpTimeout"/>
                        <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                        <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                        <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
                    </Guidance:Waypoint>

                </Aggregate>

                <Call Id="MaxLegDistReached" RefId="SyslogWpMaxDistanceReached"/>

                <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                </Mod></Assign>

                <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2022-06-15T12:44:01.852Z,1655297041.852 [CommandExec](IMPORTANT): Loaded ./Missions/Science/mapPatch_undock.xml
2022-06-15T12:44:07.489Z,1655297047.489 [CommandExec](IMPORTANT): got command set mapPatch_undock.MissionTimeout 1 hour
2022-06-15T12:44:07.490Z,1655297047.490 [CommandExec](IMPORTANT): got command run
2022-06-15T12:44:07.494Z,1655297047.494 [CommandExec](IMPORTANT): Running 
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock] Stopped
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault] Stopped
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:44:07.585Z,1655297047.585 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T12:44:07.585Z,1655297047.585 [MissionManager](IMPORTANT): Started mission mapPatch_undock
2022-06-15T12:44:07.586Z,1655297047.586 [mapPatch_undock] Running Loop=1
2022-06-15T12:44:07.586Z,1655297047.586 [mapPatch_undock](DEBUG): Aggregate::initialize mapPatch_undock
2022-06-15T12:44:07.586Z,1655297047.586 [mapPatch_undock:A.AltitudeEnvelope] Running Loop=1
2022-06-15T12:44:07.586Z,1655297047.586 [mapPatch_undock:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-15T12:44:07.586Z,1655297047.586 [mapPatch_undock:B.DepthEnvelope] Running Loop=1
2022-06-15T12:44:07.586Z,1655297047.586 [mapPatch_undock:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:D.OffshoreEnvelope] Running Loop=1
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:E.WaterDepthEnvelope] Running Loop=1
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:E.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:F.Pitch] Running Loop=1
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:F.Pitch](DEBUG): Initialize.
2022-06-15T12:44:07.587Z,1655297047.587 [mapPatch_undock:G.Buoyancy] Running Loop=1
2022-06-15T12:44:07.588Z,1655297047.588 [mapPatch_undock:G.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-06-15T12:44:07.588Z,1655297047.588 [mapPatch_undock:MicromodemComms] Running Loop=1
2022-06-15T12:44:07.588Z,1655297047.588 [mapPatch_undock:MicromodemComms](DEBUG): Aggregate::initialize mapPatch_undock:MicromodemComms
2022-06-15T12:44:07.588Z,1655297047.588 [mapPatch_undock:MicromodemComms:CheckIn] Running Loop=1
2022-06-15T12:44:07.588Z,1655297047.588 [mapPatch_undock:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize mapPatch_undock:MicromodemComms:CheckIn
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:MicromodemComms:CheckIn:A] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science](DEBUG): Aggregate::initialize mapPatch_undock:Science
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science:A] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science:B] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science:C] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science:D] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science:E] Running Loop=1
2022-06-15T12:44:07.589Z,1655297047.589 [mapPatch_undock:Science:F] Running Loop=1
2022-06-15T12:44:07.590Z,1655297047.590 [mapPatch_undock:Science:Read_Oil] Running Loop=1
2022-06-15T12:44:07.590Z,1655297047.590 [mapPatch_undock:Science:PeakDetectChl] Running Loop=1
2022-06-15T12:44:07.590Z,1655297047.590 [mapPatch_undock:Science:PeakDetectChl](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectChl
2022-06-15T12:44:07.590Z,1655297047.590 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:44:07.590Z,1655297047.590 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:44:07.592Z,1655297047.592 [mapPatch_undock:Science:HighestChlPeakReport] Running Loop=1
2022-06-15T12:44:07.592Z,1655297047.592 [mapPatch_undock:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize mapPatch_undock:Science:HighestChlPeakReport
2022-06-15T12:44:07.592Z,1655297047.592 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:44:07.593Z,1655297047.593 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:44:07.593Z,1655297047.593 [mapPatch_undock:Science:PeakDetectNO3] Running Loop=1
2022-06-15T12:44:07.593Z,1655297047.593 [mapPatch_undock:Science:PeakDetectNO3](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectNO3
2022-06-15T12:44:07.593Z,1655297047.593 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:44:07.593Z,1655297047.593 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:44:07.596Z,1655297047.596 [mapPatch_undock:Science:PeakDetectOil] Running Loop=1
2022-06-15T12:44:07.596Z,1655297047.596 [mapPatch_undock:Science:PeakDetectOil](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectOil
2022-06-15T12:44:07.596Z,1655297047.596 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:44:07.596Z,1655297047.596 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:44:07.598Z,1655297047.598 [mapPatch_undock:Science:HighestOilPeakReport] Running Loop=1
2022-06-15T12:44:07.598Z,1655297047.598 [mapPatch_undock:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize mapPatch_undock:Science:HighestOilPeakReport
2022-06-15T12:44:07.598Z,1655297047.598 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:44:07.598Z,1655297047.598 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:44:07.599Z,1655297047.599 [mapPatch_undock:Science:PeakDetectFDOM] Running Loop=1
2022-06-15T12:44:07.599Z,1655297047.599 [mapPatch_undock:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectFDOM
2022-06-15T12:44:07.599Z,1655297047.599 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:44:07.619Z,1655297047.619 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:44:07.621Z,1655297047.621 [mapPatch_undock:Science:PeakDetectSalinity] Running Loop=1
2022-06-15T12:44:07.621Z,1655297047.621 [mapPatch_undock:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectSalinity
2022-06-15T12:44:07.621Z,1655297047.621 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:44:07.621Z,1655297047.621 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:44:07.623Z,1655297047.623 [mapPatch_undock:Science:HighestSaltPeakReport] Running Loop=1
2022-06-15T12:44:07.627Z,1655297047.627 [mapPatch_undock:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize mapPatch_undock:Science:HighestSaltPeakReport
2022-06-15T12:44:07.627Z,1655297047.627 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:44:07.627Z,1655297047.627 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:44:07.629Z,1655297047.629 [mapPatch_undock:Science:OceanCurrent] Running Loop=1
2022-06-15T12:44:07.629Z,1655297047.629 [mapPatch_undock:Science:OceanCurrent](DEBUG): Aggregate::initialize mapPatch_undock:Science:OceanCurrent
2022-06-15T12:44:07.629Z,1655297047.629 [mapPatch_undock:Science:OceanCurrent:A.] Running Loop=1
2022-06-15T12:44:07.629Z,1655297047.629 [mapPatch_undock:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-06-15T12:44:07.629Z,1655297047.629 [mapPatch_undock:J.SetSpeed] Running Loop=1
2022-06-15T12:44:07.629Z,1655297047.629 [mapPatch_undock:J.SetSpeed](DEBUG): Initialize.
2022-06-15T12:44:07.630Z,1655297047.630 [mapPatch_undock:Detach] Running Loop=1
2022-06-15T12:44:07.630Z,1655297047.630 [mapPatch_undock:Detach](DEBUG): Aggregate::initialize mapPatch_undock:Detach
2022-06-15T12:44:07.630Z,1655297047.630 [mapPatch_undock:Detach:B.] Running Loop=1
2022-06-15T12:44:07.630Z,1655297047.630 [mapPatch_undock:Detach:B.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:44:07.630Z,1655297047.630 [mapPatch_undock:Detach:A] Running Loop=1
2022-06-15T12:44:07.636Z,1655297047.636 [mapPatch_undock:MissionStartComms] Running Loop=1
2022-06-15T12:44:07.636Z,1655297047.636 [mapPatch_undock:MissionStartComms](DEBUG): Aggregate::initialize mapPatch_undock:MissionStartComms
2022-06-15T12:44:07.636Z,1655297047.636 [mapPatch_undock:MissionStartComms:MissionStartComms] Running Loop=1
2022-06-15T12:44:07.636Z,1655297047.636 [mapPatch_undock:MissionStartComms:MissionStartComms](DEBUG): Aggregate::initialize mapPatch_undock:MissionStartComms:MissionStartComms
2022-06-15T12:44:07.636Z,1655297047.636 [mapPatch_undock:Detach:B.] Running Loop=1
2022-06-15T12:44:07.637Z,1655297047.637 [mapPatch_undock:Detach:A](IMPORTANT): Detaching from dock.
2022-06-15T12:44:07.637Z,1655297047.637 [mapPatch_undock:Detach:A] Stopped
2022-06-15T12:44:07.637Z,1655297047.637 [mapPatch_undock:Detach:C.Undock] Running Loop=1
2022-06-15T12:44:07.637Z,1655297047.637 [mapPatch_undock:Detach:C.Undock](DEBUG): Initialize.
2022-06-15T12:44:07.637Z,1655297047.637 [mapPatch_undock:Detach:C.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:44:07.637Z,1655297047.637 [mapPatch_undock:J.SetSpeed] Running Loop=1
2022-06-15T12:44:07.638Z,1655297047.638 [mapPatch_undock:Science] Running Loop=1
2022-06-15T12:44:07.645Z,1655297047.645 [mapPatch_undock:Science:HighestSaltPeakReport] Stopped
2022-06-15T12:44:07.645Z,1655297047.645 [mapPatch_undock:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:HighestSaltPeakReport
2022-06-15T12:44:07.645Z,1655297047.645 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectSalinity] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectSalinity
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectFDOM] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectFDOM
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:HighestOilPeakReport] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:HighestOilPeakReport
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-15T12:44:07.646Z,1655297047.646 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:44:07.647Z,1655297047.647 [mapPatch_undock:Science:PeakDetectOil] Running Loop=1
2022-06-15T12:44:07.647Z,1655297047.647 [mapPatch_undock:Science:PeakDetectNO3] Stopped
2022-06-15T12:44:07.647Z,1655297047.647 [mapPatch_undock:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectNO3
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:HighestChlPeakReport] Stopped
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:HighestChlPeakReport
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:PeakDetectChl] Stopped
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectChl
2022-06-15T12:44:07.649Z,1655297047.649 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-06-15T12:44:07.650Z,1655297047.650 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:44:07.650Z,1655297047.650 [mapPatch_undock:Science:OceanCurrent:A.] Running Loop=1
2022-06-15T12:44:07.660Z,1655297047.660 [mapPatch_undock:Science:Read_Oil] Running Loop=1
2022-06-15T12:44:07.661Z,1655297047.661 [mapPatch_undock:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-06-15T12:44:07.661Z,1655297047.661 [mapPatch_undock:Science:F] Stopped
2022-06-15T12:44:07.661Z,1655297047.661 [mapPatch_undock:Science:E] Stopped
2022-06-15T12:44:07.661Z,1655297047.661 [mapPatch_undock:Science:D] Stopped
2022-06-15T12:44:07.661Z,1655297047.661 [mapPatch_undock:Science:C] Running Loop=1
2022-06-15T12:44:07.662Z,1655297047.662 [mapPatch_undock:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2022-06-15T12:44:07.663Z,1655297047.663 [mapPatch_undock:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2022-06-15T12:44:07.671Z,1655297047.671 [mapPatch_undock:Science:B] Running Loop=1
2022-06-15T12:44:07.672Z,1655297047.672 [mapPatch_undock:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2022-06-15T12:44:07.673Z,1655297047.673 [mapPatch_undock:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2022-06-15T12:44:07.673Z,1655297047.673 [mapPatch_undock:Science:A] Stopped
2022-06-15T12:44:07.673Z,1655297047.673 [mapPatch_undock:MicromodemComms] Running Loop=1
2022-06-15T12:44:07.674Z,1655297047.674 [mapPatch_undock:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-15T12:44:07.674Z,1655297047.674 [mapPatch_undock:G.Buoyancy] Running Loop=1
2022-06-15T12:44:07.675Z,1655297047.675 [mapPatch_undock:F.Pitch] Running Loop=1
2022-06-15T12:44:07.680Z,1655297047.680 [mapPatch_undock:E.WaterDepthEnvelope] Running Loop=1
2022-06-15T12:44:07.680Z,1655297047.680 [mapPatch_undock:D.OffshoreEnvelope] Running Loop=1
2022-06-15T12:44:07.680Z,1655297047.680 [mapPatch_undock:B.DepthEnvelope] Running Loop=1
2022-06-15T12:44:07.681Z,1655297047.681 [mapPatch_undock:A.AltitudeEnvelope] Running Loop=1
2022-06-15T12:44:08.048Z,1655297048.048 [mapPatch_undock:NeedComms] Running Loop=1
2022-06-15T12:44:08.048Z,1655297048.048 [mapPatch_undock:NeedComms](DEBUG): Aggregate::initialize mapPatch_undock:NeedComms
2022-06-15T12:44:08.048Z,1655297048.048 [mapPatch_undock:NeedComms:B.GoToSurface] Running Loop=1
2022-06-15T12:44:08.048Z,1655297048.048 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:44:08.048Z,1655297048.048 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-06-15T12:44:08.049Z,1655297048.049 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-06-15T12:44:08.049Z,1655297048.049 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-06-15T12:44:08.049Z,1655297048.049 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:44:08.050Z,1655297048.050 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:44:08.050Z,1655297048.050 [mapPatch_undock:NeedComms:A] Running Loop=1
2022-06-15T12:44:08.055Z,1655297048.055 [mapPatch_undock:NeedComms:A](INFO): last time_fix was: 1655297024.000000 second since 1970/01/01T00:00:00Z 
2022-06-15T12:44:08.055Z,1655297048.055 [mapPatch_undock:NeedComms:A] Stopped
2022-06-15T12:44:08.378Z,1655297048.378 [PowerOnly](INFO): Powering up loadControl
2022-06-15T12:44:08.486Z,1655297048.486 [mapPatch_undock:NeedComms:C] Running Loop=1
2022-06-15T12:44:08.902Z,1655297048.902 [mapPatch_undock:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-15T12:44:10.456Z,1655297050.456 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,124409.00,A,4135.94434,N,07043.51263,W,0.991,272.39,150622,,,A*76
2022-06-15T12:44:10.458Z,1655297050.458 [NAL9602](INFO): GPS fix at 20220615T124409: (41.599072, -70.725211)
2022-06-15T12:44:10.564Z,1655297050.564 [mapPatch_undock:Detach:C.Undock](INFO): Detaching from dock.
2022-06-15T12:44:10.565Z,1655297050.565 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:10.570Z,1655297050.570 [mapPatch_undock:NeedComms:C] Stopped
2022-06-15T12:44:10.570Z,1655297050.570 [mapPatch_undock:NeedComms:D] Running Loop=1
2022-06-15T12:44:10.886Z,1655297050.886 [mapPatch_undock:Detach:C.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-15T12:44:10.892Z,1655297050.892 [mapPatch_undock:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-15T12:44:11.242Z,1655297051.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:44:11.475Z,1655297051.475 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20220615T122152/Courier0022.lzma
2022-06-15T12:44:11.661Z,1655297051.661 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2022-06-15T12:44:11.665Z,1655297051.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:44:12.467Z,1655297052.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124412.86*50

2022-06-15T12:44:12.478Z,1655297052.478 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0022.lzma.bak
2022-06-15T12:44:12.478Z,1655297052.478 [DataOverHttps](IMPORTANT): SBD MOMSN=1941360, MTMSN=20220615T124411
2022-06-15T12:44:13.290Z,1655297053.290 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:14.869Z,1655297054.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:44:16.124Z,1655297056.124 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:16.894Z,1655297056.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:44:17.317Z,1655297057.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:44:17.743Z,1655297057.743 [DataOverHttps](INFO): Received command: sched 20220615T13 "load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run"
2022-06-15T12:44:17.823Z,1655297057.823 [CommandExec](IMPORTANT): got command schedule 20220615T130000 "load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run"
2022-06-15T12:44:17.824Z,1655297057.824 [CommandExec](IMPORTANT): Scheduled #1: "load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run", AT TIME: 2022-06-15T13:00:00Z
2022-06-15T12:44:18.118Z,1655297058.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124418.51*50

2022-06-15T12:44:18.976Z,1655297058.976 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:20.525Z,1655297060.525 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:44:21.804Z,1655297061.804 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:22.231Z,1655297062.231 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2022-06-15T12:44:22.554Z,1655297062.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:44:22.763Z,1655297062.763 [DataOverHttps](INFO): Sending 270 bytes from file Logs/20220615T122152/Express0017.lzma
2022-06-15T12:44:22.963Z,1655297062.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:44:23.765Z,1655297063.765 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0017.lzma.bak
2022-06-15T12:44:23.765Z,1655297063.765 [DataOverHttps](INFO): SBD MOMSN=1941364
2022-06-15T12:44:23.854Z,1655297063.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124424.17*5D

