2022-06-13T13:55:53.973Z,1655128553.973 [Supervisor](DEBUG): Initializing supervisor.
2022-06-13T13:55:53.978Z,1655128553.978 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2022-06-13T13:55:53.978Z,1655128553.978 [SyncHandler](INFO): Protected caller Thread ID is 5180
2022-06-13T13:55:53.979Z,1655128553.979 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2022-06-13T13:55:53.980Z,1655128553.980 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2022-06-13T13:55:53.980Z,1655128553.980 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 5181
2022-06-13T13:55:53.984Z,1655128553.984 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2022-06-13T13:55:54.003Z,1655128554.003 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2022-06-13T13:55:54.004Z,1655128554.004 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2022-06-13T13:55:54.004Z,1655128554.004 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 5182
2022-06-13T13:55:54.009Z,1655128554.009 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2022-06-13T13:55:54.010Z,1655128554.010 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2022-06-13T13:55:54.010Z,1655128554.010 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 5183
2022-06-13T13:55:54.012Z,1655128554.012 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2022-06-13T13:55:54.013Z,1655128554.013 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2022-06-13T13:55:54.014Z,1655128554.014 [logger ThreadHandler](INFO): Protected caller Thread ID is 5184
2022-06-13T13:55:54.017Z,1655128554.017 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2022-06-13T13:55:54.018Z,1655128554.018 [Supervisor](INFO): Looking for Config files in directory: Config/
2022-06-13T13:55:54.022Z,1655128554.022 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2022-06-13T13:55:54.522Z,1655128554.522 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2022-06-13T13:55:54.522Z,1655128554.522 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2022-06-13T13:55:54.606Z,1655128554.606 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2022-06-13T13:55:54.943Z,1655128554.943 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2022-06-13T13:55:54.944Z,1655128554.944 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2022-06-13T13:55:55.056Z,1655128555.056 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2022-06-13T13:55:55.057Z,1655128555.057 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2022-06-13T13:55:55.272Z,1655128555.272 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2022-06-13T13:55:55.272Z,1655128555.272 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2022-06-13T13:55:55.836Z,1655128555.836 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2022-06-13T13:55:55.836Z,1655128555.836 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2022-06-13T13:55:56.116Z,1655128556.116 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2022-06-13T13:55:56.118Z,1655128556.118 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2022-06-13T13:55:56.342Z,1655128556.342 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2022-06-13T13:55:56.344Z,1655128556.344 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2022-06-13T13:55:56.539Z,1655128556.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2022-06-13T13:55:56.540Z,1655128556.540 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2022-06-13T13:55:56.640Z,1655128556.640 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2022-06-13T13:55:56.641Z,1655128556.641 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2022-06-13T13:55:56.886Z,1655128556.886 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2022-06-13T13:55:56.888Z,1655128556.888 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2022-06-13T13:55:57.278Z,1655128557.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2022-06-13T13:55:57.279Z,1655128557.279 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2022-06-13T13:55:57.364Z,1655128557.364 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2022-06-13T13:55:57.495Z,1655128557.495 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2022-06-13T13:55:57.496Z,1655128557.496 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2022-06-13T13:55:59.030Z,1655128559.030 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2022-06-13T13:55:59.031Z,1655128559.031 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2022-06-13T13:55:59.407Z,1655128559.407 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2022-06-13T13:55:59.409Z,1655128559.409 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2022-06-13T13:55:59.412Z,1655128559.412 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2022-06-13T13:55:59.618Z,1655128559.618 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2022-06-13T13:55:59.724Z,1655128559.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2022-06-13T13:55:59.826Z,1655128559.826 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2022-06-13T13:55:59.929Z,1655128559.929 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2022-06-13T13:56:00.197Z,1655128560.197 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2022-06-13T13:56:00.197Z,1655128560.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2022-06-13T13:56:00.311Z,1655128560.311 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2022-06-13T13:56:00.418Z,1655128560.418 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2022-06-13T13:56:00.548Z,1655128560.548 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2022-06-13T13:56:00.676Z,1655128560.676 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2022-06-13T13:56:00.764Z,1655128560.764 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2022-06-13T13:56:00.855Z,1655128560.855 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2022-06-13T13:56:00.971Z,1655128560.971 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2022-06-13T13:56:01.075Z,1655128561.075 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2022-06-13T13:56:01.291Z,1655128561.291 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2022-06-13T13:56:01.460Z,1655128561.460 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2022-06-13T13:56:01.482Z,1655128561.482 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2022-06-13T13:56:02.021Z,1655128562.021 [AHRS_M2] Loaded
2022-06-13T13:56:02.021Z,1655128562.021 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2022-06-13T13:56:02.055Z,1655128562.055 [BackseatComponent] Loaded
2022-06-13T13:56:02.056Z,1655128562.056 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2022-06-13T13:56:02.057Z,1655128562.057 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407E24E0
2022-06-13T13:56:02.057Z,1655128562.057 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 5278
2022-06-13T13:56:02.060Z,1655128562.060 [LcmUniversalReporter] Loaded
2022-06-13T13:56:02.060Z,1655128562.060 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2022-06-13T13:56:02.847Z,1655128562.847 [BPC1] Loaded
2022-06-13T13:56:02.847Z,1655128562.847 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2022-06-13T13:56:02.917Z,1655128562.917 [DataOverHttps] Loaded
2022-06-13T13:56:02.917Z,1655128562.917 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2022-06-13T13:56:02.919Z,1655128562.919 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408124E0
2022-06-13T13:56:02.919Z,1655128562.919 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5279
2022-06-13T13:56:02.941Z,1655128562.941 [DDM] Loaded
2022-06-13T13:56:02.942Z,1655128562.942 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2022-06-13T13:56:02.961Z,1655128562.961 [Depth_Keller] Loaded
2022-06-13T13:56:02.961Z,1655128562.961 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2022-06-13T13:56:02.966Z,1655128562.966 [DropWeight] Loaded
2022-06-13T13:56:02.966Z,1655128562.966 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2022-06-13T13:56:03.010Z,1655128563.010 [DUSBL_Hydroid] Loaded
2022-06-13T13:56:03.010Z,1655128563.010 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2022-06-13T13:56:03.058Z,1655128563.058 [Micromodem] Loaded
2022-06-13T13:56:03.058Z,1655128563.058 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2022-06-13T13:56:03.117Z,1655128563.117 [NAL9602] Loaded
2022-06-13T13:56:03.117Z,1655128563.117 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2022-06-13T13:56:03.145Z,1655128563.145 [Onboard] Loaded
2022-06-13T13:56:03.145Z,1655128563.145 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2022-06-13T13:56:03.146Z,1655128563.146 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408424E0
2022-06-13T13:56:03.147Z,1655128563.147 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5280
2022-06-13T13:56:03.153Z,1655128563.153 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2022-06-13T13:56:03.163Z,1655128563.163 [PowerOnly] Loaded
2022-06-13T13:56:03.163Z,1655128563.163 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2022-06-13T13:56:03.174Z,1655128563.174 [Power24vConverter] Loaded
2022-06-13T13:56:03.175Z,1655128563.175 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2022-06-13T13:56:03.188Z,1655128563.188 [Radio_Surface] Loaded
2022-06-13T13:56:03.189Z,1655128563.189 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2022-06-13T13:56:03.189Z,1655128563.189 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408724E0
2022-06-13T13:56:03.190Z,1655128563.190 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5281
2022-06-13T13:56:03.233Z,1655128563.233 [RDI_Pathfinder] Loaded
2022-06-13T13:56:03.233Z,1655128563.233 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2022-06-13T13:56:03.260Z,1655128563.260 [RDI_PathfinderUp] Loaded
2022-06-13T13:56:03.260Z,1655128563.260 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2022-06-13T13:56:03.261Z,1655128563.261 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2022-06-13T13:56:03.261Z,1655128563.261 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2022-06-13T13:56:03.275Z,1655128563.275 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2022-06-13T13:56:03.275Z,1655128563.275 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2022-06-13T13:56:03.404Z,1655128563.404 [DeadReckonUsingMultipleVelocitySources] Loaded
2022-06-13T13:56:03.405Z,1655128563.405 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2022-06-13T13:56:03.443Z,1655128563.443 [LBLNavigation] Loaded
2022-06-13T13:56:03.444Z,1655128563.444 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2022-06-13T13:56:03.516Z,1655128563.516 [NavChart] Loaded
2022-06-13T13:56:03.516Z,1655128563.516 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2022-06-13T13:56:03.535Z,1655128563.535 [UniversalFixResidualReporter] Loaded
2022-06-13T13:56:03.535Z,1655128563.535 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2022-06-13T13:56:03.568Z,1655128563.568 [WorkSite] Loaded
2022-06-13T13:56:03.569Z,1655128563.569 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2022-06-13T13:56:03.569Z,1655128563.569 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2022-06-13T13:56:03.580Z,1655128563.580 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2022-06-13T13:56:04.347Z,1655128564.347 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2022-06-13T13:56:04.348Z,1655128564.348 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2022-06-13T13:56:04.494Z,1655128564.494 [BuoyancyServo] Loaded
2022-06-13T13:56:04.494Z,1655128564.494 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2022-06-13T13:56:04.516Z,1655128564.516 [ElevatorServo] Loaded
2022-06-13T13:56:04.516Z,1655128564.516 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2022-06-13T13:56:04.536Z,1655128564.536 [MassServo] Loaded
2022-06-13T13:56:04.537Z,1655128564.537 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2022-06-13T13:56:04.557Z,1655128564.557 [RudderServo] Loaded
2022-06-13T13:56:04.557Z,1655128564.557 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2022-06-13T13:56:04.573Z,1655128564.573 [ThrusterHE] Loaded
2022-06-13T13:56:04.574Z,1655128564.574 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2022-06-13T13:56:04.574Z,1655128564.574 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2022-06-13T13:56:04.575Z,1655128564.575 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2022-06-13T13:56:04.782Z,1655128564.782 [CTD_Seabird] Loaded
2022-06-13T13:56:04.782Z,1655128564.782 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2022-06-13T13:56:04.784Z,1655128564.784 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409B04E0
2022-06-13T13:56:04.784Z,1655128564.784 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 5282
2022-06-13T13:56:04.817Z,1655128564.817 [WetLabsSeaOWL_UV_A] Loaded
2022-06-13T13:56:04.817Z,1655128564.817 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2022-06-13T13:56:04.818Z,1655128564.818 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409E04E0
2022-06-13T13:56:04.818Z,1655128564.818 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 5283
2022-06-13T13:56:04.819Z,1655128564.819 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2022-06-13T13:56:04.820Z,1655128564.820 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2022-06-13T13:56:05.169Z,1655128565.169 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2022-06-13T13:56:05.170Z,1655128565.170 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2022-06-13T13:56:05.234Z,1655128565.234 [DepthRateCalculator] Loaded
2022-06-13T13:56:05.235Z,1655128565.235 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2022-06-13T13:56:05.240Z,1655128565.240 [PitchRateCalculator] Loaded
2022-06-13T13:56:05.240Z,1655128565.240 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2022-06-13T13:56:05.249Z,1655128565.249 [SpeedCalculator] Loaded
2022-06-13T13:56:05.250Z,1655128565.250 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2022-06-13T13:56:05.263Z,1655128565.263 [TempGradientCalculator] Loaded
2022-06-13T13:56:05.263Z,1655128565.263 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2022-06-13T13:56:05.279Z,1655128565.279 [VerticalHomogeneityIndexCalculator] Loaded
2022-06-13T13:56:05.279Z,1655128565.279 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2022-06-13T13:56:05.284Z,1655128565.284 [YawRateCalculator] Loaded
2022-06-13T13:56:05.284Z,1655128565.284 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2022-06-13T13:56:05.306Z,1655128565.306 [ElevatorOffsetCalculator] Loaded
2022-06-13T13:56:05.307Z,1655128565.307 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2022-06-13T13:56:05.323Z,1655128565.323 [ShortestDistanceToPolygonSidesCalculator] Loaded
2022-06-13T13:56:05.324Z,1655128565.324 [ComponentRegistry](DEBUG): SyncComponent "ShortestDistanceToPolygonSidesCalculator" handled in the control thread.
2022-06-13T13:56:05.324Z,1655128565.324 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2022-06-13T13:56:05.325Z,1655128565.325 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2022-06-13T13:56:05.492Z,1655128565.492 [SBIT](DEBUG): Construct Startup Built In Test.
2022-06-13T13:56:05.504Z,1655128565.504 [SBIT] Loaded
2022-06-13T13:56:05.504Z,1655128565.504 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2022-06-13T13:56:05.507Z,1655128565.507 [IBIT](DEBUG): Construct Initiated Built In Test.
2022-06-13T13:56:05.522Z,1655128565.522 [IBIT] Loaded
2022-06-13T13:56:05.522Z,1655128565.522 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2022-06-13T13:56:05.528Z,1655128565.528 [CBIT](DEBUG): Construct Continuous Built In Test.
2022-06-13T13:56:05.703Z,1655128565.703 [CBIT] Loaded
2022-06-13T13:56:05.703Z,1655128565.703 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2022-06-13T13:56:05.704Z,1655128565.704 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2022-06-13T13:56:05.704Z,1655128565.704 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2022-06-13T13:56:06.212Z,1655128566.212 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2022-06-13T13:56:06.213Z,1655128566.213 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2022-06-13T13:56:06.518Z,1655128566.518 [InternalEnvSim] Loaded
2022-06-13T13:56:06.519Z,1655128566.519 [ComponentRegistry](DEBUG): SyncComponent "InternalEnvSim" handled in the control thread.
2022-06-13T13:56:06.519Z,1655128566.519 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2022-06-13T13:56:06.520Z,1655128566.520 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2022-06-13T13:56:06.581Z,1655128566.581 [VerticalControl](DEBUG): Construct VerticalControl.
2022-06-13T13:56:06.633Z,1655128566.633 [VerticalControl] Loaded
2022-06-13T13:56:06.633Z,1655128566.633 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2022-06-13T13:56:06.636Z,1655128566.636 [HorizontalControl](DEBUG): Construct HorizontalControl.
2022-06-13T13:56:06.674Z,1655128566.674 [HorizontalControl] Loaded
2022-06-13T13:56:06.675Z,1655128566.675 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2022-06-13T13:56:06.677Z,1655128566.677 [SpeedControl](DEBUG): Construct SpeedControl.
2022-06-13T13:56:06.679Z,1655128566.679 [SpeedControl] Loaded
2022-06-13T13:56:06.679Z,1655128566.679 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2022-06-13T13:56:06.682Z,1655128566.682 [LoopControl](DEBUG): Construct LoopControl.
2022-06-13T13:56:06.683Z,1655128566.683 [LoopControl] Loaded
2022-06-13T13:56:06.683Z,1655128566.683 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2022-06-13T13:56:06.683Z,1655128566.683 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2022-06-13T13:56:06.684Z,1655128566.684 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2022-06-13T13:56:06.721Z,1655128566.721 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2022-06-13T13:56:06.727Z,1655128566.727 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2022-06-13T13:56:06.730Z,1655128566.730 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2022-06-13T13:56:06.741Z,1655128566.741 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2022-06-13T13:56:06.742Z,1655128566.742 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40BA74E0
2022-06-13T13:56:06.743Z,1655128566.743 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5284
2022-06-13T13:56:06.747Z,1655128566.747 [Supervisor](INFO): Main Thread ID is 828
2022-06-13T13:56:06.747Z,1655128566.747 [Supervisor](DEBUG): Running supervisor.
2022-06-13T13:56:06.748Z,1655128566.748 [CommandExec ThreadHandler](INFO): Handler Thread ID is 5285
2022-06-13T13:56:06.748Z,1655128566.748 [CommandExec](INFO): Initializing the command executive.
2022-06-13T13:56:06.750Z,1655128566.750 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5286
2022-06-13T13:56:06.752Z,1655128566.752 [controlThread ThreadHandler](INFO): Handler Thread ID is 5287
2022-06-13T13:56:06.752Z,1655128566.752 [controlThread](DEBUG): Initializing ControlThread
2022-06-13T13:56:06.762Z,1655128566.762 [NavChart](DEBUG): Initialize NavChart Navigation.
2022-06-13T13:56:06.762Z,1655128566.762 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2022-06-13T13:56:06.763Z,1655128566.763 [WorkSite](DEBUG): Initializing WorkSite component.
2022-06-13T13:56:06.764Z,1655128566.764 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2022-06-13T13:56:06.765Z,1655128566.765 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2022-06-13T13:56:06.765Z,1655128566.765 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2022-06-13T13:56:06.766Z,1655128566.766 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2022-06-13T13:56:06.766Z,1655128566.766 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2022-06-13T13:56:06.767Z,1655128566.767 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2022-06-13T13:56:06.767Z,1655128566.767 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2022-06-13T13:56:06.768Z,1655128566.768 [ShortestDistanceToPolygonSidesCalculator](DEBUG): Initializing.
2022-06-13T13:56:06.769Z,1655128566.769 [SBIT](INFO): Initialize SBIT Component.
2022-06-13T13:56:06.769Z,1655128566.769 [SBIT](IMPORTANT): git: 2022-06-10
2022-06-13T13:56:06.769Z,1655128566.769 [SBIT](INFO): git hash: e11740818a2a072901e05d1052af1d887ef06220
2022-06-13T13:56:06.770Z,1655128566.770 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2022-06-13T13:56:06.771Z,1655128566.771 [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
2022-06-13T13:56:06.772Z,1655128566.772 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2022-06-13T13:56:06.772Z,1655128566.772 [IBIT](INFO): Initialize IBIT Component.
2022-06-13T13:56:06.773Z,1655128566.773 [CBIT](DEBUG): Initialize CBIT Component.
2022-06-13T13:56:06.774Z,1655128566.774 [logger ThreadHandler](INFO): Handler Thread ID is 5288
2022-06-13T13:56:06.786Z,1655128566.786 [CBIT](DEBUG): Initialized mux pins.
2022-06-13T13:56:06.786Z,1655128566.786 [CBIT](DEBUG): Initializing the watchdog timer.
2022-06-13T13:56:06.794Z,1655128566.794 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 5289
2022-06-13T13:56:06.806Z,1655128566.806 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5290
2022-06-13T13:56:06.807Z,1655128566.807 [DataOverHttps](DEBUG): dashIP=128.128.181.226 starts with a digit so assuming it is a numeric IP
2022-06-13T13:56:06.810Z,1655128566.810 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2022-06-13T13:56:06.810Z,1655128566.810 [CBIT](DEBUG): Initializing heartbeat.
2022-06-13T13:56:06.822Z,1655128566.822 [Onboard ThreadHandler](INFO): Handler Thread ID is 5291
2022-06-13T13:56:06.853Z,1655128566.853 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5292
2022-06-13T13:56:06.862Z,1655128566.862 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 5293
2022-06-13T13:56:06.863Z,1655128566.863 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2022-06-13T13:56:06.867Z,1655128566.867 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 5295
2022-06-13T13:56:06.874Z,1655128566.874 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5296
2022-06-13T13:56:06.882Z,1655128566.882 [CBIT](DEBUG): Deactivating GF circuits.
2022-06-13T13:56:06.882Z,1655128566.882 [CBIT](DEBUG): Deactivating emergency mode.
2022-06-13T13:56:06.883Z,1655128566.883 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2022-06-13T13:56:06.883Z,1655128566.883 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2022-06-13T13:56:06.884Z,1655128566.884 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2022-06-13T13:56:06.884Z,1655128566.884 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2022-06-13T13:56:06.884Z,1655128566.884 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2022-06-13T13:56:06.884Z,1655128566.884 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2022-06-13T13:56:06.884Z,1655128566.884 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2022-06-13T13:56:06.884Z,1655128566.884 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2022-06-13T13:56:06.918Z,1655128566.918 [CBIT](DEBUG): Backplane powered.
2022-06-13T13:56:06.918Z,1655128566.918 [InternalEnvSim](DEBUG):  InternaEnvlSim initializing...
2022-06-13T13:56:07.050Z,1655128567.050 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2022-06-13T13:56:07.052Z,1655128567.052 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2022-06-13T13:56:07.052Z,1655128567.052 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2022-06-13T13:56:07.053Z,1655128567.053 [LoopControl](DEBUG): Initialize LoopControlComponent.
2022-06-13T13:56:07.054Z,1655128567.054 [MissionManager](INFO): Loading Mission from file: Missions/Startup.xml
2022-06-13T13:56:07.085Z,1655128567.085 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-13T13:56:07.122Z,1655128567.122 [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>