2022-06-15T12:44:24.596Z,1655297064.596 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:26.229Z,1655297066.229 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:44:27.436Z,1655297067.436 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:28.237Z,1655297068.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:44:28.620Z,1655297068.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:44:29.438Z,1655297069.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124429.85*5B

2022-06-15T12:44:30.356Z,1655297070.356 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:31.051Z,1655297071.051 [mapPatch_undock:Detach:C.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-15T12:44:31.874Z,1655297071.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:44:32.803Z,1655297072.803 [DataOverHttps](INFO): Sending 343 bytes from file Logs/20220615T122152/Courier0025.lzma
2022-06-15T12:44:33.122Z,1655297073.122 [mapPatch_undock:Detach:C.Undock](INFO): Docking module at standby.
2022-06-15T12:44:33.123Z,1655297073.123 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach:C.Undock](IMPORTANT): Undocking sequence complete.
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach:C.Undock] Stopped
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach](INFO): Completed mapPatch_undock:Detach
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach] Stopped
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach](DEBUG): Aggregate::uninitialize mapPatch_undock:Detach
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach:B.] Stopped
2022-06-15T12:44:33.505Z,1655297073.505 [mapPatch_undock:Detach:B.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:44:33.506Z,1655297073.506 [mapPatch_undock:MissionStartSettings] Running Loop=1
2022-06-15T12:44:33.506Z,1655297073.506 [mapPatch_undock:MissionStartSettings](DEBUG): Aggregate::initialize mapPatch_undock:MissionStartSettings
2022-06-15T12:44:33.506Z,1655297073.506 [mapPatch_undock:MissionStartSettings:A] Running Loop=1
2022-06-15T12:44:33.809Z,1655297073.809 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0025.lzma.bak
2022-06-15T12:44:33.810Z,1655297073.810 [DataOverHttps](INFO): SBD MOMSN=1941372
2022-06-15T12:44:33.897Z,1655297073.897 [mapPatch_undock:MissionStartSettings:A] Stopped
2022-06-15T12:44:33.898Z,1655297073.898 [mapPatch_undock:MissionStartSettings:B] Running Loop=1
2022-06-15T12:44:34.323Z,1655297074.323 [mapPatch_undock:MissionStartSettings:B] Stopped
2022-06-15T12:44:34.324Z,1655297074.324 [mapPatch_undock:MissionStartSettings:C] Running Loop=1
2022-06-15T12:44:34.688Z,1655297074.688 [mapPatch_undock:MissionStartSettings:C] Stopped
2022-06-15T12:44:34.688Z,1655297074.688 [mapPatch_undock:MissionStartSettings:D] Running Loop=1
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:MissionStartSettings:D] Stopped
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:MissionStartSettings](INFO): Completed mapPatch_undock:MissionStartSettings
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:MissionStartSettings] Stopped
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:MissionStartSettings](DEBUG): Aggregate::uninitialize mapPatch_undock:MissionStartSettings
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:TransitToPatchMappingStartLocation] Running Loop=1
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:TransitToPatchMappingStartLocation](DEBUG): Aggregate::initialize mapPatch_undock:TransitToPatchMappingStartLocation
2022-06-15T12:44:35.117Z,1655297075.117 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-15T12:44:35.118Z,1655297075.118 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-15T12:44:35.118Z,1655297075.118 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-15T12:44:35.118Z,1655297075.118 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-15T12:44:35.118Z,1655297075.118 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-15T12:44:35.118Z,1655297075.118 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-15T12:44:35.118Z,1655297075.118 [mapPatch_undock:TransitToPatchMappingStartLocation:A] Running Loop=1
2022-06-15T12:44:35.561Z,1655297075.561 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-15T12:44:35.561Z,1655297075.561 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-15T12:44:35.561Z,1655297075.561 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-15T12:44:35.562Z,1655297075.562 [mapPatch_undock:TransitToPatchMappingStartLocation:A] Stopped
2022-06-15T12:44:35.562Z,1655297075.562 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint] Running Loop=1
2022-06-15T12:44:35.562Z,1655297075.562 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-15T12:44:36.385Z,1655297076.385 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint] Stopped
2022-06-15T12:44:36.385Z,1655297076.385 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-15T12:44:36.385Z,1655297076.385 [mapPatch_undock:TransitToPatchMappingStartLocation:F] Running Loop=1
2022-06-15T12:44:36.704Z,1655297076.704 [mapPatch_undock:TransitToPatchMappingStartLocation:F] Stopped
2022-06-15T12:44:36.704Z,1655297076.704 [mapPatch_undock:TransitToPatchMappingStartLocation:G] Running Loop=1
2022-06-15T12:44:37.120Z,1655297077.120 [mapPatch_undock:TransitToPatchMappingStartLocation:G] Stopped
2022-06-15T12:44:37.121Z,1655297077.121 [mapPatch_undock:TransitToPatchMappingStartLocation](INFO): Completed mapPatch_undock:TransitToPatchMappingStartLocation
2022-06-15T12:44:37.121Z,1655297077.121 [mapPatch_undock:TransitToPatchMappingStartLocation] Stopped
2022-06-15T12:44:37.121Z,1655297077.121 [mapPatch_undock:TransitToPatchMappingStartLocation](DEBUG): Aggregate::uninitialize mapPatch_undock:TransitToPatchMappingStartLocation
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope] Stopped
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Stopped
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo] Stopped
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:PatchMapping] Running Loop=1
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:PatchMapping](DEBUG): Aggregate::initialize mapPatch_undock:PatchMapping
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-15T12:44:37.122Z,1655297077.122 [mapPatch_undock:PatchMapping:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-15T12:44:37.123Z,1655297077.123 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-15T12:44:37.123Z,1655297077.123 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-15T12:44:37.123Z,1655297077.123 [mapPatch_undock:PatchMapping:L.YoYo] Running Loop=1
2022-06-15T12:44:37.123Z,1655297077.123 [mapPatch_undock:PatchMapping:L.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-15T12:44:37.123Z,1655297077.123 [mapPatch_undock:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-15T12:44:37.123Z,1655297077.123 [mapPatch_undock:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::initialize mapPatch_undock:PatchMapping:OutsideOfPolygon
2022-06-15T12:44:37.124Z,1655297077.124 [mapPatch_undock:PatchMapping:OutsideOfPolygon:A] Running Loop=1
2022-06-15T12:44:37.124Z,1655297077.124 [mapPatch_undock:PatchMapping:A] Running Loop=1
2022-06-15T12:44:37.541Z,1655297077.541 [mapPatch_undock:PatchMapping:OilPatchDetectionZig] Running Loop=1
2022-06-15T12:44:37.541Z,1655297077.541 [mapPatch_undock:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::initialize mapPatch_undock:PatchMapping:OilPatchDetectionZig
2022-06-15T12:44:37.542Z,1655297077.542 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:44:37.542Z,1655297077.542 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:44:37.543Z,1655297077.543 [mapPatch_undock:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-15T12:44:37.544Z,1655297077.544 [mapPatch_undock:PatchMapping:OutsideOfPolygon:A](IMPORTANT): Latitude = 41.599075 arcdeg , longitude = -70.725248 arcdeg . The vehicle is outside of the polygon. Stopping mission.
2022-06-15T12:44:37.544Z,1655297077.544 [mapPatch_undock:PatchMapping:OutsideOfPolygon:A] Stopped
2022-06-15T12:44:37.544Z,1655297077.544 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute] Running Loop=1
2022-06-15T12:44:37.545Z,1655297077.545 [mapPatch_undock:PatchMapping:L.YoYo] Running Loop=1
2022-06-15T12:44:37.545Z,1655297077.545 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-15T12:44:37.545Z,1655297077.545 [mapPatch_undock:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-15T12:44:37.546Z,1655297077.546 [mapPatch_undock:PatchMapping:A] Stopped
2022-06-15T12:44:37.546Z,1655297077.546 [mapPatch_undock:PatchMapping:B] Running Loop=1
2022-06-15T12:44:37.921Z,1655297077.921 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute](INFO): Executing command stop
2022-06-15T12:44:37.921Z,1655297077.921 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute] Stopped
2022-06-15T12:44:37.921Z,1655297077.921 [mapPatch_undock:PatchMapping:OutsideOfPolygon:C] Running Loop=1
2022-06-15T12:44:37.922Z,1655297077.922 [mapPatch_undock:PatchMapping:B] Stopped
2022-06-15T12:44:37.922Z,1655297077.922 [mapPatch_undock:PatchMapping:C] Running Loop=1
2022-06-15T12:44:37.940Z,1655297077.940 [CommandExec](IMPORTANT): got command stop
2022-06-15T12:44:37.940Z,1655297077.940 [CommandExec](IMPORTANT): Scheduling is paused for 1 commands
2022-06-15T12:44:37.941Z,1655297077.941 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-06-15T12:44:37.946Z,1655297077.946 [MissionManager](INFO): MissionManager is completed.
2022-06-15T12:44:37.946Z,1655297077.946 [MissionManager](INFO): Uninitializing Mission mapPatch_undock
2022-06-15T12:44:37.946Z,1655297077.946 [mapPatch_undock] Stopped
2022-06-15T12:44:37.947Z,1655297077.947 [mapPatch_undock](DEBUG): Aggregate::uninitialize mapPatch_undock
2022-06-15T12:44:37.947Z,1655297077.947 [mapPatch_undock:A.AltitudeEnvelope] Stopped
2022-06-15T12:44:37.947Z,1655297077.947 [mapPatch_undock:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-15T12:44:37.947Z,1655297077.947 [mapPatch_undock:B.DepthEnvelope] Stopped
2022-06-15T12:44:37.947Z,1655297077.947 [mapPatch_undock:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-15T12:44:37.947Z,1655297077.947 [mapPatch_undock:NeedComms] Stopped
2022-06-15T12:44:37.951Z,1655297077.951 [mapPatch_undock:NeedComms](DEBUG): Aggregate::uninitialize mapPatch_undock:NeedComms
2022-06-15T12:44:37.951Z,1655297077.951 [mapPatch_undock:NeedComms:B.GoToSurface] Stopped
2022-06-15T12:44:37.951Z,1655297077.951 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:44:37.951Z,1655297077.951 [mapPatch_undock:NeedComms:D] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:D.OffshoreEnvelope] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:E.WaterDepthEnvelope] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:E.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:F.Pitch] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:G.Buoyancy] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:G.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:MicromodemComms] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:MicromodemComms](DEBUG): Aggregate::uninitialize mapPatch_undock:MicromodemComms
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:MicromodemComms:CheckIn] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize mapPatch_undock:MicromodemComms:CheckIn
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:MicromodemComms:CheckIn:A] Stopped
2022-06-15T12:44:37.952Z,1655297077.952 [mapPatch_undock:Science] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science](DEBUG): Aggregate::uninitialize mapPatch_undock:Science
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:B] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:C] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:Read_Oil] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:OceanCurrent] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:OceanCurrent](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:OceanCurrent
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:OceanCurrent:A.] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:PeakDetectOil] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectOil
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:J.SetSpeed] Stopped
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:J.SetSpeed](DEBUG): Uninitialize.
2022-06-15T12:44:37.953Z,1655297077.953 [mapPatch_undock:MissionStartComms] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch_undock:MissionStartComms
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:MissionStartComms:MissionStartComms] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:MissionStartComms:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch_undock:MissionStartComms:MissionStartComms
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping](DEBUG): Aggregate::uninitialize mapPatch_undock:PatchMapping
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:C] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:J.DepthEnvelope] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:J.DepthEnvelope](DEBUG): Uninitialize.
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:L.YoYo] Stopped
2022-06-15T12:44:37.954Z,1655297077.954 [mapPatch_undock:PatchMapping:L.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-15T12:44:37.955Z,1655297077.955 [mapPatch_undock:PatchMapping:OutsideOfPolygon] Stopped
2022-06-15T12:44:37.955Z,1655297077.955 [mapPatch_undock:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::uninitialize mapPatch_undock:PatchMapping:OutsideOfPolygon
2022-06-15T12:44:37.955Z,1655297077.955 [mapPatch_undock:PatchMapping:OutsideOfPolygon:C] Stopped
2022-06-15T12:44:37.955Z,1655297077.955 [mapPatch_undock:PatchMapping:OilPatchDetectionZig] Stopped
2022-06-15T12:44:37.955Z,1655297077.955 [mapPatch_undock:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::uninitialize mapPatch_undock:PatchMapping:OilPatchDetectionZig
2022-06-15T12:44:37.959Z,1655297077.959 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Stopped
2022-06-15T12:44:37.959Z,1655297077.959 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:44:38.489Z,1655297078.489 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-15T12:44:38.489Z,1655297078.489 [DefaultWithUndock] Running Loop=1
2022-06-15T12:44:38.489Z,1655297078.489 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-15T12:44:38.490Z,1655297078.490 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-15T12:44:38.490Z,1655297078.490 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:44:42.840Z,1655297082.840 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:44:44.167Z,1655297084.167 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20220615T122152/Express0020.lzma
2022-06-15T12:44:45.163Z,1655297085.163 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0020.lzma.bak
2022-06-15T12:44:45.163Z,1655297085.163 [DataOverHttps](INFO): SBD MOMSN=1941375
2022-06-15T12:45:08.555Z,1655297108.555 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-15T12:45:08.555Z,1655297108.555 [DefaultWithUndock:A.Wait] Stopped
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-15T12:45:08.556Z,1655297108.556 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-15T12:45:08.557Z,1655297108.557 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:45:11.418Z,1655297111.418 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-15T12:45:11.419Z,1655297111.419 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:11.793Z,1655297111.793 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-15T12:45:12.199Z,1655297112.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:45:12.579Z,1655297112.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:45:13.400Z,1655297113.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124513.99*5E

2022-06-15T12:45:14.250Z,1655297114.250 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:15.804Z,1655297115.804 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:45:17.053Z,1655297117.053 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:17.822Z,1655297117.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:45:18.238Z,1655297118.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:45:19.054Z,1655297119.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124519.61*53

2022-06-15T12:45:19.874Z,1655297119.874 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:21.460Z,1655297121.460 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:45:22.689Z,1655297122.689 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:23.477Z,1655297123.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:45:23.883Z,1655297123.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:45:24.723Z,1655297124.723 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124525.27*5E

2022-06-15T12:45:25.093Z,1655297125.093 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,124526,COPROC,0.20.0.
 expected 40
2022-06-15T12:45:25.525Z,1655297125.525 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:27.116Z,1655297127.116 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:45:28.029Z,1655297128.029 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:28.735Z,1655297128.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:45:29.131Z,1655297129.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:45:30.014Z,1655297130.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124530.53*59

2022-06-15T12:45:30.761Z,1655297130.761 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:32.092Z,1655297132.092 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-15T12:45:32.360Z,1655297132.360 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:45:33.585Z,1655297133.585 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:45:34.166Z,1655297134.166 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-15T12:45:34.386Z,1655297134.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:45:34.501Z,1655297134.501 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-15T12:45:34.501Z,1655297134.501 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-15T12:45:34.501Z,1655297134.501 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-15T12:45:34.501Z,1655297134.501 [DefaultWithUndock:LeaveDock] Stopped
2022-06-15T12:45:34.501Z,1655297134.501 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-15T12:45:34.501Z,1655297134.501 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-15T12:45:34.502Z,1655297134.502 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-15T12:45:34.511Z,1655297134.511 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:45:34.511Z,1655297134.511 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:45:34.512Z,1655297134.512 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:45:34.763Z,1655297134.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:45:34.805Z,1655297134.805 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-15T12:45:34.805Z,1655297134.805 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:45:34.805Z,1655297134.805 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T12:45:35.583Z,1655297135.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124536.17*5F

2022-06-15T12:45:36.787Z,1655297136.787 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,124536.00,A,4135.94357,N,07043.51939,W,0.486,242.63,150622,,,A*7A
2022-06-15T12:45:36.789Z,1655297136.789 [NAL9602](INFO): GPS fix at 20220615T124536: (41.599060, -70.725323)
2022-06-15T12:45:36.836Z,1655297136.836 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T12:45:36.837Z,1655297136.837 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T12:45:39.888Z,1655297139.888 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:45:41.232Z,1655297141.232 [DataOverHttps](INFO): Sending 232 bytes from file Logs/20220615T122152/Courier0028.lzma
2022-06-15T12:45:42.233Z,1655297142.233 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0028.lzma.bak
2022-06-15T12:45:42.233Z,1655297142.233 [DataOverHttps](INFO): SBD MOMSN=1941377
2022-06-15T12:45:47.187Z,1655297147.187 [NAL9602](INFO): SBD MO Status=0, MOMSN=40800, MT Status=0, MTMSN=0
2022-06-15T12:45:47.187Z,1655297147.187 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:45:54.283Z,1655297154.283 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20220615T122152/Express0023.lzma
2022-06-15T12:45:55.286Z,1655297155.286 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0023.lzma.bak
2022-06-15T12:45:55.286Z,1655297155.286 [DataOverHttps](INFO): SBD MOMSN=1941380
2022-06-15T12:46:06.332Z,1655297166.332 [DataOverHttps](INFO): Sending 622 bytes from file Logs/20220615T122152/Express0026.lzma
2022-06-15T12:46:07.333Z,1655297167.333 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0026.lzma.bak
2022-06-15T12:46:07.333Z,1655297167.333 [DataOverHttps](INFO): SBD MOMSN=1941384
2022-06-15T12:46:16.371Z,1655297176.371 [DataOverHttps](INFO): Sending 46 bytes from file Logs/20220615T122152/Express0027.lzma
2022-06-15T12:46:17.373Z,1655297177.373 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0027.lzma.bak
2022-06-15T12:46:17.373Z,1655297177.373 [DataOverHttps](INFO): SBD MOMSN=1941396
2022-06-15T12:46:17.861Z,1655297177.861 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:46:28.464Z,1655297188.464 [DataOverHttps](INFO): Sending 494 bytes from file Logs/20220615T122152/Express0029.lzma
2022-06-15T12:46:29.465Z,1655297189.465 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0029.lzma.bak
2022-06-15T12:46:29.465Z,1655297189.465 [DataOverHttps](INFO): SBD MOMSN=1941398
2022-06-15T12:46:31.625Z,1655297191.625 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T12:46:31.625Z,1655297191.625 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-15T12:46:31.625Z,1655297191.625 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:48:12.251Z,1655297292.251 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2022-06-15T12:48:12.251Z,1655297292.251 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2022-06-15T12:48:12.251Z,1655297292.251 [RDI_PathfinderUp](ERROR): Communications Fault
2022-06-15T12:48:12.301Z,1655297292.301 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2022-06-15T12:48:12.675Z,1655297292.675 [RDI_PathfinderUp](INFO): Powering down
2022-06-15T12:48:13.438Z,1655297293.438 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2022-06-15T12:48:13.438Z,1655297293.438 [RDI_PathfinderUp] No Fault, FailCount= 1
2022-06-15T12:49:36.393Z,1655297376.393 [DataOverHttps](IMPORTANT): SBD MTMSN=20220615T124935
2022-06-15T12:49:40.410Z,1655297380.410 [DataOverHttps](INFO): Received command: load Science/mapPatch_undock.xml;set mapPatch_undock.MissionTimeout 1 h;run
2022-06-15T12:49:40.513Z,1655297380.513 [CommandExec](IMPORTANT): got command load ./Missions/Science/mapPatch_undock.xml
2022-06-15T12:49:40.514Z,1655297380.514 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/mapPatch_undock.xml
2022-06-15T12:49:41.413Z,1655297381.413 [DataOverHttps](IMPORTANT): SBD MTMSN=20220615T124940
2022-06-15T12:49:41.674Z,1655297381.674 [MissionManager](INFO): DefineArg mapPatch_undock.MissionTimeout = 2.000000 h
2022-06-15T12:49:41.677Z,1655297381.677 [MissionManager](INFO): DefineArg mapPatch_undock.DetachTimeout = 20.000000 min
2022-06-15T12:49:41.679Z,1655297381.679 [MissionManager](INFO): DefineArg mapPatch_undock.TransponderCode = 2.000000 count
2022-06-15T12:49:41.681Z,1655297381.681 [MissionManager](INFO): DefineArg mapPatch_undock.Speed = 1.000000 m/s
2022-06-15T12:49:41.683Z,1655297381.683 [MissionManager](INFO): DefineArg mapPatch_undock.CommsAtMissionStart = 1 bool
2022-06-15T12:49:41.685Z,1655297381.685 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDetectChl = 0 bool
2022-06-15T12:49:41.687Z,1655297381.687 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDetectSalinity = 0 bool
2022-06-15T12:49:41.689Z,1655297381.689 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDetectOil = 1 bool
2022-06-15T12:49:41.690Z,1655297381.690 [MissionManager](INFO): DefineArg mapPatch_undock.DetectTheTrough = 0 bool
2022-06-15T12:49:41.693Z,1655297381.693 [MissionManager](INFO): DefineArg mapPatch_undock.MinAltitude = 3.000000 m
2022-06-15T12:49:41.695Z,1655297381.695 [MissionManager](INFO): DefineArg mapPatch_undock.MinAltitude = 3.000000 m
2022-06-15T12:49:41.697Z,1655297381.697 [MissionManager](INFO): DefineArg mapPatch_undock.MaxDepth = 10.000000 m
2022-06-15T12:49:41.699Z,1655297381.699 [MissionManager](INFO): DefineArg mapPatch_undock.MinWaterDepth = 10.000000 m
2022-06-15T12:49:41.701Z,1655297381.701 [MissionManager](INFO): DefineArg mapPatch_undock.MinOffshore = 2000.000000 m
2022-06-15T12:49:41.704Z,1655297381.704 [MissionManager](INFO): DefineArg mapPatch_undock.MinDistFromPolygonSides = 200.000000 m
2022-06-15T12:49:41.706Z,1655297381.706 [MissionManager](INFO): DefineArg mapPatch_undock.NeedCommsTimeInTransit = 120.000000 min
2022-06-15T12:49:41.708Z,1655297381.708 [MissionManager](INFO): DefineArg mapPatch_undock.NeedCommsTimePatchMapping = 120.000000 min
2022-06-15T12:49:41.710Z,1655297381.710 [MissionManager](INFO): DefineArg mapPatch_undock.CheckNaNTimeout = 20.000000 min
2022-06-15T12:49:41.714Z,1655297381.714 [MissionManager](INFO): DefineArg mapPatch_undock.TimePastOffPeakThreshold = 15.000000 min
2022-06-15T12:49:41.717Z,1655297381.717 [MissionManager](INFO): DefineArg mapPatch_undock.WaitAfterHittingWall = 5.000000 min
2022-06-15T12:49:41.755Z,1655297381.755 [MissionManager](INFO): DefineArg mapPatch_undock.MaxWaitAfterHittingWall = 20.000000 min
2022-06-15T12:49:41.757Z,1655297381.757 [MissionManager](INFO): DefineArg mapPatch_undock.LatPatchMappingStart = nan arcdeg
2022-06-15T12:49:41.764Z,1655297381.764 [MissionManager](INFO): DefineArg mapPatch_undock.LonPatchMappingStart = nan arcdeg
2022-06-15T12:49:41.766Z,1655297381.766 [MissionManager](INFO): DefineArg mapPatch_undock.Repeat = 20.000000 count
2022-06-15T12:49:41.773Z,1655297381.773 [MissionManager](INFO): DefineArg mapPatch_undock.WpMaxDistance = 4000.000000 m
2022-06-15T12:49:41.775Z,1655297381.775 [MissionManager](INFO): DefineArg mapPatch_undock.WpTimeoutBase = 4000.000000 s
2022-06-15T12:49:41.777Z,1655297381.777 [MissionManager](INFO): DefineArg mapPatch_undock.TransitYoYoMinDepth = 2.000000 m
2022-06-15T12:49:41.780Z,1655297381.780 [MissionManager](INFO): DefineArg mapPatch_undock.TransitYoYoMaxDepth = 8.000000 m
2022-06-15T12:49:41.782Z,1655297381.782 [MissionManager](INFO): DefineArg mapPatch_undock.PatchMappingYoYoMinDepth = 2.000000 m
2022-06-15T12:49:41.809Z,1655297381.809 [MissionManager](INFO): DefineArg mapPatch_undock.PatchMappingYoYoMaxDepth = 8.000000 m
2022-06-15T12:49:41.815Z,1655297381.815 [MissionManager](INFO): DefineArg mapPatch_undock.YoYoMinAltitude = 3.000000 m
2022-06-15T12:49:41.818Z,1655297381.818 [MissionManager](INFO): DefineArg mapPatch_undock.YoYoUpPitch = 20.000000 arcdeg
2022-06-15T12:49:41.836Z,1655297381.836 [MissionManager](INFO): DefineArg mapPatch_undock.YoYoDownPitch = -20.000000 arcdeg
2022-06-15T12:49:41.838Z,1655297381.838 [MissionManager](INFO): DefineArg mapPatch_undock.PeakShallowBnd = 2.000000 m
2022-06-15T12:49:41.848Z,1655297381.848 [MissionManager](INFO): DefineArg mapPatch_undock.PeakDeepBnd = 8.000000 m
2022-06-15T12:49:41.850Z,1655297381.850 [MissionManager](INFO): DefineArg mapPatch_undock.BeginThresholdChl = 1.000000 ug/l
2022-06-15T12:49:41.857Z,1655297381.857 [MissionManager](INFO): DefineArg mapPatch_undock.BeginThresholdSalt = 33.000000 psu
2022-06-15T12:49:41.899Z,1655297381.899 [MissionManager](INFO): DefineArg mapPatch_undock.BeginThresholdOil = 0.100000 kg/m3
2022-06-15T12:49:41.901Z,1655297381.901 [MissionManager](INFO): DefineArg mapPatch_undock.WpBearing = 210.000000 arcdeg
2022-06-15T12:49:41.912Z,1655297381.912 [MissionManager](INFO): DefineArg mapPatch_undock.OffPeakFraction = 10.000000 %
2022-06-15T12:49:41.914Z,1655297381.914 [MissionManager](INFO): DefineArg mapPatch_undock.DetectionTimeout = 30.000000 min
2022-06-15T12:49:41.944Z,1655297381.944 [MissionManager](INFO): DefineArg mapPatch_undock.TimeWindowPeakRpt = nan min
2022-06-15T12:49:41.946Z,1655297381.946 [MissionManager](INFO): DefineArg mapPatch_undock.LowPassWindowLen = 20.000000 count
2022-06-15T12:49:41.976Z,1655297381.976 [MissionManager](INFO): DefineArg mapPatch_undock.MedianFilterLength = 5.000000 count
2022-06-15T12:49:41.996Z,1655297381.996 [MissionManager](INFO): DefineArg mapPatch_undock.NumOfProfilesSlidingwindow = 50.000000 count
2022-06-15T12:49:42.015Z,1655297382.015 [MissionManager](INFO): DefineArg mapPatch_undock.FilterWidthHorizontal = 4.000000 count
2022-06-15T12:49:42.018Z,1655297382.018 [MissionManager](INFO): DefineArg mapPatch_undock.MicromodemCommsInterval = 5.000000 min
2022-06-15T12:49:42.024Z,1655297382.024 [MissionManager](INFO): DefineArg mapPatch_undock.TrackingUpdatePeriod = 2.500000 s
2022-06-15T12:49:42.031Z,1655297382.031 [MissionManager](INFO): DefineArg mapPatch_undock.NumberOfPings = 1.000000 count
2022-06-15T12:49:42.033Z,1655297382.033 [MissionManager](INFO): DefineArg mapPatch_undock.DepChangeThreshAttitudeFlip = 1.000000 m
2022-06-15T12:49:42.039Z,1655297382.039 [MissionManager](INFO): DefineArg mapPatch_undock.WaterFrame = 1 bool
2022-06-15T12:49:42.041Z,1655297382.041 [MissionManager](INFO): DefineArg mapPatch_undock.PatchMode = 0 bool
2022-06-15T12:49:42.047Z,1655297382.047 [MissionManager](INFO): DefineArg mapPatch_undock.TurnAngleBase = 120.000000 arcdeg
2022-06-15T12:49:42.050Z,1655297382.050 [MissionManager](INFO): DefineArg mapPatch_undock.Reverse = 180.000000 arcdeg
2022-06-15T12:49:42.052Z,1655297382.052 [MissionManager](INFO): DefineArg mapPatch_undock.TwoPi = 360.000000 arcdeg
2022-06-15T12:49:42.064Z,1655297382.064 [MissionManager](INFO): DefineArg mapPatch_undock.MassDefault = -0.229073 cm
2022-06-15T12:49:42.073Z,1655297382.073 [MissionManager](INFO): DefineArg mapPatch_undock.BuoyancyNeutral = 386.368927 cc
2022-06-15T12:49:42.082Z,1655297382.082 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundNotContinuedFlightLowEnabled = 1 bool
2022-06-15T12:49:42.105Z,1655297382.105 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundNotContinuedFlightHighEnabled = 1 bool
2022-06-15T12:49:42.122Z,1655297382.122 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundContinuedFlightLowEnabled = 1 bool
2022-06-15T12:49:42.128Z,1655297382.128 [MissionManager](INFO): DefineOutput mapPatch_undock.PeakFoundContinuedFlightHighEnabled = 1 bool
2022-06-15T12:49:42.130Z,1655297382.130 [MissionManager](INFO): DefineOutput mapPatch_undock.LegNotContinuedFlightEnabled = 1 bool
2022-06-15T12:49:42.141Z,1655297382.141 [MissionManager](INFO): DefineOutput mapPatch_undock.LegContinuedFlightLowEnabled = 1 bool
2022-06-15T12:49:42.155Z,1655297382.155 [MissionManager](INFO): DefineOutput mapPatch_undock.LegContinuedFlightHighEnabled = 1 bool
2022-06-15T12:49:42.157Z,1655297382.157 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchDetectOn = 1 bool
2022-06-15T12:49:42.163Z,1655297382.163 [MissionManager](INFO): DefineOutput mapPatch_undock.ZigDone = 0 bool
2022-06-15T12:49:42.165Z,1655297382.165 [MissionManager](INFO): DefineOutput mapPatch_undock.LegContinuedFlight = 0 bool
2022-06-15T12:49:42.168Z,1655297382.168 [MissionManager](INFO): DefineOutput mapPatch_undock.MissionStartCommsCompleted = 0 bool
2022-06-15T12:49:42.170Z,1655297382.170 [MissionManager](INFO): DefineOutput mapPatch_undock.Turn = nan arcdeg
2022-06-15T12:49:42.177Z,1655297382.177 [MissionManager](INFO): DefineOutput mapPatch_undock.WpTimeout = nan s
2022-06-15T12:49:42.188Z,1655297382.188 [MissionManager](INFO): DefineOutput mapPatch_undock.SideLastHit = nan count
2022-06-15T12:49:42.190Z,1655297382.190 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakChl = nan ug/l
2022-06-15T12:49:42.198Z,1655297382.198 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakChlPriorToContinuedFlight = nan ug/l
2022-06-15T12:49:42.205Z,1655297382.205 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakSalinity = nan psu
2022-06-15T12:49:42.214Z,1655297382.214 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakSalinityPriorToContinuedFlight = nan psu
2022-06-15T12:49:42.240Z,1655297382.240 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakOil = nan kg/m3
2022-06-15T12:49:42.242Z,1655297382.242 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakOilPriorToContinuedFlight = nan kg/m3
2022-06-15T12:49:42.249Z,1655297382.249 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakDepth = nan m
2022-06-15T12:49:42.255Z,1655297382.255 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakLatitude = nan arcdeg
2022-06-15T12:49:42.257Z,1655297382.257 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakLongitude = nan arcdeg
2022-06-15T12:49:42.262Z,1655297382.262 [MissionManager](INFO): DefineOutput mapPatch_undock.PatchPeakDistance = 0.000000 m
2022-06-15T12:49:42.304Z,1655297382.304 [MissionManager](INFO): DefineOutput mapPatch_undock.StoppedForNaNPatchPeak = 0 bool
2022-06-15T12:49:42.306Z,1655297382.306 [MissionManager](INFO): DefineOutput mapPatch_undock.StoppedForBeingOutsideOfPolygon = 0 bool
2022-06-15T12:49:42.322Z,1655297382.322 [MissionManager](INFO): DefineOutput mapPatch_undock.ElapsedSinceStart = 0.000000 h
2022-06-15T12:49:42.333Z,1655297382.333 [MissionManager](INFO): DefineOutput mapPatch_undock.ElapsedSinceLastHittingWall = 0.000000 h
2022-06-15T12:49:42.343Z,1655297382.343 [MissionManager](INFO): DefineOutput mapPatch_undock.ElapsedSinceEndOfTransit = 0.000000 h
2022-06-15T12:49:42.344Z,1655297382.344 [mapPatch_undock:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:49:42.358Z,1655297382.358 [mapPatch_undock:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:49:42.376Z,1655297382.376 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2022-06-15T12:49:42.478Z,1655297382.478 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.DiveInterval = 3.000000 h
2022-06-15T12:49:42.485Z,1655297382.485 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.WaitForPitchUp = 10.000000 min
2022-06-15T12:49:42.491Z,1655297382.491 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.SurfacePitch = 20.000000 arcdeg
2022-06-15T12:49:42.493Z,1655297382.493 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.SurfaceDepthRate = nan m/s
2022-06-15T12:49:42.504Z,1655297382.504 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.SurfaceSpeed = 1.000000 m/s
2022-06-15T12:49:42.506Z,1655297382.506 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.GPSTimeout = 7.000000 min
2022-06-15T12:49:42.510Z,1655297382.510 [MissionManager](INFO): DefineArg mapPatch_undock:NeedComms.CommsTimeout = 30.000000 min
2022-06-15T12:49:42.530Z,1655297382.530 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-15T12:49:42.587Z,1655297382.587 [mapPatch_undock:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-06-15T12:49:42.597Z,1655297382.597 [mapPatch_undock:E.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-06-15T12:49:42.603Z,1655297382.603 [mapPatch_undock:F.Pitch](DEBUG): Construct.
2022-06-15T12:49:42.607Z,1655297382.607 [mapPatch_undock:G.Buoyancy](DEBUG): Construct Buoyancy.
2022-06-15T12:49:42.609Z,1655297382.609 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.xml
2022-06-15T12:49:42.650Z,1655297382.650 [MissionManager](INFO): DefineArg mapPatch_undock:MicromodemComms.Timeout = 10.000000 min
2022-06-15T12:49:42.653Z,1655297382.653 [MissionManager](INFO): DefineArg mapPatch_undock:MicromodemComms.CommsInterval = 5.000000 min
2022-06-15T12:49:42.657Z,1655297382.657 [MissionManager](INFO): RedefineArg mapPatch_undock:MicromodemComms.CommsInterval = reader:mapPatch_undock.MicromodemCommsInterval
2022-06-15T12:49:42.657Z,1655297382.657 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-06-15T12:49:43.260Z,1655297383.260 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectChlActive = 0 bool
2022-06-15T12:49:43.262Z,1655297383.262 [MissionManager](INFO): DefineArg mapPatch_undock:Science.TimeWindowPeakReport = nan min
2022-06-15T12:49:43.264Z,1655297383.264 [MissionManager](INFO): DefineArg mapPatch_undock:Science.HighestChlPeakReportActive = 0 bool
2022-06-15T12:49:43.266Z,1655297383.266 [MissionManager](INFO): DefineArg mapPatch_undock:Science.HighestSaltPeakReportActive = 0 bool
2022-06-15T12:49:43.267Z,1655297383.267 [MissionManager](INFO): DefineArg mapPatch_undock:Science.HighestOilPeakReportActive = 0 bool
2022-06-15T12:49:43.269Z,1655297383.269 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PatchTracking = 0 bool
2022-06-15T12:49:43.271Z,1655297383.271 [MissionManager](INFO): DefineArg mapPatch_undock:Science.DetectTrough = 0 bool
2022-06-15T12:49:43.273Z,1655297383.273 [MissionManager](INFO): DefineArg mapPatch_undock:Science.FilterWidthHorizontal = 3.000000 count
2022-06-15T12:49:43.275Z,1655297383.275 [MissionManager](INFO): DefineArg mapPatch_undock:Science.NumProfilesSlidingwindow = 100.000000 count
2022-06-15T12:49:43.277Z,1655297383.277 [MissionManager](INFO): DefineArg mapPatch_undock:Science.OffPeakFractionHorizontal = 80.000000 %
2022-06-15T12:49:43.279Z,1655297383.279 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectNO3Active = 0 bool
2022-06-15T12:49:43.281Z,1655297383.281 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectOilActive = 0 bool
2022-06-15T12:49:43.284Z,1655297383.284 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectFDOMActive = 0 bool
2022-06-15T12:49:43.285Z,1655297383.285 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDetectSalinityActive = 0 bool
2022-06-15T12:49:43.287Z,1655297383.287 [MissionManager](INFO): DefineArg mapPatch_undock:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-06-15T12:49:43.290Z,1655297383.290 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledAanderaaO2 = 0 bool
2022-06-15T12:49:43.320Z,1655297383.320 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledNeilBrown = 0 bool
2022-06-15T12:49:43.329Z,1655297383.329 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledSeabird = 1 bool
2022-06-15T12:49:43.333Z,1655297383.333 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledWetLabsBB2FL = 0 bool
2022-06-15T12:49:43.348Z,1655297383.348 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-06-15T12:49:43.350Z,1655297383.350 [MissionManager](INFO): DefineArg mapPatch_undock:Science.EnabledWetLabsUBAT = 0 bool
2022-06-15T12:49:43.365Z,1655297383.365 [MissionManager](INFO): DefineArg mapPatch_undock:Science.LowPassWindowLength = 20.000000 count
2022-06-15T12:49:43.371Z,1655297383.371 [MissionManager](INFO): DefineArg mapPatch_undock:Science.MedianFilterLen = 5.000000 count
2022-06-15T12:49:43.373Z,1655297383.373 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakShallowBound = nan m
2022-06-15T12:49:43.380Z,1655297383.380 [MissionManager](INFO): DefineArg mapPatch_undock:Science.PeakDeepBound = nan m
2022-06-15T12:49:43.382Z,1655297383.382 [MissionManager](INFO): DefineArg mapPatch_undock:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-06-15T12:49:43.384Z,1655297383.384 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChl = 0.000000 ug/l
2022-06-15T12:49:43.392Z,1655297383.392 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlDepth = 0.000000 m
2022-06-15T12:49:43.404Z,1655297383.404 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlTemperature = 0.000000 degC
2022-06-15T12:49:43.406Z,1655297383.406 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlLatitude = nan arcdeg
2022-06-15T12:49:43.413Z,1655297383.413 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakChlLongitude = nan arcdeg
2022-06-15T12:49:43.431Z,1655297383.431 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3 = 0.000000 umol/l
2022-06-15T12:49:43.433Z,1655297383.433 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3Depth = 0.000000 m
2022-06-15T12:49:43.440Z,1655297383.440 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3Latitude = nan arcdeg
2022-06-15T12:49:43.442Z,1655297383.442 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakNO3Longitude = nan arcdeg
2022-06-15T12:49:43.448Z,1655297383.448 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOil = 0.000000 kg/m3
2022-06-15T12:49:43.450Z,1655297383.450 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOilDepth = 0.000000 m
2022-06-15T12:49:43.461Z,1655297383.461 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOilLatitude = nan arcdeg
2022-06-15T12:49:43.467Z,1655297383.467 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakOilLongitude = nan arcdeg
2022-06-15T12:49:43.472Z,1655297383.472 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOM = 0.000000 ppb
2022-06-15T12:49:43.474Z,1655297383.474 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMDepth = 0.000000 m
2022-06-15T12:49:43.477Z,1655297383.477 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMTemperature = nan degC
2022-06-15T12:49:43.527Z,1655297383.527 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMLatitude = nan arcdeg
2022-06-15T12:49:43.529Z,1655297383.529 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakFDOMLongitude = nan arcdeg
2022-06-15T12:49:43.548Z,1655297383.548 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchFDOMDistance = nan m
2022-06-15T12:49:43.550Z,1655297383.550 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSalt = 0.000000 psu
2022-06-15T12:49:43.556Z,1655297383.556 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltDepth = 0.000000 m
2022-06-15T12:49:43.563Z,1655297383.563 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltTemperature = 0.000000 degC
2022-06-15T12:49:43.568Z,1655297383.568 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltLatitude = nan arcdeg
2022-06-15T12:49:43.570Z,1655297383.570 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PeakSaltLongitude = nan arcdeg
2022-06-15T12:49:43.573Z,1655297383.573 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChl = 0.000000 ug/l
2022-06-15T12:49:43.579Z,1655297383.579 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlDepth = 0.000000 m
2022-06-15T12:49:43.581Z,1655297383.581 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlLatitude = nan arcdeg
2022-06-15T12:49:43.584Z,1655297383.584 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlLongitude = nan arcdeg
2022-06-15T12:49:43.586Z,1655297383.586 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchChlDistance = nan m
2022-06-15T12:49:43.601Z,1655297383.601 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSalt = 0.000000 psu
2022-06-15T12:49:43.607Z,1655297383.607 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltDepth = 0.000000 m
2022-06-15T12:49:43.609Z,1655297383.609 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltLatitude = nan arcdeg
2022-06-15T12:49:43.620Z,1655297383.620 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltLongitude = nan arcdeg
2022-06-15T12:49:43.622Z,1655297383.622 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchSaltDistance = nan m
2022-06-15T12:49:43.629Z,1655297383.629 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOil = 0.000000 psu
2022-06-15T12:49:43.635Z,1655297383.635 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilDepth = 0.000000 m
2022-06-15T12:49:43.637Z,1655297383.637 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilLatitude = nan arcdeg
2022-06-15T12:49:43.640Z,1655297383.640 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilLongitude = nan arcdeg
2022-06-15T12:49:43.642Z,1655297383.642 [MissionManager](INFO): DefineOutput mapPatch_undock:Science.PatchOilDistance = nan m
2022-06-15T12:49:43.693Z,1655297383.693 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:49:43.724Z,1655297383.724 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:49:43.755Z,1655297383.755 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:49:43.773Z,1655297383.773 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:49:43.792Z,1655297383.792 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:49:43.814Z,1655297383.814 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:49:43.850Z,1655297383.850 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-15T12:49:43.877Z,1655297383.877 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:49:43.957Z,1655297383.957 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDetectChlActive = reader:mapPatch_undock.PeakDetectChl
2022-06-15T12:49:43.974Z,1655297383.974 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDetectSalinityActive = reader:mapPatch_undock.PeakDetectSalinity
2022-06-15T12:49:43.994Z,1655297383.994 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDetectOilActive = reader:mapPatch_undock.PeakDetectOil
2022-06-15T12:49:44.014Z,1655297384.014 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.DetectTrough = reader:mapPatch_undock.DetectTheTrough
2022-06-15T12:49:44.028Z,1655297384.028 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.TimeWindowPeakReport = reader:mapPatch_undock.TimeWindowPeakRpt
2022-06-15T12:49:44.029Z,1655297384.029 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.LowPassWindowLength = reader:mapPatch_undock.LowPassWindowLen
2022-06-15T12:49:44.035Z,1655297384.035 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.MedianFilterLen = reader:mapPatch_undock.MedianFilterLength
2022-06-15T12:49:44.036Z,1655297384.036 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakShallowBound = reader:mapPatch_undock.PeakShallowBnd
2022-06-15T12:49:44.038Z,1655297384.038 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.PeakDeepBound = reader:mapPatch_undock.PeakDeepBnd
2022-06-15T12:49:44.047Z,1655297384.047 [MissionManager](INFO): RedefineArg mapPatch_undock:Science.DepChangeThreshForAttitudeFlip = reader:mapPatch_undock.DepChangeThreshAttitudeFlip
2022-06-15T12:49:44.048Z,1655297384.048 [mapPatch_undock:J.SetSpeed](DEBUG): Construct.
2022-06-15T12:49:44.508Z,1655297384.508 [mapPatch_undock:Wait:B.Wait](DEBUG): Construct Wait.
2022-06-15T12:49:44.511Z,1655297384.511 [mapPatch_undock:Detach:A_Timeout:B.Execute](DEBUG): Construct Execute.
2022-06-15T12:49:44.524Z,1655297384.524 [mapPatch_undock:Detach:C.Undock](DEBUG): Construct.
2022-06-15T12:49:44.524Z,1655297384.524 [mapPatch_undock:Detach:C.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:49:44.544Z,1655297384.544 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:49:44.550Z,1655297384.550 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:49:44.556Z,1655297384.556 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Construct YoYo.
2022-06-15T12:49:44.573Z,1655297384.573 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:49:44.587Z,1655297384.587 [mapPatch_undock:PatchPeakIsNaN:B.Execute](DEBUG): Construct Execute.
2022-06-15T12:49:44.606Z,1655297384.606 [mapPatch_undock:PatchMapping:J.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-15T12:49:44.620Z,1655297384.620 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-15T12:49:44.626Z,1655297384.626 [mapPatch_undock:PatchMapping:L.YoYo](DEBUG): Construct YoYo.
2022-06-15T12:49:44.636Z,1655297384.636 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute](DEBUG): Construct Execute.
2022-06-15T12:49:44.678Z,1655297384.678 [mapPatch_undock:PatchMapping:ChlPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:49:44.816Z,1655297384.816 [mapPatch_undock:PatchMapping:SalinityPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:49:44.884Z,1655297384.884 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-15T12:49:44.957Z,1655297384.957 [mapPatch_undock:PatchMapping:Zig:LegContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:49:45.007Z,1655297385.007 [mapPatch_undock:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-15T12:49:45.255Z,1655297385.255 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Dock="Tethys/Dock"       
       xmlns:Trigger="Tethys/Trigger" 
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="mapPatch_undock">