2022-06-13T13:56:07.122Z,1655128567.122 [MissionManager](INFO): Loading Mission from file: Missions/underIce/DefaultWithUndock.xml
2022-06-13T13:56:07.254Z,1655128567.254 [Radio_Surface](INFO): Powering up
2022-06-13T13:56:07.262Z,1655128567.262 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2022-06-13T13:56:07.282Z,1655128567.282 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2022-06-13T13:56:07.287Z,1655128567.287 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2 count
2022-06-13T13:56:07.290Z,1655128567.290 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2022-06-13T13:56:07.310Z,1655128567.310 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2022-06-13T13:56:07.313Z,1655128567.313 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2022-06-13T13:56:07.315Z,1655128567.315 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2022-06-13T13:56:07.466Z,1655128567.466 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2022-06-13T13:56:07.466Z,1655128567.466 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-13T13:56:07.492Z,1655128567.492 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-13T13:56:07.524Z,1655128567.524 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2022-06-13T13:56:07.543Z,1655128567.543 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2022-06-13T13:56:07.548Z,1655128567.548 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2022-06-13T13:56:07.570Z,1655128567.570 [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>


2022-06-13T13:56:07.583Z,1655128567.583 [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,
2022-06-13T13:56:07.594Z,1655128567.594 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2022-06-13T13:56:07.659Z,1655128567.659 [DDM](INFO): Powering up
2022-06-13T13:56:07.659Z,1655128567.659 [DDM](DEBUG): Initializing DDM.
2022-06-13T13:56:07.683Z,1655128567.683 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2022-06-13T13:56:07.684Z,1655128567.684 [DUSBL_Hydroid](INFO): Powering up
2022-06-13T13:56:07.684Z,1655128567.684 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2022-06-13T13:56:07.703Z,1655128567.703 [Power24vConverter](INFO): Powering up.
2022-06-13T13:56:07.704Z,1655128567.704 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2022-06-13T13:56:07.722Z,1655128567.722 [DepthRateCalculator](ERROR): Depth measurement is not active
2022-06-13T13:56:07.751Z,1655128567.751 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2022-06-13T13:56:07.758Z,1655128567.758 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2022-06-13T13:56:07.759Z,1655128567.759 [ElevatorServo](DEBUG): Initializing EZServoServo.
2022-06-13T13:56:07.766Z,1655128567.766 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2022-06-13T13:56:07.767Z,1655128567.767 [MassServo](DEBUG): Initializing EZServoServo.
2022-06-13T13:56:07.774Z,1655128567.774 [MassServo](DEBUG): Initializing MassServo.
2022-06-13T13:56:07.775Z,1655128567.775 [RudderServo](DEBUG): Initializing EZServoServo.
2022-06-13T13:56:07.782Z,1655128567.782 [RudderServo](DEBUG): Initializing RudderServo.
2022-06-13T13:56:07.783Z,1655128567.783 [ThrusterHE](DEBUG): Initializing EZServoServo.
2022-06-13T13:56:07.790Z,1655128567.790 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2022-06-13T13:56:08.022Z,1655128568.022 [Micromodem](INFO): Powering up
2022-06-13T13:56:08.022Z,1655128568.022 [Micromodem](DEBUG): Initializing Micromodem.
2022-06-13T13:56:08.718Z,1655128568.718 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2022-06-13T13:56:08.718Z,1655128568.718 [RudderServo](FAULT): Rudder failed to initialize
2022-06-13T13:56:08.718Z,1655128568.718 [RudderServo] Communications Fault, FailCount= 1
2022-06-13T13:56:08.718Z,1655128568.718 [RudderServo](ERROR): Communications Fault
2022-06-13T13:56:08.722Z,1655128568.722 [CBIT](ERROR): Communications Fault in component: RudderServo
2022-06-13T13:56:08.935Z,1655128568.935 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2022-06-13T13:56:08.935Z,1655128568.935 [RudderServo](INFO): Powering down
2022-06-13T13:56:09.622Z,1655128569.622 [RudderServo](DEBUG): Initializing EZServoServo.
2022-06-13T13:56:09.743Z,1655128569.743 [RudderServo](DEBUG): Initializing RudderServo.
2022-06-13T13:56:09.747Z,1655128569.747 [CBIT](INFO): Clearing failed state for component RudderServo
2022-06-13T13:56:09.747Z,1655128569.747 [RudderServo] No Fault, FailCount= 1
2022-06-13T13:56:12.885Z,1655128572.885 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2022-06-13T13:56:14.905Z,1655128574.905 [Micromodem](INFO): Nmea in: $CATMG,2022-06-13T13:56:17.651113Z,RTC,RTC*50

2022-06-13T13:56:14.905Z,1655128574.905 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2022-06-13T13:56:17.651113Z,RTC,RTC*50

2022-06-13T13:56:22.552Z,1655128582.552 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2022-06-13T13:56:22.552Z,1655128582.552 [Micromodem](ERROR): CFG response from modem unexpected: $CAMSG,Error accessing coproc,4*51

2022-06-13T13:56:22.994Z,1655128582.994 [Micromodem](INFO): Nmea in: $CACST,6,1,20220613135626.507365,05,2720,28,0091,0150,194,02,02,01,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*66

2022-06-13T13:56:22.995Z,1655128582.995 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2022-06-13T13:56:23.347Z,1655128583.347 [DDM](INFO): Latch/Whisker Boards:V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
2022-06-13T13:56:23.446Z,1655128583.446 [DDM](INFO): Dynamic Docking Module:C REMUS Capture Rev 1.1
2022-06-13T13:56:24.185Z,1655128584.185 [Micromodem](INFO): Nmea in: $CAERR,135627,NI  ,12,Unknown command*48

2022-06-13T13:56:24.185Z,1655128584.185 [Micromodem](ERROR): Got error from modem: $CAERR,135627,NI  ,12,Unknown command*48

2022-06-13T13:56:25.775Z,1655128585.775 [DUSBL_Hydroid](INFO): DUSBL Version:O
2022-06-13T13:56:33.448Z,1655128593.448 [NAL9602](INFO): Powering up NAL9602
2022-06-13T13:56:34.260Z,1655128594.260 [Micromodem](ERROR): Nmea resend: $CCCFG,POW,20*08

2022-06-13T13:56:34.660Z,1655128594.660 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2022-06-13T13:56:34.660Z,1655128594.660 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2022-06-13T13:56:35.068Z,1655128595.068 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2022-06-13T13:56:35.068Z,1655128595.068 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2022-06-13T13:56:35.469Z,1655128595.469 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2022-06-13T13:56:35.469Z,1655128595.469 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2022-06-13T13:56:35.885Z,1655128595.885 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2022-06-13T13:56:35.885Z,1655128595.885 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2022-06-13T13:56:36.284Z,1655128596.284 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2022-06-13T13:56:36.284Z,1655128596.284 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2022-06-13T13:56:36.414Z,1655128596.414 [SBIT](IMPORTANT): Beginning Startup BIT
2022-06-13T13:56:36.422Z,1655128596.422 [CBIT](IMPORTANT): Beginning ground fault scan
2022-06-13T13:56:36.688Z,1655128596.688 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2022-06-13T13:56:36.688Z,1655128596.688 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2022-06-13T13:56:37.088Z,1655128597.088 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2022-06-13T13:56:37.088Z,1655128597.088 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2022-06-13T13:56:37.492Z,1655128597.492 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2022-06-13T13:56:37.493Z,1655128597.493 [Micromodem](INFO): Nmea out: $CCCLK,2022,06,13,13,56,38*48

2022-06-13T13:56:37.937Z,1655128597.937 [Micromodem](INFO): Nmea in: $CACLK,2022,6,13,13,56,38*7A

2022-06-13T13:56:38.700Z,1655128598.700 [Micromodem](INFO): Nmea in: $CATMS,0,2022-06-13T13:56:39Z*7B

2022-06-13T13:56:38.702Z,1655128598.702 [Micromodem](INFO): Nmea in: $CATMG,2022-06-13T13:56:39.026173Z,USER_CMD,RTC*1D

2022-06-13T13:56:44.369Z,1655128604.369 [NAL9602](INFO): NAL9602 initialized
2022-06-13T13:56:47.691Z,1655128607.691 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.002621
CHAN A1 (24V): -0.008606
CHAN A2 (12V): -0.001608
CHAN A3 (5V): -0.001121
CHAN B0 (3.3V): 0.000613
CHAN B1 (3.15aV): 0.000796
CHAN B2 (3.15bV): 0.001016
CHAN B3 (GND): 0.001630
OPEN: 0.006565
Full Scale: +/- 1 mA
2022-06-13T13:56:52.087Z,1655128612.087 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2022-06-13T13:56:56.933Z,1655128616.933 [NAL9602](INFO): SBD MO Status=0, MOMSN=39952, MT Status=0, MTMSN=0
2022-06-13T13:56:56.933Z,1655128616.933 [NAL9602](INFO): No messages in MT queue
2022-06-13T13:57:02.176Z,1655128622.176 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2022-06-13T13:57:30.461Z,1655128650.461 [SBIT](IMPORTANT): SBIT PASSED
2022-06-13T13:57:30.461Z,1655128650.461 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2022-06-13T13:57:30.462Z,1655128650.462 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2022-06-13T13:57:30.462Z,1655128650.462 [SBIT](IMPORTANT): Courier linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.200000 kilogram_per_cubic_meter;

2022-06-13T13:57:30.462Z,1655128650.462 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2022-06-13T13:57:30.462Z,1655128650.462 [SBIT](IMPORTANT): Express none CTD_Seabird.sea_water_salinity;

2022-06-13T13:57:30.462Z,1655128650.462 [SBIT](IMPORTANT): Express none WetLabsSeaOWL_UV_A.concentration_of_colored_dissolved_organic_matter_in_sea_water;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): Express linearApproximation WetLabsSeaOWL_UV_A.mass_concentration_of_petroleum_hydrocarbons_in_sea_water 0.200000 kilogram_per_cubic_meter;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): Express none mass_concentration_of_chlorophyll_in_sea_water;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): InternalEnvSim.loadAtStartup=1 bool;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): InternalEnvSim.timeAdjust=1 day;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex1=41.598 degree;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex2=41.598 degree;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex3=41.538 degree;

2022-06-13T13:57:30.463Z,1655128650.463 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.latVertex4=41.538 degree;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.loadAtStartup=1 bool;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex1=-70.791 degree;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex2=-70.697 degree;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex3=-70.697 degree;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): ShortestDistanceToPolygonSidesCalculator.lonVertex4=-70.791 degree;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=386.368917 cubic_centimeter;

2022-06-13T13:57:30.464Z,1655128650.464 [SBIT](IMPORTANT): VerticalControl.massDefault=-2.290733 millimeter;