    <Description>
        Vehicle yo-yos with patch detect enabled for oil concentration. NOTE:
        oil concentrations may vary strongly with depth! Suggested settings for
        simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData =
        "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
        eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
        vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
        71.2225805280196 arcdeg; // Initial latitude initLon =
        -163.5093252100575 arcdeg; // Initial longitude
        Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
        WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
        WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
        "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
        1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
        WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
        WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
        WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
        WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
        WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
        WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
        WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
        "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
    </Description>

<!-- Vehicle safety parameters -->

    <DefineArg Name="MissionTimeout"><Description>
        Timeout for the entire mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="DetachTimeout"><Description>
        Timeout for detaching from dock.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>2</Value></DefineArg>

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

    <DefineArg Name="CommsAtMissionStart"><Description>
        Whether to do comms at start of mission.
    </Description><True/></DefineArg>

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

    <DefineArg Name="PeakDetectChl"><Description>
        Chlorophyll patch mapping.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectSalinity"><Description>
        Salinity patch mapping.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectOil"><Description>
        Oil patch mapping.
    </Description><True/></DefineArg>

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

    <DefineArg Name="DetectTheTrough"><Description>
        Whether to track a trough. If false, track peak; if true, track trough.
        Default is false.
    </Description><False/></DefineArg>

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinWaterDepth"><Description>
        Minimum water depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="MinDistFromPolygonSides"><Description>
        If a operational safety polygon is specified and the vehicle is closer
        than this minimum distance to the polygon sides, turn back.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        Maximum time between surfacings for communications during transit
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="NeedCommsTimePatchMapping"><Description>
        Maximum time between surfacings for communications during patch mapping.
        This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of
        CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="CheckNaNTimeout"><Description>
        If the patch peak value is NaN by this time, stop mission.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="TimePastOffPeakThreshold"><Description>
        Time to swim past off-peak threshold point, in order to cover low-value
        areas.
<!--debug      
    </Description><Units:minute/><Value>60</Value></DefineArg>
-->
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="WaitAfterHittingWall"><Description>
        After the vehicle bounces off the boundary (defined by the shortest
        distance to polygon sides), wait this long before re-checking the
        distance.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxWaitAfterHittingWall"><Description>
        If the elapsed time since the last wall hit is longer than
        MaxWaitAfterHittingWall and the shortest distance to the same wall still
        violates MinDistFromPolygonSides, then turn or reverse course (depending
        which wall is hit). If the elapsed time since the last wall hit is
        shorter than MaxWaitAfterHittingWall and the shortest distance to the
        same wall violates MinDistFromPolygonSides, do not turn or reverse
        course, because it is possible that the vehicle was on surface for
        communications since the last wall hit.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="LatPatchMappingStart"><Description>
        Latitude of patch mapping start location. If nan, transit is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>36.810</Value></DefineArg>
-->

    <DefineArg Name="LonPatchMappingStart"><Description>
        Longitude of patch mapping start location. If nan, transit is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.855</Value></DefineArg>
-->

    <DefineArg Name="Repeat"><Description>
        Maximum number of rounds (one round = one full set of sweeps in four
        directions)
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="WpMaxDistance"><Description>
        Maximum length of each mapping leg
    </Description><Units:meter/><Value>4000</Value></DefineArg>