2022-06-13T13:57:30.848Z,1655128650.848 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2022-06-13T13:57:30.852Z,1655128650.852 [WorkSite](IMPORTANT): WorkSite fix at 20220613T135534: (41.565822, -70.738092)
2022-06-13T13:57:30.853Z,1655128650.853 [MissionManager](IMPORTANT): Started mission Startup
2022-06-13T13:57:30.878Z,1655128650.878 [Startup] Running Loop=1
2022-06-13T13:57:30.878Z,1655128650.878 [Startup](DEBUG): Aggregate::initialize Startup
2022-06-13T13:57:30.878Z,1655128650.878 [Startup:A.GoToSurface] Running Loop=1
2022-06-13T13:57:30.878Z,1655128650.878 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-13T13:57:30.879Z,1655128650.879 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-13T13:57:30.879Z,1655128650.879 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-13T13:57:30.879Z,1655128650.879 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-13T13:57:30.880Z,1655128650.880 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-13T13:57:30.880Z,1655128650.880 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-13T13:57:30.886Z,1655128650.886 [Startup:StartupSatComms] Running Loop=1
2022-06-13T13:57:30.886Z,1655128650.886 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2022-06-13T13:57:30.886Z,1655128650.886 [Startup:StartupSatComms:A] Running Loop=1
2022-06-13T13:57:31.255Z,1655128651.255 [LBLNavigation](INFO): Reset ping filters
2022-06-13T13:57:31.255Z,1655128651.255 [LBLNavigation](INFO): Reset fix filter
2022-06-13T13:57:31.256Z,1655128651.256 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2022-06-13T13:57:34.080Z,1655128654.080 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135732.00,A,4133.93805,N,07044.28575,W,0.350,0.00,130622,,,A*77
2022-06-13T13:57:34.083Z,1655128654.083 [NAL9602](INFO): GPS fix at 20220613T135732: (41.565634, -70.738096)
2022-06-13T13:57:34.141Z,1655128654.141 [Startup:StartupSatComms:A] Stopped
2022-06-13T13:57:34.141Z,1655128654.141 [Startup:StartupSatComms:B] Running Loop=1
2022-06-13T13:57:34.482Z,1655128654.482 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-13T13:57:47.993Z,1655128667.993 [NAL9602](INFO): SBD MO Status=2, MOMSN=39953, MT Status=2, MTMSN=0
2022-06-13T13:57:47.993Z,1655128667.993 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2022-06-13T13:58:12.011Z,1655128692.011 [NAL9602](INFO): SBD MO Status=1, MOMSN=39953, MT Status=0, MTMSN=0
2022-06-13T13:58:12.066Z,1655128692.066 [NAL9602](INFO): Sent 51 bytes from file Logs/20220613T031509/Courier0048.lzma
2022-06-13T13:58:12.066Z,1655128692.066 [NAL9602](INFO): Packets left to send: 0
2022-06-13T13:58:24.263Z,1655128704.263 [NAL9602](INFO): SBD MO Status=1, MOMSN=39954, MT Status=0, MTMSN=0
2022-06-13T13:58:24.314Z,1655128704.314 [NAL9602](INFO): Sent 184 bytes from file Logs/20220613T135553/Courier0000.lzma
2022-06-13T13:58:24.314Z,1655128704.314 [NAL9602](INFO): Packets left to send: 1
2022-06-13T13:58:34.468Z,1655128714.468 [Startup:StartupSatComms:B](INFO): Timed out from 2022-06-13T13:57:34.1Z
2022-06-13T13:58:34.468Z,1655128714.468 [Startup:StartupSatComms:B] Stopped
2022-06-13T13:58:34.469Z,1655128714.469 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2022-06-13T13:58:34.469Z,1655128714.469 [Startup:StartupSatComms] Stopped
2022-06-13T13:58:34.469Z,1655128714.469 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2022-06-13T13:58:34.470Z,1655128714.470 [Startup](INFO): Completed Startup
2022-06-13T13:58:34.470Z,1655128714.470 [MissionManager](INFO): Startup is completed.
2022-06-13T13:58:34.470Z,1655128714.470 [MissionManager](INFO): Uninitializing Mission Startup
2022-06-13T13:58:34.470Z,1655128714.470 [Startup] Stopped
2022-06-13T13:58:34.470Z,1655128714.470 [Startup](DEBUG): Aggregate::uninitialize Startup
2022-06-13T13:58:34.470Z,1655128714.470 [Startup:A.GoToSurface] Stopped
2022-06-13T13:58:34.470Z,1655128714.470 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-13T13:58:34.887Z,1655128714.886 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-13T13:58:34.887Z,1655128714.887 [DefaultWithUndock] Running Loop=1
2022-06-13T13:58:34.887Z,1655128714.887 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-13T13:58:34.887Z,1655128714.887 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-13T13:58:34.887Z,1655128714.887 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-13T13:58:40.969Z,1655128720.969 [NAL9602](INFO): SBD MO Status=1, MOMSN=39955, MT Status=0, MTMSN=0
2022-06-13T13:58:41.023Z,1655128721.023 [NAL9602](INFO): Sent 67 bytes from file Logs/20220613T135553/Courier0000.lzma
2022-06-13T13:58:41.023Z,1655128721.023 [NAL9602](INFO): Packets left to send: 0
2022-06-13T13:59:05.245Z,1655128745.245 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-13T13:59:05.245Z,1655128745.245 [DefaultWithUndock:A.Wait] Stopped
2022-06-13T13:59:05.245Z,1655128745.245 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T13:59:05.245Z,1655128745.245 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-13T13:59:05.245Z,1655128745.245 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-13T13:59:05.246Z,1655128745.246 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-13T13:59:05.246Z,1655128745.246 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-13T13:59:05.246Z,1655128745.246 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-13T13:59:05.246Z,1655128745.246 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-13T13:59:05.246Z,1655128745.246 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-13T13:59:05.644Z,1655128745.644 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-13T13:59:06.018Z,1655128746.018 [PowerOnly](INFO): Powering up loadControl
2022-06-13T13:59:08.152Z,1655128748.152 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:08.528Z,1655128748.528 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-13T13:59:08.877Z,1655128748.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T13:59:08.966Z,1655128748.966 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-13T13:59:09.306Z,1655128749.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T13:59:10.104Z,1655128750.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135909.59*55

2022-06-13T13:59:10.923Z,1655128750.923 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:12.508Z,1655128752.508 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T13:59:12.509Z,1655128752.509 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T13:59:13.741Z,1655128753.741 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:14.529Z,1655128754.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T13:59:14.931Z,1655128754.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T13:59:15.763Z,1655128755.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135915.24*52

2022-06-13T13:59:16.264Z,1655128756.264 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:18.175Z,1655128758.175 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T13:59:18.989Z,1655128758.989 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:19.784Z,1655128759.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T13:59:20.190Z,1655128760.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T13:59:21.008Z,1655128761.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135920.50*57

2022-06-13T13:59:21.837Z,1655128761.837 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:23.415Z,1655128763.415 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T13:59:24.665Z,1655128764.665 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:25.445Z,1655128765.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T13:59:25.864Z,1655128765.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T13:59:26.672Z,1655128766.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135926.16*53

2022-06-13T13:59:27.491Z,1655128767.491 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:29.079Z,1655128769.079 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T13:59:29.113Z,1655128769.113 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-13T13:59:30.099Z,1655128770.099 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T13:59:30.773Z,1655128770.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T13:59:31.156Z,1655128771.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T13:59:31.204Z,1655128771.204 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-13T13:59:31.520Z,1655128771.520 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:LeaveDock] Stopped
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-13T13:59:31.521Z,1655128771.521 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-13T13:59:31.522Z,1655128771.522 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-13T13:59:31.522Z,1655128771.522 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-13T13:59:31.522Z,1655128771.522 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-13T13:59:31.522Z,1655128771.522 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-13T13:59:31.523Z,1655128771.523 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-13T13:59:31.523Z,1655128771.523 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-13T13:59:31.523Z,1655128771.523 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-13T13:59:31.989Z,1655128771.989 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-13T13:59:31.991Z,1655128771.991 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T13:59:31.992Z,1655128771.992 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-13T13:59:32.300Z,1655128772.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135931.48*5E

2022-06-13T13:59:32.325Z,1655128772.325 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-13T13:59:33.101Z,1655128773.101 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2022-06-13T13:59:33.958Z,1655128773.958 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,135932.00,A,4133.92932,N,07044.28681,W,0.175,204.43,130622,,,A*71
2022-06-13T13:59:33.961Z,1655128773.961 [NAL9602](INFO): GPS fix at 20220613T135932: (41.565489, -70.738113)
2022-06-13T13:59:34.060Z,1655128774.060 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-13T13:59:34.060Z,1655128774.060 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-13T13:59:34.366Z,1655128774.366 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-13T13:59:41.695Z,1655128781.695 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004138
2022-06-13T13:59:46.981Z,1655128786.981 [NAL9602](INFO): SBD MO Status=1, MOMSN=39956, MT Status=0, MTMSN=0
2022-06-13T13:59:47.040Z,1655128787.040 [NAL9602](INFO): Sent 77 bytes from file Logs/20220613T135553/Courier0004.lzma
2022-06-13T13:59:47.040Z,1655128787.040 [NAL9602](INFO): Packets left to send: 0
2022-06-13T13:59:47.123Z,1655128787.123 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-13T13:59:47.123Z,1655128787.123 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-13T13:59:47.123Z,1655128787.123 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-13T13:59:50.728Z,1655128790.728 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T13:59:50.728Z,1655128790.728 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T13:59:57.120Z,1655128797.120 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2022-06-13T14:00:17.684Z,1655128817.684 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T14:00:25.869Z,1655128825.869 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:00:25.870Z,1655128825.870 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:00:37.477Z,1655128837.477 [PowerOnly](INFO): Powering down loadControl
2022-06-13T14:01:01.008Z,1655128861.008 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:01:01.008Z,1655128861.008 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:01:32.441Z,1655128892.441 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2022-06-13T14:01:36.156Z,1655128896.156 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:01:36.156Z,1655128896.156 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:02:11.296Z,1655128931.296 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:02:11.296Z,1655128931.296 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:02:46.436Z,1655128966.436 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:02:46.436Z,1655128966.436 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:03:21.592Z,1655129001.592 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:03:21.592Z,1655129001.592 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:03:32.043Z,1655129012.043 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2022-06-13T14:03:32.078Z,1655129012.078 [BPC1](INFO): Received data from all battery sticks.
2022-06-13T14:03:56.736Z,1655129036.736 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:03:56.736Z,1655129036.736 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:03:57.470Z,1655129037.470 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2022-06-13T14:04:31.893Z,1655129071.893 [DataOverHttps](IMPORTANT): Could not stat file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:04:31.893Z,1655129071.893 [DataOverHttps](FAULT): Could not open file Logs/20220613T135553/Courier0004.lzma
2022-06-13T14:04:47.599Z,1655129087.599 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2022-06-13T14:04:47.599Z,1655129087.599 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-13T14:04:47.599Z,1655129087.599 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T14:04:47.599Z,1655129087.599 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2022-06-13T14:04:48.016Z,1655129088.016 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2022-06-13T14:04:48.016Z,1655129088.016 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.218815 min 
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2022-06-13T14:04:48.399Z,1655129088.399 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2022-06-13T14:04:48.400Z,1655129088.400 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:04:48.400Z,1655129088.400 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-13T14:04:50.405Z,1655129090.405 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,140449.00,A,4133.90710,N,07044.28946,W,0.603,204.43,130622,,,A*7C
2022-06-13T14:04:50.408Z,1655129090.408 [NAL9602](INFO): GPS fix at 20220613T140449: (41.565118, -70.738158)
2022-06-13T14:04:50.431Z,1655129090.431 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-13T14:04:50.431Z,1655129090.431 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-13T14:04:53.990Z,1655129093.990 [DataOverHttps](INFO): Sending 201 bytes from file Logs/20220613T135553/Courier0007.lzma
2022-06-13T14:04:54.999Z,1655129094.999 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0007.lzma.bak
2022-06-13T14:04:54.999Z,1655129094.999 [DataOverHttps](INFO): SBD MOMSN=1937457
2022-06-13T14:05:04.036Z,1655129104.036 [DataOverHttps](INFO): Sending 100 bytes from file Logs/20220613T031509/Express0049.lzma
2022-06-13T14:05:05.036Z,1655129105.036 [DataOverHttps](INFO): Moved sent file to Logs/20220613T031509/Express0049.lzma.bak
2022-06-13T14:05:05.036Z,1655129105.036 [DataOverHttps](INFO): SBD MOMSN=1937460
2022-06-13T14:05:06.553Z,1655129106.553 [NAL9602](INFO): SBD MO Status=0, MOMSN=39957, MT Status=0, MTMSN=0
2022-06-13T14:05:06.554Z,1655129106.554 [NAL9602](INFO): No messages in MT queue
2022-06-13T14:05:37.253Z,1655129137.253 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T14:09:22.897Z,1655129362.897 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2022-06-13T14:09:50.762Z,1655129390.762 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-06-13T14:09:51.161Z,1655129391.161 [Micromodem](INFO): Nmea in: $CACST,6,1,20220613140950.497795,06,2114,27,0096,0150,208,02,02,01,02,-1,-01,-01,1,3,8,0,150,12.3,0.08,-100,2.92,-01,0.00,62,14500,4000*75