    <DefineArg Name="WpTimeoutBase"><Description>
        Maximum duration of each mapping leg
    </Description><Units:second/><Value>4000</Value></DefineArg>

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

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>8</Value></DefineArg>

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

    <DefineArg Name="PatchMappingYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during patch mapping.
<!--debug      
    </Description><Units:meter/><Value>25</Value></DefineArg>
-->
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20</Value></DefineArg>

    <DefineArg Name="PeakShallowBnd"><Description>
        Shallow depth bound for detecting peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="PeakDeepBnd"><Description>
        Deep depth bound for detecting peak on each descent or ascent profile.
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="BeginThresholdChl"><Description>
        If non-NaN, sets chlorophyll threshold for starting horizontal patch
        detection
    </Description><Units:microgram_per_liter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="BeginThresholdSalt"><Description>
        If non-NaN, sets salinity threshold for starting horizontal patch
        detection
    </Description><Units:psu/><Value>33.0</Value></DefineArg>

    <DefineArg Name="BeginThresholdOil"><Description>
        If non-NaN, sets threshold for starting horizontal patch detection
    </Description><Units:kilogram_per_cubic_meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="WpBearing"><Description>
        Bearing being followed in the current leg. Set this to initialize start
        direction of patch mapping.
    </Description><Units:degree/><Value>210</Value></DefineArg>

    <DefineArg Name="OffPeakFraction"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
<!--debug	
    </Description><Units:percent/><Value>10</Value></DefineArg>
-->
    </Description><Units:percent/><Value>10</Value></DefineArg>

    <DefineArg Name="DetectionTimeout"><Description>
        Look for signal for this long. If none found within this timeout, switch
        to the next leg.
    </Description><Units:minute/><Value>30</Value></DefineArg>

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

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

    <DefineArg Name="MedianFilterLength"><Description>
        Median filter length (only for chlorophyll fluorescence which tends to
        have spikes). The median-filtered signal enters the succeeding low-pass
        filter. If set to 1, then no median filtering, i.e., the raw
        fluorescence signal directly enters the low-pass filter.
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="NumOfProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. The highest per-yoyo peak (after
        low-pass filtering by a filter of length FilterWidthHorizontal) is
        picked out within this window.
    </Description><Units:count/><Value>50</Value></DefineArg>

    <DefineArg Name="FilterWidthHorizontal"><Description>
        Width of boxcar filter used in horizontal patch detection
    </Description><Units:count/><Value>4</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description></Description><Units:minute/><Value>5</Value></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 return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>1</Value></DefineArg>

    <DefineArg Name="WaterFrame"><Description>
        Set WaterFrame true to drive towards waypoints in the water frame of
        reference
    </Description><True/></DefineArg>

    <DefineArg Name="PatchMode"><Description>
        If true, use center of "in peak" range as the turn-around point. If
        false use maximum horizontal peak location as the turn-around point.
    </Description><False/></DefineArg>

    <DefineArg Name="TurnAngleBase"><Description>
        Zigzag turn angle.
    </Description><Units:degree/><Value>120</Value></DefineArg>

    <DefineArg Name="Reverse"><Description>
        Change in bearing which reverses vehicle direction
    </Description><Units:degree/><Value>180</Value></DefineArg>

    <DefineArg Name="TwoPi"><Description>
        Applied to stop run-up of angles
    </Description><Units:degree/><Value>360</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

<!-- Internal variable settings -->

    <DefineOutput Name="PeakFoundNotContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundNotContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegNotContinuedFlightEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PatchDetectOn"><Description>
        Mission sets this to true when looking for the patch peak. Initialized
        to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="ZigDone"><Description>
        Mission sets this to true when the zig transect has been completed.
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="LegContinuedFlight"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="MissionStartCommsCompleted"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="Turn"><Description>
        Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WpTimeout"><Description>
        Initialized to NaN.
    </Description><Units:second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="SideLastHit"><Units:count/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakChl"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakChlPriorToContinuedFlight"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakSalinity"><Units:psu/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakSalinityPriorToContinuedFlight"><Units:psu/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakOil"><Units:kilogram_per_cubic_meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakOilPriorToContinuedFlight"><Units:kilogram_per_cubic_meter/><Value>NaN</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="StoppedForNaNPatchPeak"><Description>
        Mission stopped because patch peak value is NaN. Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StoppedForBeingOutsideOfPolygon"><Description>
        Mission stopped because the vehicle is outside of the polygon.
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ElapsedSinceStart"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceLastHittingWall"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceEndOfTransit"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- And now the mission -->

<!-- Uncomment to speed up simulation
    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
    </Guidance:SetSpeed>
-->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

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

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

    <Guidance:WaterDepthEnvelope>
        <Parallel/>
        <Setting><Guidance:WaterDepthEnvelope.minWaterDepth/><Arg Name="MinWaterDepth"/></Setting>
    </Guidance:WaterDepthEnvelope>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

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

<!-- If we're executing here or below, lets' get science data! -->

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><Arg Name="PeakDetectChl"/></RedefineArg>
        <RedefineArg Name="PeakDetectSalinityActive"><Arg Name="PeakDetectSalinity"/></RedefineArg>
        <RedefineArg Name="PeakDetectOilActive"><Arg Name="PeakDetectOil"/></RedefineArg>
        <RedefineArg Name="DetectTrough"><Arg Name="DetectTheTrough"/></RedefineArg>
        <RedefineArg Name="TimeWindowPeakReport"><Arg Name="TimeWindowPeakRpt"/></RedefineArg>
        <RedefineArg Name="LowPassWindowLength"><Arg Name="LowPassWindowLen"/></RedefineArg>
        <RedefineArg Name="MedianFilterLen"><Arg Name="MedianFilterLength"/></RedefineArg>
        <RedefineArg Name="PeakShallowBound"><Arg Name="PeakShallowBnd"/></RedefineArg>
        <RedefineArg Name="PeakDeepBound"><Arg Name="PeakDeepBnd"/></RedefineArg>
        <RedefineArg Name="DepChangeThreshForAttitudeFlip"><Arg Name="DepChangeThreshAttitudeFlip"/></RedefineArg>
    </Insert>

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

    <Aggregate Id="SyslogWpMaxDistanceReached">

        <When>
            <Called/>
        </When>

        <Break><Arg Name="LegContinuedFlight"/>
            <Or><Not><Arg Name="LegNotContinuedFlightEnabled"/></Not></Or>
        </Break>

        <Aggregate Id="SyslogWpMaxDistanceReachedChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogWpMaxDistanceReachedSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogWpMaxDistanceReachedOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundNotContinuedFlightLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdChl"/><Units:microgram_per_liter/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdSalt"/><Units:psu/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdOil"/><Units:kilogram_per_cubic_meter/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundNotContinuedFlightHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogHittingWall">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogHittingWallChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/> is less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/>. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SyslogHittingWallSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/> is less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/>. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SyslogHittingWallOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/> is less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/>. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Wait">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/> before the next leg.</Syslog>

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

    </Aggregate>

    <Aggregate Id="Detach">

        <Sequence/>

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out trying to detach from dock. Stopping mission.</Syslog>
            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>
        </Timeout>

        <Syslog Severity="Important">Detaching from dock.</Syslog>

<!-- Turn on tracking so we get some ranges to see how far we are from the dock -->

        <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>

<!-- Time to leave the dock! -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="MissionStartComms">

        <Sequence/>

        <When>
            <Arg Name="CommsAtMissionStart"/>
            <And><Not><Arg Name="MissionStartCommsCompleted"/></Not></And>
        </When>

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

        <Assign><Sequence/><Arg Name="MissionStartCommsCompleted"/><True/></Assign>

    </Aggregate>

    <Aggregate Id="MissionStartSettings">

        <Assign><Sequence/><Arg Name="ElapsedSinceStart"/><Units:hour/><Value>0</Value></Assign>

        <Assign><Sequence/><Arg Name="ElapsedSinceLastHittingWall"/><Units:hour/><Value>0</Value></Assign>

        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="TurnAngleBase"/></Assign>

        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

    </Aggregate>

    <Aggregate Id="TransitToPatchMappingStartLocation">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or>
        </Break>

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="TransitYoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="TransitYoYoMaxDepth"/></Setting>
        </Guidance:DepthEnvelope>

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

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:YoYo>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="LatPatchMappingStart"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="LonPatchMappingStart"/></Setting>
        </Guidance:Waypoint>

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

        <Assign><Sequence/><Arg Name="ElapsedSinceEndOfTransit"/><Units:hour/><Value>0</Value></Assign>

    </Aggregate>

    <Aggregate Id="PatchPeakIsNaN">

        <Sequence/>

        <When>
            <Elapsed><Arg Name="ElapsedSinceStart"/></Elapsed>
            <Gt><Arg Name="CheckNaNTimeout"/></Gt>
            <And><IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN><Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or></And>
            <Or><Elapsed><Arg Name="ElapsedSinceEndOfTransit"/></Elapsed><Gt><Arg Name="CheckNaNTimeout"/></Gt><And><Not><IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN><Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or></Not></And></Or>
        </When>

        <Break><Arg Name="PeakDetectChl"/>
            <And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And>
            <Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Or>
            <Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Or>
            <Or><Arg Name="StoppedForNaNPatchPeak"/></Or>
        </Break>

        <Syslog Severity="Important">Patch peak value is NaN. Stopping mission.</Syslog>

        <Guidance:Execute>
            <Sequence/>
            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
        </Guidance:Execute>

        <Assign><Sequence/><Arg Name="StoppedForNaNPatchPeak"/><True/></Assign>

    </Aggregate>

    <Aggregate Id="PatchMapping">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="LegNotContinuedFlightEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="LegContinuedFlightLowEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="LegContinuedFlightHighEnabled"/><True/></Assign>

        <Assign><Sequence/><Arg Name="ZigDone"/><False/></Assign>

        <Assign><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="PatchMappingYoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="PatchMappingYoYoMaxDepth"/></Setting>
        </Guidance:DepthEnvelope>

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

        <Guidance:YoYo>
            <Parallel/>
            <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
            <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:YoYo>

        <Aggregate Id="OutsideOfPolygon">

            <Parallel/>

            <Break>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon/>
                <Or><Arg Name="StoppedForBeingOutsideOfPolygon"/></Or>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. The vehicle is outside of the polygon. Stopping mission.</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

            <Assign><Sequence/><Arg Name="StoppedForBeingOutsideOfPolygon"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="HitWallTerminateZigSide0Side2">

            <Sequence/>

            <When>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/>
                <Le><Arg Name="MinDistFromPolygonSides"/></Le>
                <And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Gt><Arg Name="WaitAfterHittingWall"/></Gt></And>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>0</Value></Eq><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>2</Value></Eq></Or></And>
                <And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Arg Name="SideLastHit"/></Eq><And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Lt><Arg Name="MaxWaitAfterHittingWall"/></Lt></And></Not></And>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Assign><Sequence/><Arg Name="ElapsedSinceLastHittingWall"/><Units:hour/><Value>0</Value></Assign>

            <Assign><Sequence/><Arg Name="SideLastHit"/><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/></Assign>

            <Call Id="SyslogHittingWallZigSide0Side2" RefId="SyslogHittingWall"/>

            <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
            </Mod></Assign>

            <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

            <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

            <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

            <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="HitWallTerminateZigSide1Side3">

            <Sequence/>

            <When>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/>
                <Le><Arg Name="MinDistFromPolygonSides"/></Le>
                <And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Gt><Arg Name="WaitAfterHittingWall"/></Gt></And>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>1</Value></Eq><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>3</Value></Eq></Or></And>
                <And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Arg Name="SideLastHit"/></Eq><And><Elapsed><Arg Name="ElapsedSinceLastHittingWall"/></Elapsed><Lt><Arg Name="MaxWaitAfterHittingWall"/></Lt></And></Not></And>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Assign><Sequence/><Arg Name="ElapsedSinceLastHittingWall"/><Units:hour/><Value>0</Value></Assign>

            <Assign><Sequence/><Arg Name="SideLastHit"/><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/></Assign>

            <Call Id="SyslogHittingWallZigSide1Side3" RefId="SyslogHittingWall"/>

            <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
            </Mod></Assign>

            <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

            <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

            <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="ChlPatchDetectionZig">

            <Sequence/>

            <When>
                <Arg Name="PeakDetectChl"/>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakChl"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakChlDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakChlLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakChlLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdChl"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakChl"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

                <Break><Arg Name="ZigDone"/>
                </Break>

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

                    <Break><Arg Name="LegContinuedFlight"/>
                    </Break>

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Gt><Arg Name="BeginThresholdChl"/></Gt>
                            <Or><Not><Arg Name="PatchPeakChl"/><Gt><Units:microgram_per_liter/><Value>0.0</Value></Gt></Not></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Le><Arg Name="BeginThresholdChl"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Arg Name="PatchPeakChl"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><True/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                    </Break>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Gt><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Le><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SalinityPatchDetectionZig">

            <Sequence/>

            <When>
                <Arg Name="PeakDetectSalinity"/>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakSalt"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakSaltDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakSaltLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakSaltLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdSalt"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakSalinity"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

                <Break><Arg Name="ZigDone"/>
                </Break>

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

                    <Break><Arg Name="LegContinuedFlight"/>
                    </Break>

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Gt><Arg Name="BeginThresholdSalt"/></Gt>
                            <Or><Not><Arg Name="PatchPeakSalinity"/><Gt><Units:psu/><Value>0.0</Value></Gt></Not></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Le><Arg Name="BeginThresholdSalt"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Arg Name="PatchPeakSalinity"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><True/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                    </Break>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Gt><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Le><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="OilPatchDetectionZig">

            <Sequence/>

            <When>
                <Arg Name="PeakDetectOil"/>
            </When>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakOil"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakOilDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakOilLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakOilLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdOil"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakOil"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

                <Break><Arg Name="ZigDone"/>
                </Break>

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

                    <Break><Arg Name="LegContinuedFlight"/>
                    </Break>

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Gt><Arg Name="BeginThresholdOil"/></Gt>
                            <Or><Not><Arg Name="PatchPeakOil"/><Gt><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Gt></Not></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Le><Arg Name="BeginThresholdOil"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Arg Name="PatchPeakOil"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><True/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                    </Break>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Gt><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightHighEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Le><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="PeakFoundContinuedFlightLowEnabled"/><False/></Assign>

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

                        <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                        <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                        <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Zig">

            <Description>
                Completes transect's maximum distance.
            </Description>

            <Sequence/>

            <Break><Arg Name="ZigDone"/>
            </Break>

            <Aggregate Id="LegContinuedFlight">

                <Break>
                    <Not><Arg Name="LegContinuedFlight"/></Not>
                    <Or><Not><Arg Name="LegContinuedFlightLowEnabled"/><Or><Arg Name="LegContinuedFlightHighEnabled"/></Or></Not></Or>
                </Break>

                <Assign><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

                <Syslog Severity="Important">Bearing = <Arg Name="WpBearing"/><Units:degree/></Syslog>

                <Aggregate Id="ZigCompleteMaxDist">

                    <Guidance:Waypoint Id="ZigMaxDist">
                        <Sequence/>
                        <Break><Arg Name="ZigDone"/>
                        </Break>
                        <Timeout Duration="WpTimeout"/>
                        <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                        <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                        <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
                    </Guidance:Waypoint>

                </Aggregate>

                <Aggregate Id="LegContinuedFlightPatchValueLow">

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                        <Or><Arg Name="LegContinuedFlight"/><And><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Gt><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And><Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Gt><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And></Or><Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Gt><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And></Or></And></Or>
                        <Or><Not><Arg Name="LegContinuedFlightLowEnabled"/></Not></Or>
                    </Break>

                    <Assign><Sequence/><Arg Name="LegNotContinuedFlightEnabled"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlightHighEnabled"/><False/></Assign>

                    <Call Id="ContinuedFlightCompletedPatchValueLow" RefId="SyslogContinuedFlightCompletedPatchValueLow"/>

                    <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                    </Mod></Assign>

                    <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                    <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                </Aggregate>

                <Aggregate Id="LegContinuedFlightPatchValueHigh">

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                        <Or><Arg Name="LegContinuedFlight"/><And><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Le><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And><Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Le><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And></Or><Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Le><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And></Or></And></Or>
                        <Or><Not><Arg Name="LegContinuedFlightHighEnabled"/></Not></Or>
                    </Break>