2022-06-13T14:09:51.356Z,1655129391.356 [DataOverHttps](INFO): Sending 1195 bytes from file Logs/20220613T135553/Express0001.lzma
2022-06-13T14:09:52.355Z,1655129392.355 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0001.lzma.bak
2022-06-13T14:09:52.356Z,1655129392.356 [DataOverHttps](INFO): SBD MOMSN=1937464
2022-06-13T14:10:01.394Z,1655129401.394 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20220613T135553/Express0005.lzma
2022-06-13T14:10:02.396Z,1655129402.396 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0005.lzma.bak
2022-06-13T14:10:02.396Z,1655129402.396 [DataOverHttps](INFO): SBD MOMSN=1937499
2022-06-13T14:10:12.008Z,1655129412.008 [DataOverHttps](INFO): Sending 313 bytes from file Logs/20220613T135553/Express0008.lzma
2022-06-13T14:10:12.436Z,1655129412.436 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0008.lzma.bak
2022-06-13T14:10:12.436Z,1655129412.436 [DataOverHttps](INFO): SBD MOMSN=1937503
2022-06-13T14:10:14.612Z,1655129414.612 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-13T14:10:14.612Z,1655129414.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-13T14:10:14.612Z,1655129414.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-13T14:12:33.014Z,1655129553.014 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243374
2022-06-13T14:13:09.166Z,1655129589.166 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:13:44.326Z,1655129624.326 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:14:19.470Z,1655129659.470 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:14:54.610Z,1655129694.610 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:15:15.201Z,1655129715.201 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2022-06-13T14:15:15.201Z,1655129715.201 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-13T14:15:15.201Z,1655129715.201 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T14:15:15.202Z,1655129715.202 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2022-06-13T14:15:15.605Z,1655129715.605 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2022-06-13T14:15:15.605Z,1655129715.605 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2022-06-13T14:15:16.026Z,1655129716.026 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 16.678635 min 
2022-06-13T14:15:16.026Z,1655129716.026 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2022-06-13T14:15:16.027Z,1655129716.027 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:15:16.027Z,1655129716.027 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-13T14:15:16.027Z,1655129716.027 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:15:16.028Z,1655129716.028 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2022-06-13T14:15:16.028Z,1655129716.028 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2022-06-13T14:15:16.028Z,1655129716.028 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:15:16.028Z,1655129716.028 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-13T14:15:18.016Z,1655129718.016 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141517.00,A,4133.85998,N,07044.29787,W,0.292,154.83,130622,,,A*79
2022-06-13T14:15:18.023Z,1655129718.023 [NAL9602](INFO): GPS fix at 20220613T141517: (41.564333, -70.738298)
2022-06-13T14:15:18.107Z,1655129718.107 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-13T14:15:18.107Z,1655129718.107 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-13T14:15:29.750Z,1655129729.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:15:39.614Z,1655129739.614 [NAL9602](INFO): SBD MO Status=1, MOMSN=39958, MT Status=0, MTMSN=0
2022-06-13T14:15:39.663Z,1655129739.663 [NAL9602](INFO): Sent 72 bytes from file Logs/20220613T135553/Courier0010.lzma
2022-06-13T14:15:39.663Z,1655129739.663 [NAL9602](INFO): Packets left to send: 0
2022-06-13T14:15:48.132Z,1655129748.132 [NAL9602](INFO): SBD MO Status=1, MOMSN=39959, MT Status=0, MTMSN=0
2022-06-13T14:15:48.182Z,1655129748.182 [NAL9602](INFO): Sent 119 bytes from file Logs/20220613T135553/Express0011.lzma
2022-06-13T14:15:48.182Z,1655129748.182 [NAL9602](INFO): Packets left to send: 0
2022-06-13T14:15:58.057Z,1655129758.057 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2022-06-13T14:16:04.898Z,1655129764.898 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:16:07.342Z,1655129767.342 [NAL9602](INFO): SBD MO Status=0, MOMSN=39960, MT Status=0, MTMSN=0
2022-06-13T14:16:07.429Z,1655129767.429 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-13T14:16:07.429Z,1655129767.429 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-13T14:16:07.430Z,1655129767.430 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-13T14:16:38.068Z,1655129798.068 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T14:16:38.098Z,1655129798.098 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2022-06-13T14:16:38.098Z,1655129798.098 [RDI_Pathfinder] Communications Fault, FailCount= 1
2022-06-13T14:16:38.098Z,1655129798.098 [RDI_Pathfinder](ERROR): Communications Fault
2022-06-13T14:16:38.178Z,1655129798.178 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2022-06-13T14:16:38.546Z,1655129798.546 [RDI_Pathfinder](INFO): Powering down
2022-06-13T14:16:39.290Z,1655129799.290 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2022-06-13T14:16:39.290Z,1655129799.290 [RDI_Pathfinder] No Fault, FailCount= 1
2022-06-13T14:16:39.669Z,1655129799.669 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2022-06-13T14:16:40.066Z,1655129800.066 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:17:15.218Z,1655129835.218 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2022-06-13T14:17:24.259Z,1655129844.259 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002805
2022-06-13T14:18:34.556Z,1655129914.556 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T141833
2022-06-13T14:18:38.576Z,1655129918.576 [DataOverHttps](INFO): Received command: sched asap "load Science/mapPatch.xml;set mapPatch.MissionTimeout 4 h;set mapPatch.MinAltitude 3 m;set mapPatch.MaxDepth 10 m;set mapPatch.CheckNaNTimeout 30 min;set mapPatch.TimePastOffPeakThreshold 30 min;set mapPatch.WpMaxDistance 5000 m" 2wt2l 1 3
2022-06-13T14:18:38.623Z,1655129918.623 [CommandExec](IMPORTANT): got command schedule asap "load Science/mapPatch.xml;set mapPatch.MissionTimeout 4 h;set mapPatch.MinAltitude 3 m;set mapPatch.MaxDepth 10 m;set mapPatch.CheckNaNTimeout 30 min;set mapPatch.TimePastOffPeakThreshold 30 min;set mapPatch.WpMaxDistance 5000 m" 2wt2l 1 3.000000
2022-06-13T14:18:38.623Z,1655129918.623 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=2wt2l
2022-06-13T14:18:38.624Z,1655129918.624 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 3 with id='2wt2l'): "load Science/mapPatch.xml;set mapPatch.MissionTimeout 4 h;set mapPatch.MinAltitude 3 m;set mapPatch.MaxDepth 10 m;set mapPatch.CheckNaNTimeout 30 min;set mapPatch.TimePastOffPeakThreshold 30 min;set mapPatch.WpMaxDistance 5000 m", ASAP
2022-06-13T14:18:39.576Z,1655129919.576 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T141838
2022-06-13T14:18:43.594Z,1655129923.594 [DataOverHttps](INFO): Received command: sched asap "set mapPatch.WpTimeoutBase 5000 s;set mapPatch.TransitYoYoMaxDepth 8 m;set mapPatch.PatchMappingYoYoMaxDepth 8 m;set mapPatch.YoYoMinAltitude 3 m;set mapPatch.PeakShallowBnd 2 m;set mapPatch.PeakDeepBnd 8 m" 2wt2l 2 3
2022-06-13T14:18:43.622Z,1655129923.622 [CommandExec](IMPORTANT): got command schedule asap "set mapPatch.WpTimeoutBase 5000 s;set mapPatch.TransitYoYoMaxDepth 8 m;set mapPatch.PatchMappingYoYoMaxDepth 8 m;set mapPatch.YoYoMinAltitude 3 m;set mapPatch.PeakShallowBnd 2 m;set mapPatch.PeakDeepBnd 8 m" 2wt2l 2 3.000000
2022-06-13T14:18:43.623Z,1655129923.623 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=2wt2l
2022-06-13T14:18:43.624Z,1655129923.624 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 3 with id='2wt2l'): "set mapPatch.WpTimeoutBase 5000 s;set mapPatch.TransitYoYoMaxDepth 8 m;set mapPatch.PatchMappingYoYoMaxDepth 8 m;set mapPatch.YoYoMinAltitude 3 m;set mapPatch.PeakShallowBnd 2 m;set mapPatch.PeakDeepBnd 8 m", ASAP
2022-06-13T14:18:44.596Z,1655129924.596 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T141843
2022-06-13T14:18:48.614Z,1655129928.614 [DataOverHttps](INFO): Received command: sched asap "set mapPatch.WpBearing 330 degree;set mapPatch.OffPeakFraction 10 %;set mapPatch.DepChangeThreshAttitudeFlip 1 m;set mapPatch.TurnAngleBase -120 degree;run" 2wt2l 3 3
2022-06-13T14:18:48.722Z,1655129928.722 [CommandExec](IMPORTANT): got command schedule asap "set mapPatch.WpBearing 330 degree;set mapPatch.OffPeakFraction 10 %;set mapPatch.DepChangeThreshAttitudeFlip 1 m;set mapPatch.TurnAngleBase -120 degree;run" 2wt2l 3 3.000000
2022-06-13T14:18:48.722Z,1655129928.722 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=2wt2l
2022-06-13T14:18:48.724Z,1655129928.724 [CommandExec](IMPORTANT): Scheduled #3 (#3 of 3 with id='2wt2l'): "set mapPatch.WpBearing 330 degree;set mapPatch.OffPeakFraction 10 %;set mapPatch.DepChangeThreshAttitudeFlip 1 m;set mapPatch.TurnAngleBase -120 degree;run", ASAP
2022-06-13T14:18:48.842Z,1655129928.842 [CommandExec](IMPORTANT): got command load ./Missions/Science/mapPatch.xml
2022-06-13T14:18:48.842Z,1655129928.842 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/mapPatch.xml
2022-06-13T14:18:50.044Z,1655129930.044 [MissionManager](INFO): DefineArg mapPatch.MissionTimeout = 12.000000 h
2022-06-13T14:18:50.047Z,1655129930.047 [MissionManager](INFO): DefineArg mapPatch.Speed = 1.000000 m/s
2022-06-13T14:18:50.050Z,1655129930.050 [MissionManager](INFO): DefineArg mapPatch.CommsAtMissionStart = 1 bool
2022-06-13T14:18:50.053Z,1655129930.053 [MissionManager](INFO): DefineArg mapPatch.PeakDetectChl = 0 bool
2022-06-13T14:18:50.056Z,1655129930.056 [MissionManager](INFO): DefineArg mapPatch.PeakDetectSalinity = 0 bool
2022-06-13T14:18:50.059Z,1655129930.059 [MissionManager](INFO): DefineArg mapPatch.PeakDetectOil = 1 bool
2022-06-13T14:18:50.061Z,1655129930.061 [MissionManager](INFO): DefineArg mapPatch.DetectTheTrough = 0 bool
2022-06-13T14:18:50.064Z,1655129930.064 [MissionManager](INFO): DefineArg mapPatch.MinAltitude = 5.000000 m
2022-06-13T14:18:50.066Z,1655129930.066 [MissionManager](INFO): DefineArg mapPatch.MinAltitude = 5.000000 m
2022-06-13T14:18:50.069Z,1655129930.069 [MissionManager](INFO): DefineArg mapPatch.MaxDepth = 50.000000 m
2022-06-13T14:18:50.072Z,1655129930.072 [MissionManager](INFO): DefineArg mapPatch.MinWaterDepth = 10.000000 m
2022-06-13T14:18:50.075Z,1655129930.075 [MissionManager](INFO): DefineArg mapPatch.MinOffshore = 2000.000000 m
2022-06-13T14:18:50.078Z,1655129930.078 [MissionManager](INFO): DefineArg mapPatch.MinDistFromPolygonSides = 200.000000 m
2022-06-13T14:18:50.081Z,1655129930.081 [MissionManager](INFO): DefineArg mapPatch.NeedCommsTimeInTransit = 60.000000 min
2022-06-13T14:18:50.111Z,1655129930.111 [MissionManager](INFO): DefineArg mapPatch.NeedCommsTimePatchMapping = 60.000000 min
2022-06-13T14:18:50.114Z,1655129930.114 [MissionManager](INFO): DefineArg mapPatch.CheckNaNTimeout = 10.000000 min
2022-06-13T14:18:50.117Z,1655129930.117 [MissionManager](INFO): DefineArg mapPatch.TimePastOffPeakThreshold = 4.000000 min
2022-06-13T14:18:50.186Z,1655129930.186 [MissionManager](INFO): DefineArg mapPatch.WaitAfterHittingWall = 5.000000 min
2022-06-13T14:18:50.189Z,1655129930.189 [MissionManager](INFO): DefineArg mapPatch.MaxWaitAfterHittingWall = 20.000000 min
2022-06-13T14:18:50.196Z,1655129930.196 [MissionManager](INFO): DefineArg mapPatch.LatPatchMappingStart = nan arcdeg
2022-06-13T14:18:50.199Z,1655129930.199 [MissionManager](INFO): DefineArg mapPatch.LonPatchMappingStart = nan arcdeg
2022-06-13T14:18:50.210Z,1655129930.210 [MissionManager](INFO): DefineArg mapPatch.Repeat = 20.000000 count
2022-06-13T14:18:50.213Z,1655129930.213 [MissionManager](INFO): DefineArg mapPatch.WpMaxDistance = 4000.000000 m
2022-06-13T14:18:50.220Z,1655129930.220 [MissionManager](INFO): DefineArg mapPatch.WpTimeoutBase = 4000.000000 s
2022-06-13T14:18:50.224Z,1655129930.224 [MissionManager](INFO): DefineArg mapPatch.TransitYoYoMinDepth = 2.000000 m
2022-06-13T14:18:50.239Z,1655129930.239 [MissionManager](INFO): DefineArg mapPatch.TransitYoYoMaxDepth = 30.000000 m
2022-06-13T14:18:50.246Z,1655129930.246 [MissionManager](INFO): DefineArg mapPatch.PatchMappingYoYoMinDepth = 2.000000 m
2022-06-13T14:18:50.249Z,1655129930.249 [MissionManager](INFO): DefineArg mapPatch.PatchMappingYoYoMaxDepth = 10.000000 m
2022-06-13T14:18:50.260Z,1655129930.260 [MissionManager](INFO): DefineArg mapPatch.YoYoMinAltitude = 9.000000 m
2022-06-13T14:18:50.264Z,1655129930.264 [MissionManager](INFO): DefineArg mapPatch.YoYoUpPitch = 20.000000 arcdeg
2022-06-13T14:18:50.269Z,1655129930.269 [MissionManager](INFO): DefineArg mapPatch.YoYoDownPitch = -20.000000 arcdeg
2022-06-13T14:18:50.280Z,1655129930.280 [MissionManager](INFO): DefineArg mapPatch.PeakShallowBnd = 5.000000 m
2022-06-13T14:18:50.298Z,1655129930.298 [MissionManager](INFO): DefineArg mapPatch.PeakDeepBnd = 10.000000 m
2022-06-13T14:18:50.301Z,1655129930.301 [MissionManager](INFO): DefineArg mapPatch.BeginThresholdChl = 1.000000 ug/l
2022-06-13T14:18:50.312Z,1655129930.312 [MissionManager](INFO): DefineArg mapPatch.BeginThresholdSalt = 33.000000 psu
2022-06-13T14:18:50.324Z,1655129930.324 [MissionManager](INFO): DefineArg mapPatch.BeginThresholdOil = 0.100000 kg/m3
2022-06-13T14:18:50.329Z,1655129930.329 [MissionManager](INFO): DefineArg mapPatch.WpBearing = 210.000000 arcdeg
2022-06-13T14:18:50.340Z,1655129930.340 [MissionManager](INFO): DefineArg mapPatch.OffPeakFraction = 90.000000 %
2022-06-13T14:18:50.351Z,1655129930.351 [MissionManager](INFO): DefineArg mapPatch.DetectionTimeout = 30.000000 min
2022-06-13T14:18:50.353Z,1655129930.353 [MissionManager](INFO): DefineArg mapPatch.TimeWindowPeakRpt = nan min
2022-06-13T14:18:50.361Z,1655129930.361 [MissionManager](INFO): DefineArg mapPatch.LowPassWindowLen = 20.000000 count
2022-06-13T14:18:50.368Z,1655129930.368 [MissionManager](INFO): DefineArg mapPatch.MedianFilterLength = 5.000000 count
2022-06-13T14:18:50.379Z,1655129930.379 [MissionManager](INFO): DefineArg mapPatch.NumOfProfilesSlidingwindow = 50.000000 count
2022-06-13T14:18:50.386Z,1655129930.386 [MissionManager](INFO): DefineArg mapPatch.FilterWidthHorizontal = 4.000000 count
2022-06-13T14:18:50.389Z,1655129930.389 [MissionManager](INFO): DefineArg mapPatch.DepChangeThreshAttitudeFlip = 2.000000 m
2022-06-13T14:18:50.400Z,1655129930.400 [MissionManager](INFO): DefineArg mapPatch.WaterFrame = 1 bool
2022-06-13T14:18:50.403Z,1655129930.403 [MissionManager](INFO): DefineArg mapPatch.PatchMode = 0 bool
2022-06-13T14:18:50.418Z,1655129930.418 [MissionManager](INFO): DefineArg mapPatch.TurnAngleBase = 120.000000 arcdeg
2022-06-13T14:18:50.421Z,1655129930.421 [MissionManager](INFO): DefineArg mapPatch.Reverse = 180.000000 arcdeg
2022-06-13T14:18:50.428Z,1655129930.428 [MissionManager](INFO): DefineArg mapPatch.TwoPi = 360.000000 arcdeg
2022-06-13T14:18:50.440Z,1655129930.440 [MissionManager](INFO): DefineArg mapPatch.MassDefault = -0.229073 cm
2022-06-13T14:18:50.444Z,1655129930.444 [MissionManager](INFO): DefineArg mapPatch.BuoyancyNeutral = 386.368927 cc
2022-06-13T14:18:50.451Z,1655129930.451 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundNotContinuedFlightLowEnabled = 1 bool
2022-06-13T14:18:50.453Z,1655129930.453 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundNotContinuedFlightHighEnabled = 1 bool
2022-06-13T14:18:50.460Z,1655129930.460 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundContinuedFlightLowEnabled = 1 bool
2022-06-13T14:18:50.467Z,1655129930.467 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundContinuedFlightHighEnabled = 1 bool
2022-06-13T14:18:50.474Z,1655129930.474 [MissionManager](INFO): DefineOutput mapPatch.LegNotContinuedFlightEnabled = 1 bool