                    <Assign><Sequence/><Arg Name="LegNotContinuedFlightEnabled"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlightLowEnabled"/><False/></Assign>

                    <Call Id="ContinuedFlightCompletedPatchValueHigh" RefId="SyslogContinuedFlightCompletedPatchValueHigh"/>

                    <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                    <Assign><Sequence/><Arg Name="LegContinuedFlight"/><False/></Assign>

                    <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

                </Aggregate>

            </Aggregate>

            <Aggregate Id="LegNotContinuedFlight">

                <Break><Arg Name="LegContinuedFlight"/>
                    <Or><Not><Arg Name="LegNotContinuedFlightEnabled"/></Not></Or>
                </Break>

                <Assign><Sequence/><Arg Name="LegContinuedFlightLowEnabled"/><False/></Assign>

                <Assign><Sequence/><Arg Name="LegContinuedFlightHighEnabled"/><False/></Assign>

                <Assign><Sequence/><Arg Name="PatchDetectOn"/><True/></Assign>

                <Syslog Severity="Important">Bearing = <Arg Name="WpBearing"/><Units:degree/></Syslog>

                <Aggregate Id="ZigCompleteMaxDist">

                    <Guidance:Waypoint Id="ZigMaxDist">
                        <Sequence/>
                        <Break><Arg Name="ZigDone"/>
                        </Break>
                        <Timeout Duration="WpTimeout"/>
                        <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                        <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                        <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
                    </Guidance:Waypoint>

                </Aggregate>

                <Call Id="MaxLegDistReached" RefId="SyslogWpMaxDistanceReached"/>

                <Assign><Sequence/><Arg Name="PatchDetectOn"/><False/></Assign>

                <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                </Mod></Assign>

                <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

                <Assign><Sequence/><Arg Name="ZigDone"/><True/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2022-06-15T12:49:45.256Z,1655297385.256 [CommandExec](IMPORTANT): Loaded ./Missions/Science/mapPatch_undock.xml
2022-06-15T12:49:45.431Z,1655297385.431 [DataOverHttps](INFO): Received command: sched 20220615T13 "load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run"
2022-06-15T12:49:48.612Z,1655297388.612 [CommandExec](IMPORTANT): got command set mapPatch_undock.MissionTimeout 1 hour
2022-06-15T12:49:48.612Z,1655297388.612 [CommandExec](IMPORTANT): got command run
2022-06-15T12:49:48.614Z,1655297388.614 [CommandExec](IMPORTANT): Running 
2022-06-15T12:49:48.618Z,1655297388.618 [CommandExec](IMPORTANT): got command schedule 20220615T130000 "load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run"
2022-06-15T12:49:48.643Z,1655297388.643 [CommandExec](IMPORTANT): Scheduled #2: "load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run", AT TIME: 2022-06-15T13:00:00Z
2022-06-15T12:49:48.644Z,1655297388.644 [CommandExec](FAULT): Scheduling was paused by a command at 2022-06-15T12:44:37Z
2022-06-15T12:49:48.772Z,1655297388.772 [DefaultWithUndock] Stopped
2022-06-15T12:49:48.772Z,1655297388.772 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2022-06-15T12:49:48.772Z,1655297388.772 [DefaultWithUndock:SurfaceDefault] Stopped
2022-06-15T12:49:48.772Z,1655297388.772 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:49:48.773Z,1655297388.773 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2022-06-15T12:49:48.773Z,1655297388.773 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:49:48.773Z,1655297388.773 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-15T12:49:48.773Z,1655297388.773 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:49:48.773Z,1655297388.773 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-15T12:49:48.773Z,1655297388.773 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:49:48.773Z,1655297388.773 [MissionManager](IMPORTANT): Started mission mapPatch_undock
2022-06-15T12:49:48.773Z,1655297388.773 [mapPatch_undock] Running Loop=1
2022-06-15T12:49:48.773Z,1655297388.773 [mapPatch_undock](DEBUG): Aggregate::initialize mapPatch_undock
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:A.AltitudeEnvelope] Running Loop=1
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:B.DepthEnvelope] Running Loop=1
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:D.OffshoreEnvelope] Running Loop=1
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:E.WaterDepthEnvelope] Running Loop=1
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:E.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:F.Pitch] Running Loop=1
2022-06-15T12:49:48.774Z,1655297388.774 [mapPatch_undock:F.Pitch](DEBUG): Initialize.
2022-06-15T12:49:48.791Z,1655297388.791 [mapPatch_undock:G.Buoyancy] Running Loop=1
2022-06-15T12:49:48.791Z,1655297388.791 [mapPatch_undock:G.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-06-15T12:49:48.791Z,1655297388.791 [mapPatch_undock:MicromodemComms] Running Loop=1
2022-06-15T12:49:48.791Z,1655297388.791 [mapPatch_undock:MicromodemComms](DEBUG): Aggregate::initialize mapPatch_undock:MicromodemComms
2022-06-15T12:49:48.791Z,1655297388.791 [mapPatch_undock:MicromodemComms:CheckIn] Running Loop=1
2022-06-15T12:49:48.791Z,1655297388.791 [mapPatch_undock:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize mapPatch_undock:MicromodemComms:CheckIn
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:MicromodemComms:CheckIn:A] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science](DEBUG): Aggregate::initialize mapPatch_undock:Science
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:A] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:B] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:C] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:D] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:E] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:F] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:Read_Oil] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:PeakDetectChl] Running Loop=1
2022-06-15T12:49:48.792Z,1655297388.792 [mapPatch_undock:Science:PeakDetectChl](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectChl
2022-06-15T12:49:48.793Z,1655297388.793 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:49:48.793Z,1655297388.793 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:49:48.794Z,1655297388.794 [mapPatch_undock:Science:HighestChlPeakReport] Running Loop=1
2022-06-15T12:49:48.794Z,1655297388.794 [mapPatch_undock:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize mapPatch_undock:Science:HighestChlPeakReport
2022-06-15T12:49:48.794Z,1655297388.794 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:49:48.794Z,1655297388.794 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:49:48.799Z,1655297388.799 [mapPatch_undock:Science:PeakDetectNO3] Running Loop=1
2022-06-15T12:49:48.799Z,1655297388.799 [mapPatch_undock:Science:PeakDetectNO3](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectNO3
2022-06-15T12:49:48.799Z,1655297388.799 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:49:48.799Z,1655297388.799 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:49:48.800Z,1655297388.800 [mapPatch_undock:Science:PeakDetectOil] Running Loop=1
2022-06-15T12:49:48.800Z,1655297388.800 [mapPatch_undock:Science:PeakDetectOil](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectOil
2022-06-15T12:49:48.800Z,1655297388.800 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:49:48.801Z,1655297388.801 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:49:48.802Z,1655297388.802 [mapPatch_undock:Science:HighestOilPeakReport] Running Loop=1
2022-06-15T12:49:48.802Z,1655297388.802 [mapPatch_undock:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize mapPatch_undock:Science:HighestOilPeakReport
2022-06-15T12:49:48.802Z,1655297388.802 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:49:48.802Z,1655297388.802 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:49:48.802Z,1655297388.802 [mapPatch_undock:Science:PeakDetectFDOM] Running Loop=1
2022-06-15T12:49:48.802Z,1655297388.802 [mapPatch_undock:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectFDOM
2022-06-15T12:49:48.815Z,1655297388.815 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:49:48.815Z,1655297388.815 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:49:48.816Z,1655297388.816 [mapPatch_undock:Science:PeakDetectSalinity] Running Loop=1
2022-06-15T12:49:48.816Z,1655297388.816 [mapPatch_undock:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize mapPatch_undock:Science:PeakDetectSalinity
2022-06-15T12:49:48.816Z,1655297388.816 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-06-15T12:49:48.816Z,1655297388.816 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-15T12:49:48.817Z,1655297388.817 [mapPatch_undock:Science:HighestSaltPeakReport] Running Loop=1
2022-06-15T12:49:48.817Z,1655297388.817 [mapPatch_undock:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize mapPatch_undock:Science:HighestSaltPeakReport
2022-06-15T12:49:48.818Z,1655297388.818 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:49:48.818Z,1655297388.818 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:49:48.818Z,1655297388.818 [mapPatch_undock:Science:OceanCurrent] Running Loop=1
2022-06-15T12:49:48.818Z,1655297388.818 [mapPatch_undock:Science:OceanCurrent](DEBUG): Aggregate::initialize mapPatch_undock:Science:OceanCurrent
2022-06-15T12:49:48.818Z,1655297388.818 [mapPatch_undock:Science:OceanCurrent:A.] Running Loop=1
2022-06-15T12:49:48.818Z,1655297388.818 [mapPatch_undock:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-06-15T12:49:48.821Z,1655297388.821 [mapPatch_undock:J.SetSpeed] Running Loop=1
2022-06-15T12:49:48.821Z,1655297388.821 [mapPatch_undock:J.SetSpeed](DEBUG): Initialize.
2022-06-15T12:49:48.822Z,1655297388.822 [mapPatch_undock:Detach] Running Loop=1
2022-06-15T12:49:48.822Z,1655297388.822 [mapPatch_undock:Detach](DEBUG): Aggregate::initialize mapPatch_undock:Detach
2022-06-15T12:49:48.822Z,1655297388.822 [mapPatch_undock:Detach:B.] Running Loop=1
2022-06-15T12:49:48.822Z,1655297388.822 [mapPatch_undock:Detach:B.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:49:48.822Z,1655297388.822 [mapPatch_undock:Detach:A] Running Loop=1
2022-06-15T12:49:48.836Z,1655297388.836 [mapPatch_undock:MissionStartComms] Running Loop=1
2022-06-15T12:49:48.836Z,1655297388.836 [mapPatch_undock:MissionStartComms](DEBUG): Aggregate::initialize mapPatch_undock:MissionStartComms
2022-06-15T12:49:48.836Z,1655297388.836 [mapPatch_undock:MissionStartComms:MissionStartComms] Running Loop=1
2022-06-15T12:49:48.836Z,1655297388.836 [mapPatch_undock:MissionStartComms:MissionStartComms](DEBUG): Aggregate::initialize mapPatch_undock:MissionStartComms:MissionStartComms
2022-06-15T12:49:48.837Z,1655297388.837 [mapPatch_undock:Detach:B.] Running Loop=1
2022-06-15T12:49:48.837Z,1655297388.837 [mapPatch_undock:Detach:A](IMPORTANT): Detaching from dock.
2022-06-15T12:49:48.837Z,1655297388.837 [mapPatch_undock:Detach:A] Stopped
2022-06-15T12:49:48.837Z,1655297388.837 [mapPatch_undock:Detach:C.Undock] Running Loop=1
2022-06-15T12:49:48.837Z,1655297388.837 [mapPatch_undock:Detach:C.Undock](DEBUG): Initialize.
2022-06-15T12:49:48.837Z,1655297388.837 [mapPatch_undock:Detach:C.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:49:48.838Z,1655297388.838 [mapPatch_undock:J.SetSpeed] Running Loop=1
2022-06-15T12:49:48.838Z,1655297388.838 [mapPatch_undock:Science] Running Loop=1
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:HighestSaltPeakReport] Stopped
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:HighestSaltPeakReport
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:PeakDetectSalinity] Stopped
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectSalinity
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:49:48.845Z,1655297388.845 [mapPatch_undock:Science:PeakDetectFDOM] Stopped
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectFDOM
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:HighestOilPeakReport] Stopped
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:HighestOilPeakReport
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectOil] Running Loop=1
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectNO3] Stopped
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectNO3
2022-06-15T12:49:48.846Z,1655297388.846 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:HighestChlPeakReport] Stopped
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:HighestChlPeakReport
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:PeakDetectChl] Stopped
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectChl
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-06-15T12:49:48.851Z,1655297388.851 [mapPatch_undock:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:49:48.852Z,1655297388.852 [mapPatch_undock:Science:OceanCurrent:A.] Running Loop=1
2022-06-15T12:49:48.853Z,1655297388.853 [mapPatch_undock:Science:Read_Oil] Running Loop=1
2022-06-15T12:49:48.853Z,1655297388.853 [mapPatch_undock:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-06-15T12:49:48.853Z,1655297388.853 [mapPatch_undock:Science:F] Stopped
2022-06-15T12:49:48.853Z,1655297388.853 [mapPatch_undock:Science:E] Stopped
2022-06-15T12:49:48.853Z,1655297388.853 [mapPatch_undock:Science:D] Stopped
2022-06-15T12:49:48.853Z,1655297388.853 [mapPatch_undock:Science:C] Running Loop=1
2022-06-15T12:49:48.854Z,1655297388.854 [mapPatch_undock:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2022-06-15T12:49:48.854Z,1655297388.854 [mapPatch_undock:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2022-06-15T12:49:48.854Z,1655297388.854 [mapPatch_undock:Science:B] Running Loop=1
2022-06-15T12:49:48.859Z,1655297388.859 [mapPatch_undock:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:Science:A] Stopped
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:MicromodemComms] Stopped
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:MicromodemComms](DEBUG): Aggregate::uninitialize mapPatch_undock:MicromodemComms
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:MicromodemComms:CheckIn] Stopped
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize mapPatch_undock:MicromodemComms:CheckIn
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:MicromodemComms:CheckIn:A] Stopped
2022-06-15T12:49:48.860Z,1655297388.860 [mapPatch_undock:G.Buoyancy] Running Loop=1
2022-06-15T12:49:48.861Z,1655297388.861 [mapPatch_undock:F.Pitch] Running Loop=1
2022-06-15T12:49:48.861Z,1655297388.861 [mapPatch_undock:E.WaterDepthEnvelope] Running Loop=1
2022-06-15T12:49:48.861Z,1655297388.861 [mapPatch_undock:D.OffshoreEnvelope] Running Loop=1
2022-06-15T12:49:48.861Z,1655297388.861 [mapPatch_undock:B.DepthEnvelope] Running Loop=1
2022-06-15T12:49:48.862Z,1655297388.862 [mapPatch_undock:A.AltitudeEnvelope] Running Loop=1
2022-06-15T12:49:49.217Z,1655297389.217 [mapPatch_undock:NeedComms] Running Loop=1
2022-06-15T12:49:49.217Z,1655297389.217 [mapPatch_undock:NeedComms](DEBUG): Aggregate::initialize mapPatch_undock:NeedComms
2022-06-15T12:49:49.217Z,1655297389.217 [mapPatch_undock:NeedComms:B.GoToSurface] Running Loop=1
2022-06-15T12:49:49.217Z,1655297389.217 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:49:49.217Z,1655297389.217 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-06-15T12:49:49.218Z,1655297389.218 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-06-15T12:49:49.218Z,1655297389.218 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-06-15T12:49:49.218Z,1655297389.218 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:49:49.227Z,1655297389.227 [mapPatch_undock:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:49:49.227Z,1655297389.227 [mapPatch_undock:NeedComms:A] Running Loop=1
2022-06-15T12:49:49.229Z,1655297389.229 [mapPatch_undock:NeedComms:A](INFO): last time_fix was: 1655297136.000000 second since 1970/01/01T00:00:00Z 
2022-06-15T12:49:49.229Z,1655297389.229 [mapPatch_undock:NeedComms:A] Stopped
2022-06-15T12:49:49.570Z,1655297389.570 [PowerOnly](INFO): Powering up loadControl
2022-06-15T12:49:49.620Z,1655297389.620 [mapPatch_undock:NeedComms:C] Running Loop=1
2022-06-15T12:49:50.265Z,1655297390.265 [mapPatch_undock:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-15T12:49:51.647Z,1655297391.647 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,124950.00,A,4135.93804,N,07043.53824,W,0.505,205.44,150622,,,A*7F
2022-06-15T12:49:51.649Z,1655297391.649 [NAL9602](INFO): GPS fix at 20220615T124950: (41.598967, -70.725637)
2022-06-15T12:49:51.663Z,1655297391.663 [mapPatch_undock:Detach:C.Undock](INFO): Detaching from dock.
2022-06-15T12:49:51.664Z,1655297391.664 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:49:51.668Z,1655297391.668 [mapPatch_undock:NeedComms:C] Stopped
2022-06-15T12:49:51.668Z,1655297391.668 [mapPatch_undock:NeedComms:D] Running Loop=1
2022-06-15T12:49:51.916Z,1655297391.916 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2022-06-15T12:49:52.139Z,1655297392.139 [mapPatch_undock:Detach:C.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-15T12:49:52.144Z,1655297392.144 [mapPatch_undock:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-15T12:49:52.553Z,1655297392.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:49:52.952Z,1655297392.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:49:53.769Z,1655297393.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124954.34*56