2022-06-13T14:18:50.477Z,1655129930.477 [MissionManager](INFO): DefineOutput mapPatch.LegContinuedFlightLowEnabled = 1 bool
2022-06-13T14:18:50.484Z,1655129930.484 [MissionManager](INFO): DefineOutput mapPatch.LegContinuedFlightHighEnabled = 1 bool
2022-06-13T14:18:50.487Z,1655129930.487 [MissionManager](INFO): DefineOutput mapPatch.PatchDetectOn = 1 bool
2022-06-13T14:18:50.498Z,1655129930.498 [MissionManager](INFO): DefineOutput mapPatch.ZigDone = 0 bool
2022-06-13T14:18:50.501Z,1655129930.501 [MissionManager](INFO): DefineOutput mapPatch.LegContinuedFlight = 0 bool
2022-06-13T14:18:50.508Z,1655129930.508 [MissionManager](INFO): DefineOutput mapPatch.MissionStartCompleted = 0 bool
2022-06-13T14:18:50.511Z,1655129930.511 [MissionManager](INFO): DefineOutput mapPatch.Turn = nan arcdeg
2022-06-13T14:18:50.526Z,1655129930.526 [MissionManager](INFO): DefineOutput mapPatch.WpTimeout = nan s
2022-06-13T14:18:50.570Z,1655129930.570 [MissionManager](INFO): DefineOutput mapPatch.SideLastHit = nan count
2022-06-13T14:18:50.573Z,1655129930.573 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakChl = nan ug/l
2022-06-13T14:18:50.584Z,1655129930.584 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakChlPriorToContinuedFlight = nan ug/l
2022-06-13T14:18:50.593Z,1655129930.593 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakSalinity = nan psu
2022-06-13T14:18:50.621Z,1655129930.621 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakSalinityPriorToContinuedFlight = nan psu
2022-06-13T14:18:50.628Z,1655129930.628 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakOil = nan kg/m3
2022-06-13T14:18:50.653Z,1655129930.653 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakOilPriorToContinuedFlight = nan kg/m3
2022-06-13T14:18:50.678Z,1655129930.678 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakDepth = nan m
2022-06-13T14:18:50.681Z,1655129930.681 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakLatitude = nan arcdeg
2022-06-13T14:18:50.685Z,1655129930.685 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakLongitude = nan arcdeg
2022-06-13T14:18:50.708Z,1655129930.708 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakDistance = 0.000000 m
2022-06-13T14:18:50.715Z,1655129930.715 [MissionManager](INFO): DefineOutput mapPatch.StoppedForNaNPatchPeak = 0 bool
2022-06-13T14:18:50.722Z,1655129930.722 [MissionManager](INFO): DefineOutput mapPatch.StoppedForBeingOutsideOfPolygon = 0 bool
2022-06-13T14:18:50.725Z,1655129930.725 [MissionManager](INFO): DefineOutput mapPatch.ElapsedSinceStart = 0.000000 h
2022-06-13T14:18:50.732Z,1655129930.732 [MissionManager](INFO): DefineOutput mapPatch.ElapsedSinceLastHittingWall = 0.000000 h
2022-06-13T14:18:50.740Z,1655129930.740 [MissionManager](INFO): DefineOutput mapPatch.ElapsedSinceEndOfTransit = 0.000000 h
2022-06-13T14:18:50.741Z,1655129930.741 [mapPatch:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-13T14:18:50.772Z,1655129930.772 [mapPatch:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-13T14:18:50.795Z,1655129930.795 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2022-06-13T14:18:50.895Z,1655129930.895 [MissionManager](INFO): DefineArg mapPatch:NeedComms.DiveInterval = 3.000000 h
2022-06-13T14:18:50.898Z,1655129930.898 [MissionManager](INFO): DefineArg mapPatch:NeedComms.WaitForPitchUp = 10.000000 min
2022-06-13T14:18:50.901Z,1655129930.901 [MissionManager](INFO): DefineArg mapPatch:NeedComms.SurfacePitch = 20.000000 arcdeg
2022-06-13T14:18:50.908Z,1655129930.908 [MissionManager](INFO): DefineArg mapPatch:NeedComms.SurfaceDepthRate = nan m/s
2022-06-13T14:18:50.923Z,1655129930.923 [MissionManager](INFO): DefineArg mapPatch:NeedComms.SurfaceSpeed = 1.000000 m/s
2022-06-13T14:18:50.930Z,1655129930.930 [MissionManager](INFO): DefineArg mapPatch:NeedComms.GPSTimeout = 7.000000 min
2022-06-13T14:18:50.933Z,1655129930.933 [MissionManager](INFO): DefineArg mapPatch:NeedComms.CommsTimeout = 30.000000 min
2022-06-13T14:18:50.996Z,1655129930.996 [mapPatch:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-13T14:18:51.052Z,1655129931.052 [mapPatch:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-06-13T14:18:51.097Z,1655129931.097 [mapPatch:E.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-06-13T14:18:51.119Z,1655129931.119 [mapPatch:F.Pitch](DEBUG): Construct.
2022-06-13T14:18:51.125Z,1655129931.125 [mapPatch:G.Buoyancy](DEBUG): Construct Buoyancy.
2022-06-13T14:18:51.136Z,1655129931.136 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-06-13T14:18:51.671Z,1655129931.671 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectChlActive = 0 bool
2022-06-13T14:18:51.676Z,1655129931.676 [MissionManager](INFO): DefineArg mapPatch:Science.TimeWindowPeakReport = nan min
2022-06-13T14:18:51.679Z,1655129931.679 [MissionManager](INFO): DefineArg mapPatch:Science.HighestChlPeakReportActive = 0 bool
2022-06-13T14:18:51.681Z,1655129931.681 [MissionManager](INFO): DefineArg mapPatch:Science.HighestSaltPeakReportActive = 0 bool
2022-06-13T14:18:51.702Z,1655129931.702 [MissionManager](INFO): DefineArg mapPatch:Science.HighestOilPeakReportActive = 0 bool
2022-06-13T14:18:51.720Z,1655129931.720 [MissionManager](INFO): DefineArg mapPatch:Science.PatchTracking = 0 bool
2022-06-13T14:18:51.736Z,1655129931.736 [MissionManager](INFO): DefineArg mapPatch:Science.DetectTrough = 0 bool
2022-06-13T14:18:51.764Z,1655129931.764 [MissionManager](INFO): DefineArg mapPatch:Science.FilterWidthHorizontal = 3.000000 count
2022-06-13T14:18:51.768Z,1655129931.768 [MissionManager](INFO): DefineArg mapPatch:Science.NumProfilesSlidingwindow = 100.000000 count
2022-06-13T14:18:51.783Z,1655129931.783 [MissionManager](INFO): DefineArg mapPatch:Science.OffPeakFractionHorizontal = 80.000000 %
2022-06-13T14:18:51.790Z,1655129931.790 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectNO3Active = 0 bool
2022-06-13T14:18:51.793Z,1655129931.793 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectOilActive = 0 bool
2022-06-13T14:18:51.811Z,1655129931.811 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectFDOMActive = 0 bool
2022-06-13T14:18:51.823Z,1655129931.823 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectSalinityActive = 0 bool
2022-06-13T14:18:51.828Z,1655129931.828 [MissionManager](INFO): DefineArg mapPatch:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-06-13T14:18:51.840Z,1655129931.840 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledAanderaaO2 = 0 bool
2022-06-13T14:18:51.847Z,1655129931.847 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledNeilBrown = 0 bool
2022-06-13T14:18:51.863Z,1655129931.863 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledSeabird = 1 bool
2022-06-13T14:18:51.875Z,1655129931.875 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledWetLabsBB2FL = 0 bool
2022-06-13T14:18:51.889Z,1655129931.889 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-06-13T14:18:51.896Z,1655129931.896 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledWetLabsUBAT = 0 bool
2022-06-13T14:18:51.915Z,1655129931.915 [MissionManager](INFO): DefineArg mapPatch:Science.LowPassWindowLength = 20.000000 count
2022-06-13T14:18:51.921Z,1655129931.921 [MissionManager](INFO): DefineArg mapPatch:Science.MedianFilterLen = 5.000000 count
2022-06-13T14:18:51.932Z,1655129931.932 [MissionManager](INFO): DefineArg mapPatch:Science.PeakShallowBound = nan m
2022-06-13T14:18:51.946Z,1655129931.946 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDeepBound = nan m
2022-06-13T14:18:51.949Z,1655129931.949 [MissionManager](INFO): DefineArg mapPatch:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-06-13T14:18:51.957Z,1655129931.957 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChl = 0.000000 ug/l
2022-06-13T14:18:51.960Z,1655129931.960 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlDepth = 0.000000 m
2022-06-13T14:18:51.976Z,1655129931.976 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlTemperature = 0.000000 degC
2022-06-13T14:18:51.983Z,1655129931.983 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlLatitude = nan arcdeg
2022-06-13T14:18:51.990Z,1655129931.990 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlLongitude = nan arcdeg
2022-06-13T14:18:51.993Z,1655129931.993 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3 = 0.000000 umol/l
2022-06-13T14:18:51.997Z,1655129931.997 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3Depth = 0.000000 m
2022-06-13T14:18:52.016Z,1655129932.016 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3Latitude = nan arcdeg
2022-06-13T14:18:52.025Z,1655129932.025 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3Longitude = nan arcdeg
2022-06-13T14:18:52.045Z,1655129932.045 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOil = 0.000000 kg/m3
2022-06-13T14:18:52.067Z,1655129932.067 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOilDepth = 0.000000 m
2022-06-13T14:18:52.071Z,1655129932.071 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOilLatitude = nan arcdeg
2022-06-13T14:18:52.078Z,1655129932.078 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOilLongitude = nan arcdeg
2022-06-13T14:18:52.081Z,1655129932.081 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOM = 0.000000 ppb
2022-06-13T14:18:52.088Z,1655129932.088 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMDepth = 0.000000 m
2022-06-13T14:18:52.099Z,1655129932.099 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMTemperature = nan degC
2022-06-13T14:18:52.103Z,1655129932.103 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMLatitude = nan arcdeg
2022-06-13T14:18:52.105Z,1655129932.105 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMLongitude = nan arcdeg
2022-06-13T14:18:52.113Z,1655129932.113 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchFDOMDistance = nan m
2022-06-13T14:18:52.116Z,1655129932.116 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSalt = 0.000000 psu
2022-06-13T14:18:52.131Z,1655129932.131 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltDepth = 0.000000 m
2022-06-13T14:18:52.138Z,1655129932.138 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltTemperature = 0.000000 degC
2022-06-13T14:18:52.144Z,1655129932.144 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltLatitude = nan arcdeg
2022-06-13T14:18:52.147Z,1655129932.147 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltLongitude = nan arcdeg
2022-06-13T14:18:52.194Z,1655129932.194 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChl = 0.000000 ug/l
2022-06-13T14:18:52.205Z,1655129932.205 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlDepth = 0.000000 m
2022-06-13T14:18:52.221Z,1655129932.221 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlLatitude = nan arcdeg
2022-06-13T14:18:52.228Z,1655129932.228 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlLongitude = nan arcdeg
2022-06-13T14:18:52.244Z,1655129932.244 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlDistance = nan m
2022-06-13T14:18:52.255Z,1655129932.255 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSalt = 0.000000 psu
2022-06-13T14:18:52.262Z,1655129932.262 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltDepth = 0.000000 m
2022-06-13T14:18:52.265Z,1655129932.265 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltLatitude = nan arcdeg
2022-06-13T14:18:52.280Z,1655129932.280 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltLongitude = nan arcdeg
2022-06-13T14:18:52.294Z,1655129932.294 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltDistance = nan m
2022-06-13T14:18:52.297Z,1655129932.297 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOil = 0.000000 psu
2022-06-13T14:18:52.301Z,1655129932.301 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilDepth = 0.000000 m
2022-06-13T14:18:52.313Z,1655129932.313 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilLatitude = nan arcdeg
2022-06-13T14:18:52.317Z,1655129932.317 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilLongitude = nan arcdeg
2022-06-13T14:18:52.332Z,1655129932.332 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilDistance = nan m
2022-06-13T14:18:52.407Z,1655129932.407 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:18:52.432Z,1655129932.432 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:18:52.459Z,1655129932.459 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:18:52.478Z,1655129932.478 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:18:52.488Z,1655129932.488 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:18:52.525Z,1655129932.525 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:18:52.548Z,1655129932.548 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:18:52.613Z,1655129932.613 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:18:52.645Z,1655129932.645 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDetectChlActive = reader:mapPatch.PeakDetectChl
2022-06-13T14:18:52.651Z,1655129932.651 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDetectSalinityActive = reader:mapPatch.PeakDetectSalinity
2022-06-13T14:18:52.653Z,1655129932.653 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDetectOilActive = reader:mapPatch.PeakDetectOil
2022-06-13T14:18:52.659Z,1655129932.659 [MissionManager](INFO): RedefineArg mapPatch:Science.DetectTrough = reader:mapPatch.DetectTheTrough
2022-06-13T14:18:52.661Z,1655129932.661 [MissionManager](INFO): RedefineArg mapPatch:Science.TimeWindowPeakReport = reader:mapPatch.TimeWindowPeakRpt
2022-06-13T14:18:52.664Z,1655129932.664 [MissionManager](INFO): RedefineArg mapPatch:Science.LowPassWindowLength = reader:mapPatch.LowPassWindowLen
2022-06-13T14:18:52.665Z,1655129932.665 [MissionManager](INFO): RedefineArg mapPatch:Science.MedianFilterLen = reader:mapPatch.MedianFilterLength
2022-06-13T14:18:52.676Z,1655129932.676 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakShallowBound = reader:mapPatch.PeakShallowBnd
2022-06-13T14:18:52.677Z,1655129932.677 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDeepBound = reader:mapPatch.PeakDeepBnd
2022-06-13T14:18:52.683Z,1655129932.683 [MissionManager](INFO): RedefineArg mapPatch:Science.DepChangeThreshForAttitudeFlip = reader:mapPatch.DepChangeThreshAttitudeFlip
2022-06-13T14:18:52.684Z,1655129932.684 [mapPatch:I.SetSpeed](DEBUG): Construct.
2022-06-13T14:18:53.134Z,1655129933.134 [mapPatch:Wait:B.Wait](DEBUG): Construct Wait.
2022-06-13T14:18:53.211Z,1655129933.211 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-13T14:18:53.233Z,1655129933.233 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-13T14:18:53.252Z,1655129933.252 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Construct YoYo.
2022-06-13T14:18:53.274Z,1655129933.274 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Construct Waypoint.
2022-06-13T14:18:53.309Z,1655129933.309 [mapPatch:PatchPeakIsNaN:B.Execute](DEBUG): Construct Execute.
2022-06-13T14:18:53.361Z,1655129933.361 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-13T14:18:53.420Z,1655129933.420 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-13T14:18:53.444Z,1655129933.444 [mapPatch:PatchMapping:L.YoYo](DEBUG): Construct YoYo.
2022-06-13T14:18:53.487Z,1655129933.487 [mapPatch:PatchMapping:OutsideOfPolygon:B.Execute](DEBUG): Construct Execute.
2022-06-13T14:18:53.587Z,1655129933.587 [mapPatch:PatchMapping:ChlPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:18:53.875Z,1655129933.875 [mapPatch:PatchMapping:SalinityPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:18:54.089Z,1655129934.089 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:18:54.378Z,1655129934.378 [mapPatch:PatchMapping:Zig:LegContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-13T14:18:54.485Z,1655129934.485 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-13T14:18:54.898Z,1655129934.898 [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: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/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">