2022-06-15T12:49:54.245Z,1655297394.245 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:49:56.179Z,1655297396.179 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:49:56.526Z,1655297396.526 [DataOverHttps](INFO): Sending 133 bytes from file Logs/20220615T122152/Courier0031.lzma
2022-06-15T12:49:57.024Z,1655297397.024 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:49:57.529Z,1655297397.529 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0031.lzma.bak
2022-06-15T12:49:57.529Z,1655297397.529 [DataOverHttps](INFO): SBD MOMSN=1941410
2022-06-15T12:49:57.793Z,1655297397.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:49:58.207Z,1655297398.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:49:59.029Z,1655297399.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124959.58*51

2022-06-15T12:49:59.850Z,1655297399.850 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:50:01.432Z,1655297401.432 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:50:02.664Z,1655297402.664 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:50:03.449Z,1655297403.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:50:03.866Z,1655297403.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:50:04.677Z,1655297404.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125005.24*5B

2022-06-15T12:50:05.498Z,1655297405.498 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:50:06.283Z,1655297406.283 [NAL9602](INFO): SBD MO Status=0, MOMSN=40801, MT Status=0, MTMSN=0
2022-06-15T12:50:06.283Z,1655297406.283 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:50:06.568Z,1655297406.568 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20220615T122152/Courier0034.lzma
2022-06-15T12:50:07.109Z,1655297407.109 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:50:07.572Z,1655297407.572 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0034.lzma.bak
2022-06-15T12:50:07.573Z,1655297407.573 [DataOverHttps](INFO): SBD MOMSN=1941413
2022-06-15T12:50:08.366Z,1655297408.366 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:50:09.129Z,1655297409.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:50:09.507Z,1655297409.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:50:10.333Z,1655297410.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125010.92*52

2022-06-15T12:50:11.160Z,1655297411.160 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:50:12.378Z,1655297412.378 [mapPatch_undock:Detach:C.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-15T12:50:12.748Z,1655297412.748 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:50:14.164Z,1655297414.164 [mapPatch_undock:Detach:B.](INFO): *** querying acoustic contact ***
2022-06-15T12:50:14.491Z,1655297414.491 [mapPatch_undock:Detach:C.Undock](INFO): Docking module at standby.
2022-06-15T12:50:14.769Z,1655297414.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:50:14.868Z,1655297414.868 [mapPatch_undock:Detach:C.Undock](IMPORTANT): Undocking sequence complete.
2022-06-15T12:50:14.868Z,1655297414.868 [mapPatch_undock:Detach:C.Undock] Stopped
2022-06-15T12:50:14.869Z,1655297414.869 [mapPatch_undock:Detach](INFO): Completed mapPatch_undock:Detach
2022-06-15T12:50:14.869Z,1655297414.869 [mapPatch_undock:Detach] Stopped
2022-06-15T12:50:14.869Z,1655297414.869 [mapPatch_undock:Detach](DEBUG): Aggregate::uninitialize mapPatch_undock:Detach
2022-06-15T12:50:14.869Z,1655297414.869 [mapPatch_undock:Detach:B.] Stopped
2022-06-15T12:50:14.869Z,1655297414.869 [mapPatch_undock:Detach:B.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:50:14.870Z,1655297414.870 [mapPatch_undock:MissionStartSettings] Running Loop=1
2022-06-15T12:50:14.870Z,1655297414.870 [mapPatch_undock:MissionStartSettings](DEBUG): Aggregate::initialize mapPatch_undock:MissionStartSettings
2022-06-15T12:50:14.870Z,1655297414.870 [mapPatch_undock:MissionStartSettings:A] Running Loop=1
2022-06-15T12:50:15.147Z,1655297415.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:50:15.184Z,1655297415.184 [mapPatch_undock:MissionStartSettings:A] Stopped
2022-06-15T12:50:15.184Z,1655297415.184 [mapPatch_undock:MissionStartSettings:B] Running Loop=1
2022-06-15T12:50:15.580Z,1655297415.580 [mapPatch_undock:MissionStartSettings:B] Stopped
2022-06-15T12:50:15.580Z,1655297415.580 [mapPatch_undock:MissionStartSettings:C] Running Loop=1
2022-06-15T12:50:15.991Z,1655297415.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125016.56*5C

2022-06-15T12:50:16.078Z,1655297416.078 [mapPatch_undock:MissionStartSettings:C] Stopped
2022-06-15T12:50:16.078Z,1655297416.078 [mapPatch_undock:MissionStartSettings:D] Running Loop=1
2022-06-15T12:50:16.382Z,1655297416.382 [mapPatch_undock:MissionStartSettings:D] Stopped
2022-06-15T12:50:16.382Z,1655297416.382 [mapPatch_undock:MissionStartSettings](INFO): Completed mapPatch_undock:MissionStartSettings
2022-06-15T12:50:16.382Z,1655297416.382 [mapPatch_undock:MissionStartSettings] Stopped
2022-06-15T12:50:16.383Z,1655297416.383 [mapPatch_undock:MissionStartSettings](DEBUG): Aggregate::uninitialize mapPatch_undock:MissionStartSettings
2022-06-15T12:50:16.383Z,1655297416.383 [mapPatch_undock:TransitToPatchMappingStartLocation] Running Loop=1
2022-06-15T12:50:16.383Z,1655297416.383 [mapPatch_undock:TransitToPatchMappingStartLocation](DEBUG): Aggregate::initialize mapPatch_undock:TransitToPatchMappingStartLocation
2022-06-15T12:50:16.383Z,1655297416.383 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-15T12:50:16.383Z,1655297416.383 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-15T12:50:16.383Z,1655297416.383 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-15T12:50:16.384Z,1655297416.384 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-15T12:50:16.384Z,1655297416.384 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-15T12:50:16.384Z,1655297416.384 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-15T12:50:16.384Z,1655297416.384 [mapPatch_undock:TransitToPatchMappingStartLocation:A] Running Loop=1
2022-06-15T12:50:16.779Z,1655297416.779 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-15T12:50:16.780Z,1655297416.780 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-15T12:50:16.780Z,1655297416.780 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-15T12:50:16.781Z,1655297416.781 [mapPatch_undock:TransitToPatchMappingStartLocation:A] Stopped
2022-06-15T12:50:16.781Z,1655297416.781 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint] Running Loop=1
2022-06-15T12:50:16.781Z,1655297416.781 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-15T12:50:18.053Z,1655297418.053 [DataOverHttps](INFO): Sending 444 bytes from file Logs/20220615T122152/Express0032.lzma
2022-06-15T12:50:19.184Z,1655297419.184 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0032.lzma.bak
2022-06-15T12:50:19.184Z,1655297419.184 [DataOverHttps](INFO): SBD MOMSN=1941415
2022-06-15T12:50:29.420Z,1655297429.420 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20220615T122152/Express0033.lzma
2022-06-15T12:50:30.421Z,1655297430.421 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0033.lzma.bak
2022-06-15T12:50:30.421Z,1655297430.421 [DataOverHttps](INFO): SBD MOMSN=1941429
2022-06-15T12:50:32.979Z,1655297432.979 [mapPatch_undock:NeedComms:D] Stopped
2022-06-15T12:50:32.980Z,1655297432.980 [mapPatch_undock:NeedComms:E] Running Loop=1
2022-06-15T12:50:33.409Z,1655297433.409 [mapPatch_undock:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-15T12:50:34.937Z,1655297434.937 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125034.00,A,4135.93700,N,07043.54298,W,1.244,205.44,150622,,,A*77
2022-06-15T12:50:34.940Z,1655297434.940 [NAL9602](INFO): GPS fix at 20220615T125034: (41.598950, -70.725716)
2022-06-15T12:50:34.988Z,1655297434.988 [mapPatch_undock:NeedComms:E] Stopped
2022-06-15T12:50:34.989Z,1655297434.989 [mapPatch_undock:NeedComms](INFO): Completed mapPatch_undock:NeedComms
2022-06-15T12:50:34.989Z,1655297434.989 [mapPatch_undock:NeedComms] Stopped
2022-06-15T12:50:34.989Z,1655297434.989 [mapPatch_undock:NeedComms](DEBUG): Aggregate::uninitialize mapPatch_undock:NeedComms
2022-06-15T12:50:34.989Z,1655297434.989 [mapPatch_undock:NeedComms:B.GoToSurface] Stopped
2022-06-15T12:50:34.989Z,1655297434.989 [mapPatch_undock:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-15T12:50:35.400Z,1655297435.400 [mapPatch_undock:MissionStartComms:MissionStartComms](INFO): Completed mapPatch_undock:MissionStartComms:MissionStartComms
2022-06-15T12:50:35.401Z,1655297435.401 [mapPatch_undock:MissionStartComms:MissionStartComms] Stopped
2022-06-15T12:50:35.401Z,1655297435.401 [mapPatch_undock:MissionStartComms:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch_undock:MissionStartComms:MissionStartComms
2022-06-15T12:50:35.401Z,1655297435.401 [mapPatch_undock:MissionStartComms:B] Running Loop=1
2022-06-15T12:50:35.765Z,1655297435.765 [mapPatch_undock:MissionStartComms:B] Stopped
2022-06-15T12:50:35.765Z,1655297435.765 [mapPatch_undock:MissionStartComms](INFO): Completed mapPatch_undock:MissionStartComms
2022-06-15T12:50:35.765Z,1655297435.765 [mapPatch_undock:MissionStartComms] Stopped
2022-06-15T12:50:35.765Z,1655297435.765 [mapPatch_undock:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch_undock:MissionStartComms
2022-06-15T12:51:07.372Z,1655297467.372 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:51:21.125Z,1655297481.125 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:51:21.506Z,1655297481.506 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset.
2022-06-15T12:51:21.506Z,1655297481.506 [PowerOnly] Hardware Fault, FailCount= 1
2022-06-15T12:51:21.506Z,1655297481.506 [PowerOnly](ERROR): Hardware Fault
2022-06-15T12:51:21.802Z,1655297481.802 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2022-06-15T12:51:21.937Z,1655297481.937 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:51:22.850Z,1655297482.850 [CBIT](INFO): Clearing failed state for component PowerOnly
2022-06-15T12:51:22.850Z,1655297482.850 [PowerOnly] No Fault, FailCount= 1
2022-06-15T12:51:24.351Z,1655297484.351 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:52:28.765Z,1655297548.765 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position -2.29 mm (2 active estimators).
2022-06-15T12:52:34.834Z,1655297554.834 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint] Stopped
2022-06-15T12:52:34.834Z,1655297554.834 [mapPatch_undock:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-15T12:52:34.835Z,1655297554.835 [mapPatch_undock:TransitToPatchMappingStartLocation:F] Running Loop=1
2022-06-15T12:52:35.247Z,1655297555.247 [mapPatch_undock:TransitToPatchMappingStartLocation:F] Stopped
2022-06-15T12:52:35.247Z,1655297555.247 [mapPatch_undock:TransitToPatchMappingStartLocation:G] Running Loop=1
2022-06-15T12:52:35.626Z,1655297555.626 [mapPatch_undock:TransitToPatchMappingStartLocation:G] Stopped
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation](INFO): Completed mapPatch_undock:TransitToPatchMappingStartLocation
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation] Stopped
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation](DEBUG): Aggregate::uninitialize mapPatch_undock:TransitToPatchMappingStartLocation
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope] Stopped
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Stopped
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo] Stopped
2022-06-15T12:52:35.628Z,1655297555.628 [mapPatch_undock:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping] Running Loop=1
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping](DEBUG): Aggregate::initialize mapPatch_undock:PatchMapping
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:L.YoYo] Running Loop=1
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:L.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-15T12:52:35.629Z,1655297555.629 [mapPatch_undock:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-15T12:52:35.630Z,1655297555.630 [mapPatch_undock:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::initialize mapPatch_undock:PatchMapping:OutsideOfPolygon
2022-06-15T12:52:35.630Z,1655297555.630 [mapPatch_undock:PatchMapping:OutsideOfPolygon:A] Running Loop=1
2022-06-15T12:52:35.630Z,1655297555.630 [mapPatch_undock:PatchMapping:A] Running Loop=1
2022-06-15T12:52:36.132Z,1655297556.132 [mapPatch_undock:PatchMapping:OilPatchDetectionZig] Running Loop=1
2022-06-15T12:52:36.132Z,1655297556.132 [mapPatch_undock:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::initialize mapPatch_undock:PatchMapping:OilPatchDetectionZig
2022-06-15T12:52:36.132Z,1655297556.132 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Running Loop=1
2022-06-15T12:52:36.133Z,1655297556.133 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](INFO): Initialize.
2022-06-15T12:52:36.134Z,1655297556.134 [mapPatch_undock:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-15T12:52:36.134Z,1655297556.134 [mapPatch_undock:PatchMapping:OutsideOfPolygon:A](IMPORTANT): Latitude = 41.599429 arcdeg , longitude = -70.725656 arcdeg . The vehicle is outside of the polygon. Stopping mission.
2022-06-15T12:52:36.139Z,1655297556.139 [mapPatch_undock:PatchMapping:OutsideOfPolygon:A] Stopped
2022-06-15T12:52:36.139Z,1655297556.139 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute] Running Loop=1
2022-06-15T12:52:36.139Z,1655297556.139 [mapPatch_undock:PatchMapping:L.YoYo] Running Loop=1
2022-06-15T12:52:36.140Z,1655297556.140 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-15T12:52:36.140Z,1655297556.140 [mapPatch_undock:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-15T12:52:36.141Z,1655297556.141 [mapPatch_undock:PatchMapping:A] Stopped
2022-06-15T12:52:36.141Z,1655297556.141 [mapPatch_undock:PatchMapping:B] Running Loop=1
2022-06-15T12:52:36.452Z,1655297556.452 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute](INFO): Executing command stop
2022-06-15T12:52:36.452Z,1655297556.452 [mapPatch_undock:PatchMapping:OutsideOfPolygon:B.Execute] Stopped
2022-06-15T12:52:36.452Z,1655297556.452 [mapPatch_undock:PatchMapping:OutsideOfPolygon:C] Running Loop=1
2022-06-15T12:52:36.454Z,1655297556.454 [mapPatch_undock:PatchMapping:B] Stopped
2022-06-15T12:52:36.454Z,1655297556.454 [mapPatch_undock:PatchMapping:C] Running Loop=1
2022-06-15T12:52:36.468Z,1655297556.468 [CommandExec](IMPORTANT): got command stop
2022-06-15T12:52:36.468Z,1655297556.468 [Supervisor](INFO): Stop Mission called by CommandExec::commandStop
2022-06-15T12:52:36.837Z,1655297556.837 [mapPatch_undock:PatchMapping:OutsideOfPolygon:C] Stopped
2022-06-15T12:52:36.838Z,1655297556.838 [mapPatch_undock:PatchMapping:OutsideOfPolygon](INFO): Completed mapPatch_undock:PatchMapping:OutsideOfPolygon
2022-06-15T12:52:36.839Z,1655297556.839 [mapPatch_undock:PatchMapping:C] Stopped
2022-06-15T12:52:36.839Z,1655297556.839 [mapPatch_undock:PatchMapping:D] Running Loop=1
2022-06-15T12:52:36.860Z,1655297556.860 [MissionManager](INFO): MissionManager is completed.
2022-06-15T12:52:36.860Z,1655297556.860 [MissionManager](INFO): Uninitializing Mission mapPatch_undock
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock] Stopped
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock](DEBUG): Aggregate::uninitialize mapPatch_undock
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock:A.AltitudeEnvelope] Stopped
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock:B.DepthEnvelope] Stopped
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-15T12:52:36.860Z,1655297556.860 [mapPatch_undock:D.OffshoreEnvelope] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:E.WaterDepthEnvelope] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:E.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:F.Pitch] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:G.Buoyancy] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:G.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science](DEBUG): Aggregate::uninitialize mapPatch_undock:Science
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science:B] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science:C] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science:Read_Oil] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science:OceanCurrent] Stopped
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science:OceanCurrent](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:OceanCurrent
2022-06-15T12:52:36.861Z,1655297556.861 [mapPatch_undock:Science:OceanCurrent:A.] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:Science:PeakDetectOil] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize mapPatch_undock:Science:PeakDetectOil
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:J.SetSpeed] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:J.SetSpeed](DEBUG): Uninitialize.
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:PatchMapping] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:PatchMapping](DEBUG): Aggregate::uninitialize mapPatch_undock:PatchMapping
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:PatchMapping:D] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:PatchMapping:J.DepthEnvelope] Stopped
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:PatchMapping:J.DepthEnvelope](DEBUG): Uninitialize.
2022-06-15T12:52:36.862Z,1655297556.862 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope] Stopped
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:L.YoYo] Stopped
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:L.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:OutsideOfPolygon] Stopped
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::uninitialize mapPatch_undock:PatchMapping:OutsideOfPolygon
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:OilPatchDetectionZig] Stopped
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::uninitialize mapPatch_undock:PatchMapping:OilPatchDetectionZig
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Stopped
2022-06-15T12:52:36.863Z,1655297556.863 [mapPatch_undock:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-15T12:52:37.244Z,1655297557.244 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-15T12:52:37.244Z,1655297557.244 [DefaultWithUndock] Running Loop=1
2022-06-15T12:52:37.244Z,1655297557.244 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-15T12:52:37.245Z,1655297557.245 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-15T12:52:37.245Z,1655297557.245 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:52:37.647Z,1655297557.647 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2022-06-15T12:52:54.286Z,1655297574.286 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.255318
2022-06-15T12:53:07.559Z,1655297587.559 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-15T12:53:07.559Z,1655297587.559 [DefaultWithUndock:A.Wait] Stopped
2022-06-15T12:53:07.559Z,1655297587.559 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-15T12:53:07.560Z,1655297587.560 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-15T12:53:08.338Z,1655297588.338 [PowerOnly](INFO): Powering up loadControl
2022-06-15T12:53:10.075Z,1655297590.075 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:10.434Z,1655297590.434 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-15T12:53:10.785Z,1655297590.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:53:10.868Z,1655297590.868 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2022-06-15T12:53:11.192Z,1655297591.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:53:12.053Z,1655297592.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125312.57*5A