    <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>12</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>5</Value></DefineArg>

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>50</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>60</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>60</Value></DefineArg>

    <DefineArg Name="CheckNaNTimeout"><Description>
      If the patch peak value is NaN by this time, stop mission.
    </Description><Units:minute/><Value>10</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>4</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>30</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>10</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>9</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>5</Value></DefineArg>

    <DefineArg Name="PeakDeepBnd"><Description>
        Deep depth bound for detecting peak on each descent or ascent profile.
    </Description><Units:meter/><Value>10</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>90</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="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>2.0</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="MissionStartCompleted"><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>

<!-- 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="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>

    <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="PatchPeakSalinity"/><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="MissionStartComms">

          <Sequence/>

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

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

          <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>

          <Assign><Sequence/><Arg Name="MissionStartCompleted"/><True/></Assign>	  
	  
    </Aggregate>

    <Aggregate Id="MissionStartNoComms">

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

          <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>

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

2022-06-13T14:18:54.900Z,1655129934.900 [CommandExec](IMPORTANT): Loaded ./Missions/Science/mapPatch.xml
2022-06-13T14:19:10.293Z,1655129950.293 [CommandExec](IMPORTANT): got command set mapPatch.MissionTimeout 4 hour
2022-06-13T14:19:10.294Z,1655129950.294 [CommandExec](IMPORTANT): got command set mapPatch.MinAltitude 3 meter
2022-06-13T14:19:10.295Z,1655129950.295 [CommandExec](IMPORTANT): got command set mapPatch.MaxDepth 10 meter
2022-06-13T14:19:10.296Z,1655129950.296 [CommandExec](IMPORTANT): got command set mapPatch.CheckNaNTimeout 30 minute
2022-06-13T14:19:10.296Z,1655129950.296 [CommandExec](IMPORTANT): got command set mapPatch.TimePastOffPeakThreshold 30 minute
2022-06-13T14:19:10.297Z,1655129950.297 [CommandExec](IMPORTANT): got command set mapPatch.WpMaxDistance 5000 meter
2022-06-13T14:19:24.849Z,1655129964.849 [CommandExec](IMPORTANT): got command set mapPatch.WpTimeoutBase 5000 second
2022-06-13T14:19:24.850Z,1655129964.850 [CommandExec](IMPORTANT): got command set mapPatch.TransitYoYoMaxDepth 8 meter
2022-06-13T14:19:24.850Z,1655129964.850 [CommandExec](IMPORTANT): got command set mapPatch.PatchMappingYoYoMaxDepth 8 meter
2022-06-13T14:19:24.851Z,1655129964.851 [CommandExec](IMPORTANT): got command set mapPatch.YoYoMinAltitude 3 meter
2022-06-13T14:19:24.852Z,1655129964.852 [CommandExec](IMPORTANT): got command set mapPatch.PeakShallowBnd 2 meter
2022-06-13T14:19:24.852Z,1655129964.852 [CommandExec](IMPORTANT): got command set mapPatch.PeakDeepBnd 8 meter
2022-06-13T14:19:36.552Z,1655129976.552 [CommandExec](IMPORTANT): got command set mapPatch.WpBearing 330 degree
2022-06-13T14:19:36.553Z,1655129976.553 [CommandExec](IMPORTANT): got command set mapPatch.OffPeakFraction 10 percent
2022-06-13T14:19:36.554Z,1655129976.554 [CommandExec](IMPORTANT): got command set mapPatch.DepChangeThreshAttitudeFlip 1 meter
2022-06-13T14:19:36.555Z,1655129976.555 [CommandExec](IMPORTANT): got command set mapPatch.TurnAngleBase -120 degree
2022-06-13T14:19:36.555Z,1655129976.555 [CommandExec](IMPORTANT): got command run
2022-06-13T14:19:36.568Z,1655129976.568 [CommandExec](IMPORTANT): Running 
2022-06-13T14:19:36.688Z,1655129976.688 [DefaultWithUndock] Stopped
2022-06-13T14:19:36.688Z,1655129976.688 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2022-06-13T14:19:36.688Z,1655129976.688 [DefaultWithUndock:SurfaceDefault] Stopped
2022-06-13T14:19:36.688Z,1655129976.688 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2022-06-13T14:19:36.689Z,1655129976.689 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2022-06-13T14:19:36.689Z,1655129976.689 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-13T14:19:36.689Z,1655129976.689 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-13T14:19:36.689Z,1655129976.689 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:19:36.689Z,1655129976.689 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-13T14:19:36.689Z,1655129976.689 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T14:19:36.689Z,1655129976.689 [MissionManager](IMPORTANT): Started mission mapPatch
2022-06-13T14:19:36.689Z,1655129976.689 [mapPatch] Running Loop=1
2022-06-13T14:19:36.689Z,1655129976.689 [mapPatch](DEBUG): Aggregate::initialize mapPatch
2022-06-13T14:19:36.702Z,1655129976.702 [mapPatch:A.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:36.702Z,1655129976.702 [mapPatch:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:19:36.702Z,1655129976.702 [mapPatch:B.DepthEnvelope] Running Loop=1
2022-06-13T14:19:36.702Z,1655129976.702 [mapPatch:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:D.OffshoreEnvelope] Running Loop=1
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:E.WaterDepthEnvelope] Running Loop=1
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:E.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:F.Pitch] Running Loop=1
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:F.Pitch](DEBUG): Initialize.
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:G.Buoyancy] Running Loop=1
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:G.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-06-13T14:19:36.703Z,1655129976.703 [mapPatch:Science] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science](DEBUG): Aggregate::initialize mapPatch:Science
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:A] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:B] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:C] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:D] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:E] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:F] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:Read_Oil] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:PeakDetectChl] Running Loop=1
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:PeakDetectChl](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectChl
2022-06-13T14:19:36.704Z,1655129976.704 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:19:36.705Z,1655129976.705 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:19:36.708Z,1655129976.708 [mapPatch:Science:HighestChlPeakReport] Running Loop=1
2022-06-13T14:19:36.708Z,1655129976.708 [mapPatch:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize mapPatch:Science:HighestChlPeakReport
2022-06-13T14:19:36.708Z,1655129976.708 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:19:36.708Z,1655129976.708 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:19:36.709Z,1655129976.709 [mapPatch:Science:PeakDetectNO3] Running Loop=1
2022-06-13T14:19:36.709Z,1655129976.709 [mapPatch:Science:PeakDetectNO3](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectNO3
2022-06-13T14:19:36.709Z,1655129976.709 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:19:36.709Z,1655129976.709 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:19:36.711Z,1655129976.711 [mapPatch:Science:PeakDetectOil] Running Loop=1
2022-06-13T14:19:36.711Z,1655129976.711 [mapPatch:Science:PeakDetectOil](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectOil
2022-06-13T14:19:36.711Z,1655129976.711 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:19:36.711Z,1655129976.711 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:19:36.713Z,1655129976.713 [mapPatch:Science:HighestOilPeakReport] Running Loop=1
2022-06-13T14:19:36.713Z,1655129976.713 [mapPatch:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize mapPatch:Science:HighestOilPeakReport
2022-06-13T14:19:36.713Z,1655129976.713 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:19:36.713Z,1655129976.713 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:19:36.726Z,1655129976.726 [mapPatch:Science:PeakDetectFDOM] Running Loop=1
2022-06-13T14:19:36.726Z,1655129976.726 [mapPatch:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectFDOM
2022-06-13T14:19:36.726Z,1655129976.726 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:19:36.726Z,1655129976.726 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:19:36.731Z,1655129976.731 [mapPatch:Science:PeakDetectSalinity] Running Loop=1
2022-06-13T14:19:36.731Z,1655129976.731 [mapPatch:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectSalinity
2022-06-13T14:19:36.731Z,1655129976.731 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:19:36.732Z,1655129976.732 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:19:36.733Z,1655129976.733 [mapPatch:Science:HighestSaltPeakReport] Running Loop=1
2022-06-13T14:19:36.733Z,1655129976.733 [mapPatch:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize mapPatch:Science:HighestSaltPeakReport
2022-06-13T14:19:36.733Z,1655129976.733 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:19:36.733Z,1655129976.733 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:19:36.734Z,1655129976.734 [mapPatch:Science:OceanCurrent] Running Loop=1
2022-06-13T14:19:36.734Z,1655129976.734 [mapPatch:Science:OceanCurrent](DEBUG): Aggregate::initialize mapPatch:Science:OceanCurrent
2022-06-13T14:19:36.734Z,1655129976.734 [mapPatch:Science:OceanCurrent:A.] Running Loop=1
2022-06-13T14:19:36.734Z,1655129976.734 [mapPatch:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-06-13T14:19:36.735Z,1655129976.735 [mapPatch:I.SetSpeed] Running Loop=1
2022-06-13T14:19:36.735Z,1655129976.735 [mapPatch:I.SetSpeed](DEBUG): Initialize.
2022-06-13T14:19:36.735Z,1655129976.735 [mapPatch:TransitToPatchMappingStartLocation] Running Loop=1
2022-06-13T14:19:36.735Z,1655129976.735 [mapPatch:TransitToPatchMappingStartLocation](DEBUG): Aggregate::initialize mapPatch:TransitToPatchMappingStartLocation
2022-06-13T14:19:36.735Z,1655129976.735 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-13T14:19:36.735Z,1655129976.735 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:19:36.736Z,1655129976.736 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:36.736Z,1655129976.736 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:19:36.736Z,1655129976.736 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-13T14:19:36.736Z,1655129976.736 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-13T14:19:36.736Z,1655129976.736 [mapPatch:TransitToPatchMappingStartLocation:A] Running Loop=1
2022-06-13T14:19:36.750Z,1655129976.750 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-13T14:19:36.751Z,1655129976.751 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:36.751Z,1655129976.751 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-13T14:19:36.753Z,1655129976.753 [mapPatch:TransitToPatchMappingStartLocation:A] Stopped
2022-06-13T14:19:36.753Z,1655129976.753 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint] Running Loop=1
2022-06-13T14:19:36.753Z,1655129976.753 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-13T14:19:36.753Z,1655129976.753 [mapPatch:MissionStartComms] Running Loop=1
2022-06-13T14:19:36.758Z,1655129976.758 [mapPatch:MissionStartComms](DEBUG): Aggregate::initialize mapPatch:MissionStartComms
2022-06-13T14:19:36.758Z,1655129976.758 [mapPatch:MissionStartComms:MissionStartComms] Running Loop=1
2022-06-13T14:19:36.758Z,1655129976.758 [mapPatch:MissionStartComms:MissionStartComms](DEBUG): Aggregate::initialize mapPatch:MissionStartComms:MissionStartComms
2022-06-13T14:19:36.758Z,1655129976.758 [mapPatch:I.SetSpeed] Running Loop=1
2022-06-13T14:19:36.759Z,1655129976.759 [mapPatch:Science] Running Loop=1
2022-06-13T14:19:36.761Z,1655129976.761 [mapPatch:Science:HighestSaltPeakReport] Stopped
2022-06-13T14:19:36.761Z,1655129976.761 [mapPatch:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize mapPatch:Science:HighestSaltPeakReport
2022-06-13T14:19:36.761Z,1655129976.761 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-13T14:19:36.761Z,1655129976.761 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:19:36.774Z,1655129976.774 [mapPatch:Science:PeakDetectSalinity] Stopped
2022-06-13T14:19:36.774Z,1655129976.774 [mapPatch:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectSalinity
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectFDOM] Stopped
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectFDOM
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:HighestOilPeakReport] Stopped
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize mapPatch:Science:HighestOilPeakReport
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:19:36.775Z,1655129976.775 [mapPatch:Science:PeakDetectOil] Running Loop=1
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectNO3] Stopped
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectNO3
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:HighestChlPeakReport] Stopped
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize mapPatch:Science:HighestChlPeakReport
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectChl] Stopped
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectChl
2022-06-13T14:19:36.776Z,1655129976.776 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-06-13T14:19:36.777Z,1655129976.777 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:19:36.777Z,1655129976.777 [mapPatch:Science:OceanCurrent:A.] Running Loop=1
2022-06-13T14:19:36.785Z,1655129976.785 [mapPatch:Science:Read_Oil] Running Loop=1
2022-06-13T14:19:36.798Z,1655129976.798 [mapPatch:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-06-13T14:19:36.799Z,1655129976.799 [mapPatch:Science:F] Stopped
2022-06-13T14:19:36.799Z,1655129976.799 [mapPatch:Science:E] Stopped
2022-06-13T14:19:36.799Z,1655129976.799 [mapPatch:Science:D] Stopped
2022-06-13T14:19:36.799Z,1655129976.799 [mapPatch:Science:C] Running Loop=1
2022-06-13T14:19:36.799Z,1655129976.799 [mapPatch:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2022-06-13T14:19:36.800Z,1655129976.800 [mapPatch:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2022-06-13T14:19:36.800Z,1655129976.800 [mapPatch:Science:B] Running Loop=1
2022-06-13T14:19:36.801Z,1655129976.801 [mapPatch:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2022-06-13T14:19:36.806Z,1655129976.806 [mapPatch:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2022-06-13T14:19:36.806Z,1655129976.806 [mapPatch:Science:A] Stopped
2022-06-13T14:19:36.806Z,1655129976.806 [mapPatch:G.Buoyancy] Running Loop=1
2022-06-13T14:19:36.806Z,1655129976.806 [mapPatch:F.Pitch] Running Loop=1
2022-06-13T14:19:36.807Z,1655129976.807 [mapPatch:E.WaterDepthEnvelope] Running Loop=1
2022-06-13T14:19:36.807Z,1655129976.807 [mapPatch:D.OffshoreEnvelope] Running Loop=1
2022-06-13T14:19:36.808Z,1655129976.808 [mapPatch:B.DepthEnvelope] Running Loop=1
2022-06-13T14:19:36.808Z,1655129976.808 [mapPatch:A.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:37.161Z,1655129977.161 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint] Stopped
2022-06-13T14:19:37.161Z,1655129977.161 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-13T14:19:37.161Z,1655129977.161 [mapPatch:TransitToPatchMappingStartLocation:F] Running Loop=1
2022-06-13T14:19:37.184Z,1655129977.184 [mapPatch:NeedComms] Running Loop=1
2022-06-13T14:19:37.184Z,1655129977.184 [mapPatch:NeedComms](DEBUG): Aggregate::initialize mapPatch:NeedComms
2022-06-13T14:19:37.184Z,1655129977.184 [mapPatch:NeedComms:B.GoToSurface] Running Loop=1
2022-06-13T14:19:37.185Z,1655129977.185 [mapPatch:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-13T14:19:37.185Z,1655129977.185 [mapPatch:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-06-13T14:19:37.185Z,1655129977.185 [mapPatch:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-06-13T14:19:37.190Z,1655129977.190 [mapPatch:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-06-13T14:19:37.190Z,1655129977.190 [mapPatch:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-13T14:19:37.191Z,1655129977.191 [mapPatch:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-13T14:19:37.191Z,1655129977.191 [mapPatch:NeedComms:A] Running Loop=1
2022-06-13T14:19:37.192Z,1655129977.192 [mapPatch:NeedComms:A](INFO): last time_fix was: 1655129717.000000 second since 1970/01/01T00:00:00Z 
2022-06-13T14:19:37.192Z,1655129977.192 [mapPatch:NeedComms:A] Stopped
2022-06-13T14:19:37.497Z,1655129977.497 [mapPatch:TransitToPatchMappingStartLocation:F] Stopped
2022-06-13T14:19:37.497Z,1655129977.497 [mapPatch:TransitToPatchMappingStartLocation:G] Running Loop=1
2022-06-13T14:19:37.519Z,1655129977.519 [mapPatch:NeedComms:C] Running Loop=1
2022-06-13T14:19:37.931Z,1655129977.931 [mapPatch:TransitToPatchMappingStartLocation:G] Stopped
2022-06-13T14:19:37.932Z,1655129977.932 [mapPatch:TransitToPatchMappingStartLocation](INFO): Completed mapPatch:TransitToPatchMappingStartLocation
2022-06-13T14:19:37.932Z,1655129977.932 [mapPatch:TransitToPatchMappingStartLocation] Stopped
2022-06-13T14:19:37.932Z,1655129977.932 [mapPatch:TransitToPatchMappingStartLocation](DEBUG): Aggregate::uninitialize mapPatch:TransitToPatchMappingStartLocation
2022-06-13T14:19:37.932Z,1655129977.932 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope] Stopped
2022-06-13T14:19:37.932Z,1655129977.932 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:19:37.932Z,1655129977.932 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Stopped
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo] Stopped
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:PatchMapping] Running Loop=1
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:PatchMapping](DEBUG): Aggregate::initialize mapPatch:PatchMapping
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:37.933Z,1655129977.933 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:19:37.938Z,1655129977.938 [mapPatch:PatchMapping:L.YoYo] Running Loop=1
2022-06-13T14:19:37.938Z,1655129977.938 [mapPatch:PatchMapping:L.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-13T14:19:37.938Z,1655129977.938 [mapPatch:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-13T14:19:37.938Z,1655129977.938 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:19:37.938Z,1655129977.938 [mapPatch:PatchMapping:OutsideOfPolygon:A] Running Loop=1
2022-06-13T14:19:37.938Z,1655129977.938 [mapPatch:PatchMapping:A] Running Loop=1
2022-06-13T14:19:37.956Z,1655129977.956 [mapPatch:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-13T14:19:38.292Z,1655129978.292 [mapPatch:PatchMapping:OilPatchDetectionZig] Running Loop=1
2022-06-13T14:19:38.293Z,1655129978.293 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:19:38.293Z,1655129978.293 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:19:38.293Z,1655129978.293 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:19:38.294Z,1655129978.294 [mapPatch:PatchMapping:OutsideOfPolygon] Stopped
2022-06-13T14:19:38.295Z,1655129978.295 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:19:38.295Z,1655129978.295 [mapPatch:PatchMapping:OutsideOfPolygon:A] Stopped
2022-06-13T14:19:38.295Z,1655129978.295 [mapPatch:PatchMapping:L.YoYo] Running Loop=1
2022-06-13T14:19:38.295Z,1655129978.295 [mapPatch:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:38.295Z,1655129978.295 [mapPatch:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-13T14:19:38.296Z,1655129978.296 [mapPatch:PatchMapping:A] Stopped
2022-06-13T14:19:38.296Z,1655129978.296 [mapPatch:PatchMapping:B] Running Loop=1
2022-06-13T14:19:38.715Z,1655129978.715 [mapPatch:PatchMapping:B] Stopped
2022-06-13T14:19:38.715Z,1655129978.715 [mapPatch:PatchMapping:C] Running Loop=1
2022-06-13T14:19:39.129Z,1655129979.129 [mapPatch:PatchMapping:C] Stopped
2022-06-13T14:19:39.129Z,1655129979.129 [mapPatch:PatchMapping:D] Running Loop=1
2022-06-13T14:19:39.482Z,1655129979.482 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,141938.00,A,4133.84266,N,07044.30005,W,0.369,154.63,130622,,,A*7D
2022-06-13T14:19:39.484Z,1655129979.484 [NAL9602](INFO): GPS fix at 20220613T141938: (41.564044, -70.738334)
2022-06-13T14:19:39.532Z,1655129979.532 [mapPatch:PatchMapping:D] Stopped
2022-06-13T14:19:39.532Z,1655129979.532 [mapPatch:PatchMapping:E] Running Loop=1
2022-06-13T14:19:39.550Z,1655129979.550 [mapPatch:NeedComms:C] Stopped
2022-06-13T14:19:39.551Z,1655129979.551 [mapPatch:NeedComms:D] Running Loop=1
2022-06-13T14:19:39.960Z,1655129979.960 [mapPatch:PatchMapping:E] Stopped
2022-06-13T14:19:39.960Z,1655129979.960 [mapPatch:PatchMapping:F] Running Loop=1
2022-06-13T14:19:39.977Z,1655129979.977 [mapPatch:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-13T14:19:40.637Z,1655129980.637 [mapPatch:PatchMapping:F] Stopped
2022-06-13T14:19:40.637Z,1655129980.637 [mapPatch:PatchMapping:G] Running Loop=1
2022-06-13T14:19:40.723Z,1655129980.723 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2022-06-13T14:19:41.069Z,1655129981.069 [mapPatch:PatchMapping:G] Stopped
2022-06-13T14:19:41.090Z,1655129981.090 [mapPatch:PatchMapping:H] Running Loop=1
2022-06-13T14:19:41.456Z,1655129981.456 [mapPatch:PatchMapping:H] Stopped
2022-06-13T14:19:41.456Z,1655129981.456 [mapPatch:PatchMapping:I] Running Loop=1
2022-06-13T14:19:41.951Z,1655129981.951 [mapPatch:PatchMapping:I] Stopped
2022-06-13T14:19:41.951Z,1655129981.951 [mapPatch:PatchMapping:Zig] Running Loop=1
2022-06-13T14:19:41.951Z,1655129981.951 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig
2022-06-13T14:19:41.951Z,1655129981.951 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Running Loop=1
2022-06-13T14:19:41.951Z,1655129981.951 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:19:41.951Z,1655129981.951 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Running Loop=1
2022-06-13T14:19:42.274Z,1655129982.274 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Stopped
2022-06-13T14:19:42.275Z,1655129982.275 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:19:42.275Z,1655129982.275 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Stopped
2022-06-13T14:19:42.275Z,1655129982.275 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Running Loop=1
2022-06-13T14:19:42.275Z,1655129982.275 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:19:42.275Z,1655129982.275 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Running Loop=1
2022-06-13T14:19:42.636Z,1655129982.636 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Stopped
2022-06-13T14:19:42.636Z,1655129982.636 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Running Loop=1
2022-06-13T14:19:43.035Z,1655129983.035 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Stopped
2022-06-13T14:19:43.035Z,1655129983.035 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Running Loop=1
2022-06-13T14:19:43.398Z,1655129983.398 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Stopped
2022-06-13T14:19:43.398Z,1655129983.398 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Running Loop=1
2022-06-13T14:19:43.911Z,1655129983.911 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D](IMPORTANT): Bearing = 330.000000 arcdeg 
2022-06-13T14:19:43.911Z,1655129983.911 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Stopped
2022-06-13T14:19:43.911Z,1655129983.911 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Running Loop=1
2022-06-13T14:19:43.912Z,1655129983.912 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:19:43.912Z,1655129983.912 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Running Loop=1
2022-06-13T14:19:43.912Z,1655129983.912 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](INFO): Timed out from 2022-06-13T14:19:43.9Z
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Stopped
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](INFO): Completed mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Stopped
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached] Running Loop=1
2022-06-13T14:19:44.248Z,1655129984.248 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached
2022-06-13T14:19:44.693Z,1655129984.693 [mapPatch:SyslogWpMaxDistanceReached] Running Loop=1
2022-06-13T14:19:44.693Z,1655129984.693 [mapPatch:SyslogWpMaxDistanceReached](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached
2022-06-13T14:19:44.693Z,1655129984.693 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl] Running Loop=1
2022-06-13T14:19:44.693Z,1655129984.693 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl
2022-06-13T14:19:44.693Z,1655129984.693 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl:A] Running Loop=1
2022-06-13T14:19:44.693Z,1655129984.693 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl] Stopped
2022-06-13T14:19:44.698Z,1655129984.698 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl
2022-06-13T14:19:44.698Z,1655129984.698 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl:A] Stopped
2022-06-13T14:19:44.698Z,1655129984.698 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt] Running Loop=1
2022-06-13T14:19:44.698Z,1655129984.698 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt
2022-06-13T14:19:44.698Z,1655129984.698 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt:A] Running Loop=1
2022-06-13T14:19:45.105Z,1655129985.105 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt] Stopped
2022-06-13T14:19:45.110Z,1655129985.110 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt
2022-06-13T14:19:45.110Z,1655129985.110 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt:A] Stopped
2022-06-13T14:19:45.110Z,1655129985.110 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil] Running Loop=1
2022-06-13T14:19:45.110Z,1655129985.110 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil
2022-06-13T14:19:45.110Z,1655129985.110 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil:A] Running Loop=1
2022-06-13T14:19:45.440Z,1655129985.440 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil] Stopped
2022-06-13T14:19:45.440Z,1655129985.440 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil
2022-06-13T14:19:45.440Z,1655129985.440 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil:A] Stopped
2022-06-13T14:19:45.440Z,1655129985.440 [mapPatch:SyslogWpMaxDistanceReached](INFO): Completed mapPatch:SyslogWpMaxDistanceReached
2022-06-13T14:19:45.440Z,1655129985.440 [mapPatch:SyslogWpMaxDistanceReached] Stopped
2022-06-13T14:19:45.441Z,1655129985.441 [mapPatch:SyslogWpMaxDistanceReached](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached
2022-06-13T14:19:45.506Z,1655129985.506 [DataOverHttps](INFO): Sending 265 bytes from file Logs/20220613T135553/Courier0013.lzma
2022-06-13T14:19:45.885Z,1655129985.885 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached](INFO): Completed mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached
2022-06-13T14:19:45.885Z,1655129985.885 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached] Stopped
2022-06-13T14:19:45.885Z,1655129985.885 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached
2022-06-13T14:19:45.885Z,1655129985.885 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:G] Running Loop=1
2022-06-13T14:19:46.274Z,1655129986.274 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:G] Stopped
2022-06-13T14:19:46.275Z,1655129986.275 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:H] Running Loop=1
2022-06-13T14:19:46.509Z,1655129986.509 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0013.lzma.bak
2022-06-13T14:19:46.509Z,1655129986.509 [DataOverHttps](INFO): SBD MOMSN=1937534
2022-06-13T14:19:46.671Z,1655129986.671 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:H] Stopped
2022-06-13T14:19:46.671Z,1655129986.671 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:I] Running Loop=1
2022-06-13T14:19:47.080Z,1655129987.080 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:I] Stopped
2022-06-13T14:19:47.081Z,1655129987.081 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:J] Running Loop=1
2022-06-13T14:19:47.445Z,1655129987.445 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:J] Stopped
2022-06-13T14:19:47.445Z,1655129987.445 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:K] Running Loop=1
2022-06-13T14:19:47.906Z,1655129987.906 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:K] Stopped
2022-06-13T14:19:47.906Z,1655129987.906 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](INFO): Completed mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:19:47.906Z,1655129987.906 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Stopped
2022-06-13T14:19:47.906Z,1655129987.906 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:19:47.906Z,1655129987.906 [mapPatch:PatchMapping:Zig](INFO): Completed mapPatch:PatchMapping:Zig
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:Zig] Stopped
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Stopped
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig] Running Loop=1
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight] Running Loop=1
2022-06-13T14:19:47.907Z,1655129987.907 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight
2022-06-13T14:19:47.908Z,1655129987.908 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow] Running Loop=1
2022-06-13T14:19:47.908Z,1655129987.908 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow
2022-06-13T14:19:47.908Z,1655129987.908 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow:A] Running Loop=1
2022-06-13T14:19:47.909Z,1655129987.909 [mapPatch:PatchMapping](INFO): Completed mapPatch:PatchMapping
2022-06-13T14:19:47.909Z,1655129987.909 [mapPatch:PatchMapping] Stopped
2022-06-13T14:19:47.909Z,1655129987.909 [mapPatch:PatchMapping](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping
2022-06-13T14:19:47.909Z,1655129987.909 [mapPatch:PatchMapping:J.DepthEnvelope] Stopped
2022-06-13T14:19:47.909Z,1655129987.909 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:19:47.909Z,1655129987.909 [mapPatch:PatchMapping:K.AltitudeEnvelope] Stopped
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:L.YoYo] Stopped
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:L.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:OilPatchDetectionZig] Stopped
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig] Stopped
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig
2022-06-13T14:19:47.914Z,1655129987.914 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight] Stopped
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow] Stopped
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow:A] Stopped
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping](INFO): Running loop #2
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping] Running Loop=2
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping](DEBUG): Aggregate::initialize mapPatch:PatchMapping
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-13T14:19:47.915Z,1655129987.915 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:L.YoYo] Running Loop=1
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:L.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:OutsideOfPolygon:A] Running Loop=1
2022-06-13T14:19:47.916Z,1655129987.916 [mapPatch:PatchMapping:A] Running Loop=1
2022-06-13T14:19:48.271Z,1655129988.271 [mapPatch:PatchMapping:OutsideOfPolygon] Stopped
2022-06-13T14:19:48.272Z,1655129988.272 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:19:48.272Z,1655129988.272 [mapPatch:PatchMapping:OutsideOfPolygon:A] Stopped
2022-06-13T14:19:48.273Z,1655129988.273 [mapPatch:PatchMapping:A] Stopped
2022-06-13T14:19:48.273Z,1655129988.273 [mapPatch:PatchMapping:B] Running Loop=1
2022-06-13T14:19:48.651Z,1655129988.651 [mapPatch:PatchMapping:B] Stopped
2022-06-13T14:19:48.652Z,1655129988.652 [mapPatch:PatchMapping:C] Running Loop=1
2022-06-13T14:19:49.126Z,1655129989.126 [mapPatch:PatchMapping:C] Stopped
2022-06-13T14:19:49.126Z,1655129989.126 [mapPatch:PatchMapping:D] Running Loop=1
2022-06-13T14:19:49.436Z,1655129989.436 [NAL9602](INFO): SBD MO Status=0, MOMSN=39961, MT Status=0, MTMSN=0
2022-06-13T14:19:49.436Z,1655129989.436 [NAL9602](INFO): No messages in MT queue
2022-06-13T14:19:49.467Z,1655129989.467 [mapPatch:PatchMapping:D] Stopped
2022-06-13T14:19:49.467Z,1655129989.467 [mapPatch:PatchMapping:E] Running Loop=1
2022-06-13T14:19:49.885Z,1655129989.885 [mapPatch:PatchMapping:E] Stopped
2022-06-13T14:19:49.885Z,1655129989.885 [mapPatch:PatchMapping:F] Running Loop=1
2022-06-13T14:19:50.277Z,1655129990.277 [mapPatch:PatchMapping:F] Stopped
2022-06-13T14:19:50.278Z,1655129990.278 [mapPatch:PatchMapping:G] Running Loop=1
2022-06-13T14:19:50.678Z,1655129990.678 [mapPatch:PatchMapping:G] Stopped
2022-06-13T14:19:50.678Z,1655129990.678 [mapPatch:PatchMapping:H] Running Loop=1
2022-06-13T14:19:51.097Z,1655129991.097 [mapPatch:PatchMapping:H] Stopped
2022-06-13T14:19:51.097Z,1655129991.097 [mapPatch:PatchMapping:I] Running Loop=1
2022-06-13T14:19:51.484Z,1655129991.484 [mapPatch:PatchMapping:OilPatchDetectionZig] Running Loop=1
2022-06-13T14:19:51.484Z,1655129991.484 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:19:51.484Z,1655129991.484 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:19:51.484Z,1655129991.484 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:19:51.502Z,1655129991.502 [mapPatch:PatchMapping:I] Stopped
2022-06-13T14:19:51.503Z,1655129991.503 [mapPatch:PatchMapping:Zig] Running Loop=1
2022-06-13T14:19:51.503Z,1655129991.503 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig
2022-06-13T14:19:51.503Z,1655129991.503 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Running Loop=1
2022-06-13T14:19:51.503Z,1655129991.503 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:19:51.503Z,1655129991.503 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Running Loop=1
2022-06-13T14:19:51.919Z,1655129991.919 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Stopped
2022-06-13T14:19:51.919Z,1655129991.919 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:19:51.919Z,1655129991.919 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Stopped
2022-06-13T14:19:51.919Z,1655129991.919 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Running Loop=1
2022-06-13T14:19:51.919Z,1655129991.919 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:19:51.919Z,1655129991.919 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Running Loop=1
2022-06-13T14:19:52.299Z,1655129992.299 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Stopped
2022-06-13T14:19:52.299Z,1655129992.299 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Running Loop=1
2022-06-13T14:19:52.710Z,1655129992.710 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Stopped
2022-06-13T14:19:52.710Z,1655129992.710 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Running Loop=1
2022-06-13T14:19:53.133Z,1655129993.133 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Stopped
2022-06-13T14:19:53.133Z,1655129993.133 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Running Loop=1
2022-06-13T14:19:53.495Z,1655129993.495 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D](IMPORTANT): Bearing = nan arcdeg 
2022-06-13T14:19:53.495Z,1655129993.495 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Stopped
2022-06-13T14:19:53.495Z,1655129993.495 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Running Loop=1
2022-06-13T14:19:53.496Z,1655129993.496 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:19:53.496Z,1655129993.496 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Running Loop=1
2022-06-13T14:19:53.496Z,1655129993.496 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-13T14:19:53.496Z,1655129993.496 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](CRITICAL): Must specify both distanceDelta and distanceDeltaBearing, or neither
2022-06-13T14:19:53.509Z,1655129993.509 [CommandExec](FAULT): Scheduling is paused
2022-06-13T14:19:53.510Z,1655129993.510 [CBIT](INFO): Critical error at 20220613T141953
2022-06-13T14:19:53.511Z,1655129993.511 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-06-13T14:19:53.957Z,1655129993.957 [MissionManager](INFO): MissionManager is completed.
2022-06-13T14:19:53.957Z,1655129993.957 [MissionManager](INFO): Uninitializing Mission mapPatch
2022-06-13T14:19:53.957Z,1655129993.957 [mapPatch] Stopped
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch](DEBUG): Aggregate::uninitialize mapPatch
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:A.AltitudeEnvelope] Stopped
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:B.DepthEnvelope] Stopped
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:NeedComms] Stopped
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:NeedComms](DEBUG): Aggregate::uninitialize mapPatch:NeedComms
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:NeedComms:B.GoToSurface] Stopped
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-13T14:19:53.962Z,1655129993.962 [mapPatch:NeedComms:D] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:D.OffshoreEnvelope] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:E.WaterDepthEnvelope] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:E.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:F.Pitch] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:G.Buoyancy] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:G.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science](DEBUG): Aggregate::uninitialize mapPatch:Science
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science:B] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science:C] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science:Read_Oil] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science:OceanCurrent] Stopped
2022-06-13T14:19:53.963Z,1655129993.963 [mapPatch:Science:OceanCurrent](DEBUG): Aggregate::uninitialize mapPatch:Science:OceanCurrent
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:Science:OceanCurrent:A.] Stopped
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:Science:PeakDetectOil] Stopped
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectOil
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:I.SetSpeed] Stopped
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:I.SetSpeed](DEBUG): Uninitialize.
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:MissionStartComms] Stopped
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch:MissionStartComms
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:MissionStartComms:MissionStartComms] Stopped
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:MissionStartComms:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch:MissionStartComms:MissionStartComms
2022-06-13T14:19:53.964Z,1655129993.964 [mapPatch:PatchMapping] Stopped
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:J.DepthEnvelope] Stopped
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:K.AltitudeEnvelope] Stopped
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:L.YoYo] Stopped
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:L.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:OilPatchDetectionZig] Stopped
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Stopped
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:19:53.965Z,1655129993.965 [mapPatch:PatchMapping:Zig] Stopped
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Stopped
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Stopped
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Stopped
2022-06-13T14:19:53.970Z,1655129993.970 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-13T14:19:54.350Z,1655129994.350 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-13T14:19:54.350Z,1655129994.350 [DefaultWithUndock] Running Loop=1
2022-06-13T14:19:54.351Z,1655129994.351 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-13T14:19:54.351Z,1655129994.351 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-13T14:19:54.351Z,1655129994.351 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-13T14:19:55.545Z,1655129995.545 [DataOverHttps](INFO): Sending 65 bytes from file Logs/20220613T135553/Courier0016.lzma
2022-06-13T14:19:56.547Z,1655129996.547 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0016.lzma.bak
2022-06-13T14:19:56.548Z,1655129996.548 [DataOverHttps](INFO): SBD MOMSN=1937537
2022-06-13T14:20:20.153Z,1655130020.153 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T14:20:24.600Z,1655130024.600 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-13T14:20:24.600Z,1655130024.600 [DefaultWithUndock:A.Wait] Stopped
2022-06-13T14:20:24.600Z,1655130024.600 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T14:20:24.600Z,1655130024.600 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-13T14:20:24.600Z,1655130024.600 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-13T14:20:24.600Z,1655130024.600 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-13T14:20:24.601Z,1655130024.601 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-13T14:20:24.601Z,1655130024.601 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-13T14:20:24.601Z,1655130024.601 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-13T14:20:24.601Z,1655130024.601 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-13T14:20:25.389Z,1655130025.389 [PowerOnly](INFO): Powering up loadControl
2022-06-13T14:20:27.491Z,1655130027.491 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-13T14:20:27.492Z,1655130027.492 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:27.898Z,1655130027.898 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-13T14:20:28.252Z,1655130028.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:20:28.658Z,1655130028.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:20:29.472Z,1655130029.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142028.97*5D