2022-06-15T12:53:12.838Z,1655297592.838 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:14.424Z,1655297594.424 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:53:15.653Z,1655297595.653 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:16.441Z,1655297596.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:53:16.852Z,1655297596.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:53:17.680Z,1655297597.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125318.22*52

2022-06-15T12:53:18.479Z,1655297598.479 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:20.076Z,1655297600.076 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:53:20.942Z,1655297600.942 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2022-06-15T12:53:21.308Z,1655297601.308 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-15T12:53:21.309Z,1655297601.309 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:22.106Z,1655297602.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:53:22.521Z,1655297602.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:53:23.325Z,1655297603.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125323.89*5B

2022-06-15T12:53:24.164Z,1655297604.164 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:25.728Z,1655297605.728 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:53:27.012Z,1655297607.012 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:27.757Z,1655297607.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:53:28.160Z,1655297608.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:53:28.990Z,1655297608.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125329.54*51

2022-06-15T12:53:29.331Z,1655297609.331 [Radio_Surface](INFO): Powering down
2022-06-15T12:53:29.423Z,1655297609.423 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:53:29.785Z,1655297609.785 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:30.427Z,1655297610.427 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2022-06-15T12:53:31.388Z,1655297611.388 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:53:32.614Z,1655297612.614 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:33.410Z,1655297613.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:53:33.820Z,1655297613.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:53:34.637Z,1655297614.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125335.19*55

2022-06-15T12:53:35.452Z,1655297615.452 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:37.044Z,1655297617.044 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:53:38.328Z,1655297618.328 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:39.069Z,1655297619.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-15T12:53:39.468Z,1655297619.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-15T12:53:40.301Z,1655297620.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125340.86*51

2022-06-15T12:53:41.109Z,1655297621.109 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:41.511Z,1655297621.511 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-15T12:53:42.708Z,1655297622.708 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-15T12:53:43.555Z,1655297623.555 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-15T12:53:44.080Z,1655297624.080 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-15T12:53:44.080Z,1655297624.080 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-15T12:53:44.081Z,1655297624.081 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-15T12:53:44.081Z,1655297624.081 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-15T12:53:44.081Z,1655297624.081 [DefaultWithUndock:LeaveDock] Stopped
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-15T12:53:44.082Z,1655297624.082 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-15T12:53:44.095Z,1655297624.095 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-15T12:53:44.095Z,1655297624.095 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-15T12:53:44.095Z,1655297624.095 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-15T12:53:44.096Z,1655297624.096 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-15T12:53:45.087Z,1655297625.087 [Radio_Surface](INFO): Powering up
2022-06-15T12:53:50.507Z,1655297630.507 [DataOverHttps](INFO): Radio surface powered ON.
2022-06-15T12:54:20.627Z,1655297660.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:54:22.306Z,1655297662.306 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-15T12:54:22.306Z,1655297662.306 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T12:54:22.306Z,1655297662.306 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T12:54:36.035Z,1655297676.035 [NAL9602](INFO): SBD MO Status=0, MOMSN=40802, MT Status=0, MTMSN=0
2022-06-15T12:54:36.035Z,1655297676.035 [NAL9602](INFO): No messages in MT queue
2022-06-15T12:54:37.212Z,1655297677.212 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125436.00,A,4135.98957,N,07043.52981,W,1.069,0.00,150622,,,A*79
2022-06-15T12:54:37.214Z,1655297677.214 [NAL9602](INFO): GPS fix at 20220615T125436: (41.599826, -70.725497)
2022-06-15T12:54:37.238Z,1655297677.238 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T12:54:37.238Z,1655297677.238 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T12:54:39.682Z,1655297679.682 [PowerOnly](INFO): Powering down loadControl
2022-06-15T12:54:47.783Z,1655297687.783 [NAL9602](INFO): SBD MO Status=1, MOMSN=40803, MT Status=0, MTMSN=0
2022-06-15T12:54:47.839Z,1655297687.839 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Courier0036.lzma
2022-06-15T12:54:47.839Z,1655297687.839 [NAL9602](INFO): Packets left to send: 4
2022-06-15T12:54:55.767Z,1655297695.767 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:54:56.201Z,1655297696.201 [NAL9602](INFO): SBD MO Status=1, MOMSN=40804, MT Status=0, MTMSN=0
2022-06-15T12:54:56.255Z,1655297696.255 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Courier0036.lzma
2022-06-15T12:54:56.255Z,1655297696.255 [NAL9602](INFO): Packets left to send: 3
2022-06-15T12:55:04.764Z,1655297704.764 [NAL9602](INFO): SBD MO Status=1, MOMSN=40805, MT Status=0, MTMSN=0
2022-06-15T12:55:04.811Z,1655297704.811 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Courier0036.lzma
2022-06-15T12:55:04.811Z,1655297704.811 [NAL9602](INFO): Packets left to send: 2
2022-06-15T12:55:16.727Z,1655297716.727 [NAL9602](INFO): SBD MO Status=1, MOMSN=40806, MT Status=0, MTMSN=0
2022-06-15T12:55:16.775Z,1655297716.775 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Courier0036.lzma
2022-06-15T12:55:16.775Z,1655297716.775 [NAL9602](INFO): Packets left to send: 1
2022-06-15T12:55:25.526Z,1655297725.526 [NAL9602](INFO): SBD MO Status=1, MOMSN=40807, MT Status=0, MTMSN=0
2022-06-15T12:55:25.587Z,1655297725.587 [NAL9602](INFO): Sent 68 bytes from file Logs/20220615T122152/Courier0036.lzma
2022-06-15T12:55:25.587Z,1655297725.587 [NAL9602](INFO): Packets left to send: 0
2022-06-15T12:55:30.907Z,1655297730.907 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:55:36.330Z,1655297736.330 [NAL9602](INFO): SBD MO Status=1, MOMSN=40808, MT Status=0, MTMSN=0
2022-06-15T12:55:36.391Z,1655297736.391 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Express0038.lzma
2022-06-15T12:55:36.391Z,1655297736.391 [NAL9602](INFO): Packets left to send: 5
2022-06-15T12:55:44.287Z,1655297744.287 [NAL9602](INFO): SBD MO Status=1, MOMSN=40809, MT Status=0, MTMSN=0
2022-06-15T12:55:44.335Z,1655297744.335 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Express0038.lzma
2022-06-15T12:55:44.335Z,1655297744.335 [NAL9602](INFO): Packets left to send: 4
2022-06-15T12:55:52.666Z,1655297752.666 [NAL9602](INFO): SBD MO Status=1, MOMSN=40810, MT Status=0, MTMSN=0
2022-06-15T12:55:52.723Z,1655297752.723 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Express0038.lzma
2022-06-15T12:55:52.723Z,1655297752.723 [NAL9602](INFO): Packets left to send: 3
2022-06-15T12:56:02.170Z,1655297762.170 [NAL9602](INFO): SBD MO Status=1, MOMSN=40811, MT Status=0, MTMSN=0
2022-06-15T12:56:02.219Z,1655297762.219 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Express0038.lzma
2022-06-15T12:56:02.219Z,1655297762.219 [NAL9602](INFO): Packets left to send: 2
2022-06-15T12:56:06.048Z,1655297766.048 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:56:11.854Z,1655297771.854 [NAL9602](INFO): SBD MO Status=1, MOMSN=40812, MT Status=0, MTMSN=0
2022-06-15T12:56:11.907Z,1655297771.907 [NAL9602](INFO): Sent 184 bytes from file Logs/20220615T122152/Express0038.lzma
2022-06-15T12:56:11.907Z,1655297771.907 [NAL9602](INFO): Packets left to send: 1
2022-06-15T12:56:18.994Z,1655297778.994 [NAL9602](INFO): SBD MO Status=1, MOMSN=40813, MT Status=0, MTMSN=0
2022-06-15T12:56:19.052Z,1655297779.052 [NAL9602](INFO): Sent 167 bytes from file Logs/20220615T122152/Express0038.lzma
2022-06-15T12:56:19.053Z,1655297779.053 [NAL9602](INFO): Packets left to send: 0
2022-06-15T12:56:27.567Z,1655297787.567 [NAL9602](INFO): SBD MO Status=0, MOMSN=40814, MT Status=0, MTMSN=0
2022-06-15T12:56:27.648Z,1655297787.648 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T12:56:27.649Z,1655297787.649 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-15T12:56:27.649Z,1655297787.649 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-15T12:56:41.207Z,1655297801.207 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-15T12:56:58.277Z,1655297818.277 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T12:57:10.347Z,1655297830.347 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003101
2022-06-15T13:00:00.039Z,1655298000.039 [CommandExec](FAULT): Schedule is paused. Ignoring time-scheduled command: load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run
2022-06-15T13:00:00.143Z,1655298000.143 [CommandExec](FAULT): Schedule is paused. Ignoring time-scheduled command: load underIce/DefaultUnderTimeout.xml;set DefaultUnderTimeout.MissionTimeout 2 h;run
2022-06-15T13:01:28.229Z,1655298088.229 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2022-06-15T13:01:28.229Z,1655298088.229 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-15T13:01:28.229Z,1655298088.229 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T13:01:28.229Z,1655298088.229 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2022-06-15T13:01:28.573Z,1655298088.573 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2022-06-15T13:01:28.573Z,1655298088.573 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2022-06-15T13:01:28.994Z,1655298088.994 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 8.855480 min 
2022-06-15T13:01:28.994Z,1655298088.994 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2022-06-15T13:01:28.994Z,1655298088.994 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T13:01:28.994Z,1655298088.994 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-15T13:01:28.994Z,1655298088.994 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T13:01:29.007Z,1655298089.007 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2022-06-15T13:01:29.007Z,1655298089.007 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2022-06-15T13:01:29.007Z,1655298089.007 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T13:01:29.007Z,1655298089.007 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T13:01:30.985Z,1655298090.985 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130130.00,A,4135.98883,N,07043.55531,W,0.156,194.00,150622,,,A*76
2022-06-15T13:01:30.988Z,1655298090.988 [NAL9602](INFO): GPS fix at 20220615T130130: (41.599814, -70.725922)
2022-06-15T13:01:31.008Z,1655298091.008 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T13:01:31.008Z,1655298091.008 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T13:01:35.758Z,1655298095.758 [DataOverHttps](INFO): Sending 87 bytes from file Logs/20220615T122152/Courier0040.lzma
2022-06-15T13:01:36.762Z,1655298096.762 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0040.lzma.bak
2022-06-15T13:01:36.762Z,1655298096.762 [DataOverHttps](INFO): SBD MOMSN=1941454
2022-06-15T13:01:47.254Z,1655298107.254 [DataOverHttps](INFO): Sending 217 bytes from file Logs/20220615T122152/Express0041.lzma
2022-06-15T13:01:48.253Z,1655298108.253 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0041.lzma.bak
2022-06-15T13:01:48.253Z,1655298108.253 [DataOverHttps](INFO): SBD MOMSN=1941457
2022-06-15T13:01:48.366Z,1655298108.366 [NAL9602](INFO): SBD MO Status=0, MOMSN=40815, MT Status=0, MTMSN=0
2022-06-15T13:01:48.366Z,1655298108.366 [NAL9602](INFO): No messages in MT queue
2022-06-15T13:01:50.432Z,1655298110.432 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T13:01:50.432Z,1655298110.432 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-15T13:01:50.432Z,1655298110.432 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-15T13:02:19.065Z,1655298139.065 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T13:03:28.161Z,1655298208.161 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2022-06-15T13:04:10.183Z,1655298250.183 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2022-06-15T13:04:48.150Z,1655298288.150 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2022-06-15T13:04:48.173Z,1655298288.173 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2022-06-15T13:05:39.442Z,1655298339.442 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2022-06-15T13:06:50.957Z,1655298410.957 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2022-06-15T13:06:50.957Z,1655298410.957 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-15T13:06:50.957Z,1655298410.957 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-15T13:06:50.957Z,1655298410.957 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2022-06-15T13:06:51.362Z,1655298411.362 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2022-06-15T13:06:51.362Z,1655298411.362 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2022-06-15T13:06:51.778Z,1655298411.778 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 14.235286 min 
2022-06-15T13:06:51.778Z,1655298411.778 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-15T13:06:51.779Z,1655298411.779 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-15T13:06:53.787Z,1655298413.787 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130653.00,A,4135.97931,N,07043.56765,W,0.175,211.27,150622,,,A*79
2022-06-15T13:06:53.789Z,1655298413.789 [NAL9602](INFO): GPS fix at 20220615T130653: (41.599655, -70.726128)
2022-06-15T13:06:53.802Z,1655298413.802 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-15T13:06:53.802Z,1655298413.802 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-15T13:06:57.554Z,1655298417.554 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20220615T122152/Courier0043.lzma
2022-06-15T13:06:58.557Z,1655298418.557 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Courier0043.lzma.bak
2022-06-15T13:06:58.557Z,1655298418.557 [DataOverHttps](INFO): SBD MOMSN=1941463
2022-06-15T13:07:07.136Z,1655298427.136 [NAL9602](INFO): SBD MO Status=0, MOMSN=40816, MT Status=0, MTMSN=0
2022-06-15T13:07:07.136Z,1655298427.136 [NAL9602](INFO): No messages in MT queue
2022-06-15T13:07:09.603Z,1655298429.603 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20220615T122152/Express0044.lzma
2022-06-15T13:07:10.605Z,1655298430.605 [DataOverHttps](INFO): Moved sent file to Logs/20220615T122152/Express0044.lzma.bak
2022-06-15T13:07:10.605Z,1655298430.605 [DataOverHttps](INFO): SBD MOMSN=1941466
2022-06-15T13:07:12.789Z,1655298432.789 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-15T13:07:12.789Z,1655298432.789 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-15T13:07:12.789Z,1655298432.789 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-15T13:07:30.172Z,1655298450.172 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2022-06-15T13:07:37.812Z,1655298457.812 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-15T13:07:56.804Z,1655298476.804 [DataOverHttps](IMPORTANT): SBD MTMSN=20220615T130755
2022-06-15T13:08:00.822Z,1655298480.822 [DataOverHttps](INFO): Received command: schedule clear; schedule resume
2022-06-15T13:08:00.854Z,1655298480.854 [CommandExec](IMPORTANT): got command schedule clear
2022-06-15T13:08:00.855Z,1655298480.855 [CommandExec](IMPORTANT): Cleared 0 scheduled commands.
2022-06-15T13:08:00.855Z,1655298480.855 [CommandExec](IMPORTANT): got command schedule resume
2022-06-15T13:08:00.855Z,1655298480.855 [CommandExec](IMPORTANT): Scheduling is resumed
2022-06-15T13:08:01.824Z,1655298481.824 [DataOverHttps](IMPORTANT): SBD MTMSN=20220615T130800