2022-06-13T14:20:30.304Z,1655130030.304 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:31.883Z,1655130031.883 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:20:33.162Z,1655130033.162 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:33.912Z,1655130033.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:20:34.313Z,1655130034.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:20:35.148Z,1655130035.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142034.63*5B

2022-06-13T14:20:35.990Z,1655130035.990 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:37.558Z,1655130037.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:20:38.795Z,1655130038.795 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:39.556Z,1655130039.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:20:39.962Z,1655130039.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:20:40.788Z,1655130040.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142040.27*58

2022-06-13T14:20:41.593Z,1655130041.593 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:43.203Z,1655130043.203 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:20:44.438Z,1655130044.438 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:45.220Z,1655130045.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:20:45.626Z,1655130045.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:20:46.451Z,1655130046.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142045.94*55

2022-06-13T14:20:47.249Z,1655130047.249 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:48.177Z,1655130048.177 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-13T14:20:48.852Z,1655130048.852 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:20:50.178Z,1655130050.178 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-13T14:20:50.179Z,1655130050.179 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:20:50.492Z,1655130050.492 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:LeaveDock] Stopped
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-13T14:20:50.493Z,1655130050.493 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-13T14:20:50.494Z,1655130050.494 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-13T14:20:50.494Z,1655130050.494 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-13T14:20:50.494Z,1655130050.494 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-13T14:20:50.494Z,1655130050.494 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-13T14:20:50.495Z,1655130050.495 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-13T14:20:50.495Z,1655130050.495 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-13T14:20:50.495Z,1655130050.495 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-13T14:20:50.495Z,1655130050.495 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-13T14:20:50.895Z,1655130050.895 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-13T14:20:50.895Z,1655130050.895 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:20:50.895Z,1655130050.895 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-13T14:20:52.865Z,1655130052.865 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142052.00,A,4133.83801,N,07044.30068,W,0.097,162.31,130622,,,A*7C
2022-06-13T14:20:52.867Z,1655130052.867 [NAL9602](INFO): GPS fix at 20220613T142052: (41.563967, -70.738345)
2022-06-13T14:20:52.880Z,1655130052.880 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-13T14:20:52.880Z,1655130052.880 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-13T14:20:56.810Z,1655130056.810 [DataOverHttps](INFO): Sending 237 bytes from file Logs/20220613T135553/Courier0019.lzma
2022-06-13T14:20:57.813Z,1655130057.813 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0019.lzma.bak
2022-06-13T14:20:57.813Z,1655130057.813 [DataOverHttps](INFO): SBD MOMSN=1937540
2022-06-13T14:21:05.797Z,1655130065.797 [NAL9602](INFO): SBD MO Status=0, MOMSN=39962, MT Status=0, MTMSN=0
2022-06-13T14:21:05.798Z,1655130065.798 [NAL9602](INFO): No messages in MT queue
2022-06-13T14:21:06.864Z,1655130066.864 [DataOverHttps](INFO): Sending 1029 bytes from file Logs/20220613T135553/Express0014.lzma
2022-06-13T14:21:07.877Z,1655130067.877 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0014.lzma.bak
2022-06-13T14:21:07.877Z,1655130067.877 [DataOverHttps](INFO): SBD MOMSN=1937544
2022-06-13T14:21:19.934Z,1655130079.934 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20220613T135553/Express0017.lzma
2022-06-13T14:21:20.936Z,1655130080.936 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0017.lzma.bak
2022-06-13T14:21:20.936Z,1655130080.936 [DataOverHttps](INFO): SBD MOMSN=1937580
2022-06-13T14:21:29.974Z,1655130089.974 [DataOverHttps](INFO): Sending 275 bytes from file Logs/20220613T135553/Express0020.lzma
2022-06-13T14:21:32.142Z,1655130092.142 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0020.lzma.bak
2022-06-13T14:21:32.143Z,1655130092.143 [DataOverHttps](INFO): SBD MOMSN=1937582
2022-06-13T14:21:33.798Z,1655130093.798 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-13T14:21:33.798Z,1655130093.798 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-13T14:21:33.798Z,1655130093.798 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-13T14:21:36.506Z,1655130096.506 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T14:21:56.710Z,1655130116.710 [PowerOnly](INFO): Powering down loadControl
2022-06-13T14:21:57.110Z,1655130117.110 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset. Invalid Command.
2022-06-13T14:21:57.110Z,1655130117.110 [PowerOnly] Hardware Fault, FailCount= 1
2022-06-13T14:21:57.110Z,1655130117.110 [PowerOnly](ERROR): Hardware Fault
2022-06-13T14:21:57.130Z,1655130117.130 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2022-06-13T14:21:57.516Z,1655130117.516 [PowerOnly](INFO): Powering down loadControl
2022-06-13T14:21:58.352Z,1655130118.352 [CBIT](INFO): Clearing failed state for component PowerOnly
2022-06-13T14:21:58.352Z,1655130118.352 [PowerOnly] No Fault, FailCount= 1
2022-06-13T14:21:59.952Z,1655130119.952 [PowerOnly](INFO): Powering down loadControl
2022-06-13T14:24:38.868Z,1655130278.868 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T142437
2022-06-13T14:24:42.886Z,1655130282.886 [DataOverHttps](INFO): Received command: sched asap "load Science/mapPatch.xml;set mapPatch.MissionTimeout 4 h;set mapPatch.MinAltitude 3 m;set mapPatch.MaxDepth 10 m;set mapPatch.CheckNaNTimeout 30 min;set mapPatch.TimePastOffPeakThreshold 30 min;set mapPatch.WpMaxDistance 5000 m" 2wtcg 1 3
2022-06-13T14:24:42.967Z,1655130282.967 [CommandExec](IMPORTANT): got command schedule asap "load Science/mapPatch.xml;set mapPatch.MissionTimeout 4 h;set mapPatch.MinAltitude 3 m;set mapPatch.MaxDepth 10 m;set mapPatch.CheckNaNTimeout 30 min;set mapPatch.TimePastOffPeakThreshold 30 min;set mapPatch.WpMaxDistance 5000 m" 2wtcg 1 3.000000
2022-06-13T14:24:42.967Z,1655130282.967 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=2wtcg
2022-06-13T14:24:42.968Z,1655130282.968 [CommandExec](IMPORTANT): Scheduled #4 (#1 of 3 with id='2wtcg'): "load Science/mapPatch.xml;set mapPatch.MissionTimeout 4 h;set mapPatch.MinAltitude 3 m;set mapPatch.MaxDepth 10 m;set mapPatch.CheckNaNTimeout 30 min;set mapPatch.TimePastOffPeakThreshold 30 min;set mapPatch.WpMaxDistance 5000 m", ASAP
2022-06-13T14:24:43.888Z,1655130283.888 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T142443
2022-06-13T14:24:47.906Z,1655130287.906 [DataOverHttps](INFO): Received command: sched asap "set mapPatch.WpTimeoutBase 5000 s;set mapPatch.TransitYoYoMaxDepth 8 m;set mapPatch.PatchMappingYoYoMaxDepth 8 m;set mapPatch.YoYoMinAltitude 3 m;set mapPatch.PeakShallowBnd 2 m;set mapPatch.PeakDeepBnd 8 m" 2wtcg 2 3
2022-06-13T14:24:47.963Z,1655130287.963 [CommandExec](IMPORTANT): got command schedule asap "set mapPatch.WpTimeoutBase 5000 s;set mapPatch.TransitYoYoMaxDepth 8 m;set mapPatch.PatchMappingYoYoMaxDepth 8 m;set mapPatch.YoYoMinAltitude 3 m;set mapPatch.PeakShallowBnd 2 m;set mapPatch.PeakDeepBnd 8 m" 2wtcg 2 3.000000
2022-06-13T14:24:47.963Z,1655130287.963 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=2wtcg
2022-06-13T14:24:47.964Z,1655130287.964 [CommandExec](IMPORTANT): Scheduled #5 (#2 of 3 with id='2wtcg'): "set mapPatch.WpTimeoutBase 5000 s;set mapPatch.TransitYoYoMaxDepth 8 m;set mapPatch.PatchMappingYoYoMaxDepth 8 m;set mapPatch.YoYoMinAltitude 3 m;set mapPatch.PeakShallowBnd 2 m;set mapPatch.PeakDeepBnd 8 m", ASAP
2022-06-13T14:24:48.908Z,1655130288.908 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T142447
2022-06-13T14:24:52.925Z,1655130292.925 [DataOverHttps](INFO): Received command: sched asap "set mapPatch.WpBearing 330 degree;set mapPatch.OffPeakFraction 10 %;set mapPatch.DepChangeThreshAttitudeFlip 1 m;set mapPatch.TurnAngleBase -120 degree;run" 2wtcg 3 3
2022-06-13T14:24:52.974Z,1655130292.974 [CommandExec](IMPORTANT): got command schedule asap "set mapPatch.WpBearing 330 degree;set mapPatch.OffPeakFraction 10 %;set mapPatch.DepChangeThreshAttitudeFlip 1 m;set mapPatch.TurnAngleBase -120 degree;run" 2wtcg 3 3.000000
2022-06-13T14:24:52.974Z,1655130292.974 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=2wtcg
2022-06-13T14:24:52.975Z,1655130292.975 [CommandExec](IMPORTANT): Scheduled #6 (#3 of 3 with id='2wtcg'): "set mapPatch.WpBearing 330 degree;set mapPatch.OffPeakFraction 10 %;set mapPatch.DepChangeThreshAttitudeFlip 1 m;set mapPatch.TurnAngleBase -120 degree;run", ASAP
2022-06-13T14:24:53.107Z,1655130293.107 [CommandExec](IMPORTANT): got command load ./Missions/Science/mapPatch.xml
2022-06-13T14:24:53.109Z,1655130293.109 [MissionManager](INFO): Loading Mission from file: ./Missions/Science/mapPatch.xml
2022-06-13T14:24:54.361Z,1655130294.361 [MissionManager](INFO): DefineArg mapPatch.MissionTimeout = 12.000000 h
2022-06-13T14:24:54.363Z,1655130294.363 [MissionManager](INFO): DefineArg mapPatch.Speed = 1.000000 m/s
2022-06-13T14:24:54.365Z,1655130294.365 [MissionManager](INFO): DefineArg mapPatch.CommsAtMissionStart = 1 bool
2022-06-13T14:24:54.367Z,1655130294.367 [MissionManager](INFO): DefineArg mapPatch.PeakDetectChl = 0 bool
2022-06-13T14:24:54.368Z,1655130294.368 [MissionManager](INFO): DefineArg mapPatch.PeakDetectSalinity = 0 bool
2022-06-13T14:24:54.370Z,1655130294.370 [MissionManager](INFO): DefineArg mapPatch.PeakDetectOil = 1 bool
2022-06-13T14:24:54.372Z,1655130294.372 [MissionManager](INFO): DefineArg mapPatch.DetectTheTrough = 0 bool
2022-06-13T14:24:54.374Z,1655130294.374 [MissionManager](INFO): DefineArg mapPatch.MinAltitude = 5.000000 m
2022-06-13T14:24:54.376Z,1655130294.376 [MissionManager](INFO): DefineArg mapPatch.MinAltitude = 5.000000 m
2022-06-13T14:24:54.378Z,1655130294.378 [MissionManager](INFO): DefineArg mapPatch.MaxDepth = 50.000000 m
2022-06-13T14:24:54.380Z,1655130294.380 [MissionManager](INFO): DefineArg mapPatch.MinWaterDepth = 10.000000 m
2022-06-13T14:24:54.383Z,1655130294.383 [MissionManager](INFO): DefineArg mapPatch.MinOffshore = 2000.000000 m
2022-06-13T14:24:54.385Z,1655130294.385 [MissionManager](INFO): DefineArg mapPatch.MinDistFromPolygonSides = 200.000000 m
2022-06-13T14:24:54.387Z,1655130294.387 [MissionManager](INFO): DefineArg mapPatch.NeedCommsTimeInTransit = 60.000000 min
2022-06-13T14:24:54.389Z,1655130294.389 [MissionManager](INFO): DefineArg mapPatch.NeedCommsTimePatchMapping = 60.000000 min
2022-06-13T14:24:54.391Z,1655130294.391 [MissionManager](INFO): DefineArg mapPatch.CheckNaNTimeout = 10.000000 min
2022-06-13T14:24:54.393Z,1655130294.393 [MissionManager](INFO): DefineArg mapPatch.TimePastOffPeakThreshold = 4.000000 min
2022-06-13T14:24:54.396Z,1655130294.396 [MissionManager](INFO): DefineArg mapPatch.WaitAfterHittingWall = 5.000000 min
2022-06-13T14:24:54.398Z,1655130294.398 [MissionManager](INFO): DefineArg mapPatch.MaxWaitAfterHittingWall = 20.000000 min
2022-06-13T14:24:54.400Z,1655130294.400 [MissionManager](INFO): DefineArg mapPatch.LatPatchMappingStart = nan arcdeg
2022-06-13T14:24:54.403Z,1655130294.403 [MissionManager](INFO): DefineArg mapPatch.LonPatchMappingStart = nan arcdeg
2022-06-13T14:24:54.405Z,1655130294.405 [MissionManager](INFO): DefineArg mapPatch.Repeat = 20.000000 count
2022-06-13T14:24:54.471Z,1655130294.471 [MissionManager](INFO): DefineArg mapPatch.WpMaxDistance = 4000.000000 m
2022-06-13T14:24:54.473Z,1655130294.473 [MissionManager](INFO): DefineArg mapPatch.WpTimeoutBase = 4000.000000 s
2022-06-13T14:24:54.489Z,1655130294.489 [MissionManager](INFO): DefineArg mapPatch.TransitYoYoMinDepth = 2.000000 m
2022-06-13T14:24:54.513Z,1655130294.513 [MissionManager](INFO): DefineArg mapPatch.TransitYoYoMaxDepth = 30.000000 m
2022-06-13T14:24:54.550Z,1655130294.550 [MissionManager](INFO): DefineArg mapPatch.PatchMappingYoYoMinDepth = 2.000000 m
2022-06-13T14:24:54.552Z,1655130294.552 [MissionManager](INFO): DefineArg mapPatch.PatchMappingYoYoMaxDepth = 10.000000 m
2022-06-13T14:24:54.563Z,1655130294.563 [MissionManager](INFO): DefineArg mapPatch.YoYoMinAltitude = 9.000000 m
2022-06-13T14:24:54.565Z,1655130294.565 [MissionManager](INFO): DefineArg mapPatch.YoYoUpPitch = 20.000000 arcdeg
2022-06-13T14:24:54.580Z,1655130294.580 [MissionManager](INFO): DefineArg mapPatch.YoYoDownPitch = -20.000000 arcdeg
2022-06-13T14:24:54.588Z,1655130294.588 [MissionManager](INFO): DefineArg mapPatch.PeakShallowBnd = 5.000000 m
2022-06-13T14:24:54.610Z,1655130294.610 [MissionManager](INFO): DefineArg mapPatch.PeakDeepBnd = 10.000000 m
2022-06-13T14:24:54.612Z,1655130294.612 [MissionManager](INFO): DefineArg mapPatch.BeginThresholdChl = 1.000000 ug/l
2022-06-13T14:24:54.619Z,1655130294.619 [MissionManager](INFO): DefineArg mapPatch.BeginThresholdSalt = 33.000000 psu
2022-06-13T14:24:54.621Z,1655130294.621 [MissionManager](INFO): DefineArg mapPatch.BeginThresholdOil = 0.100000 kg/m3
2022-06-13T14:24:54.639Z,1655130294.639 [MissionManager](INFO): DefineArg mapPatch.WpBearing = 210.000000 arcdeg
2022-06-13T14:24:54.641Z,1655130294.641 [MissionManager](INFO): DefineArg mapPatch.OffPeakFraction = 90.000000 %
2022-06-13T14:24:54.656Z,1655130294.656 [MissionManager](INFO): DefineArg mapPatch.DetectionTimeout = 30.000000 min
2022-06-13T14:24:54.674Z,1655130294.674 [MissionManager](INFO): DefineArg mapPatch.TimeWindowPeakRpt = nan min
2022-06-13T14:24:54.676Z,1655130294.676 [MissionManager](INFO): DefineArg mapPatch.LowPassWindowLen = 20.000000 count
2022-06-13T14:24:54.681Z,1655130294.681 [MissionManager](INFO): DefineArg mapPatch.MedianFilterLength = 5.000000 count
2022-06-13T14:24:54.696Z,1655130294.696 [MissionManager](INFO): DefineArg mapPatch.NumOfProfilesSlidingwindow = 50.000000 count
2022-06-13T14:24:54.722Z,1655130294.722 [MissionManager](INFO): DefineArg mapPatch.FilterWidthHorizontal = 4.000000 count
2022-06-13T14:24:54.724Z,1655130294.724 [MissionManager](INFO): DefineArg mapPatch.DepChangeThreshAttitudeFlip = 2.000000 m
2022-06-13T14:24:54.726Z,1655130294.726 [MissionManager](INFO): DefineArg mapPatch.WaterFrame = 1 bool
2022-06-13T14:24:54.728Z,1655130294.728 [MissionManager](INFO): DefineArg mapPatch.PatchMode = 0 bool
2022-06-13T14:24:54.760Z,1655130294.760 [MissionManager](INFO): DefineArg mapPatch.TurnAngleBase = 120.000000 arcdeg
2022-06-13T14:24:54.762Z,1655130294.762 [MissionManager](INFO): DefineArg mapPatch.Reverse = 180.000000 arcdeg
2022-06-13T14:24:54.764Z,1655130294.764 [MissionManager](INFO): DefineArg mapPatch.TwoPi = 360.000000 arcdeg
2022-06-13T14:24:54.767Z,1655130294.767 [MissionManager](INFO): DefineArg mapPatch.MassDefault = -0.229073 cm
2022-06-13T14:24:54.769Z,1655130294.769 [MissionManager](INFO): DefineArg mapPatch.BuoyancyNeutral = 386.368927 cc
2022-06-13T14:24:54.794Z,1655130294.794 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundNotContinuedFlightLowEnabled = 1 bool
2022-06-13T14:24:54.796Z,1655130294.796 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundNotContinuedFlightHighEnabled = 1 bool
2022-06-13T14:24:54.819Z,1655130294.819 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundContinuedFlightLowEnabled = 1 bool
2022-06-13T14:24:54.821Z,1655130294.821 [MissionManager](INFO): DefineOutput mapPatch.PeakFoundContinuedFlightHighEnabled = 1 bool
2022-06-13T14:24:54.823Z,1655130294.823 [MissionManager](INFO): DefineOutput mapPatch.LegNotContinuedFlightEnabled = 1 bool
2022-06-13T14:24:54.825Z,1655130294.825 [MissionManager](INFO): DefineOutput mapPatch.LegContinuedFlightLowEnabled = 1 bool
2022-06-13T14:24:54.827Z,1655130294.827 [MissionManager](INFO): DefineOutput mapPatch.LegContinuedFlightHighEnabled = 1 bool
2022-06-13T14:24:54.829Z,1655130294.829 [MissionManager](INFO): DefineOutput mapPatch.PatchDetectOn = 1 bool
2022-06-13T14:24:54.863Z,1655130294.863 [MissionManager](INFO): DefineOutput mapPatch.ZigDone = 0 bool
2022-06-13T14:24:54.865Z,1655130294.865 [MissionManager](INFO): DefineOutput mapPatch.LegContinuedFlight = 0 bool
2022-06-13T14:24:54.867Z,1655130294.867 [MissionManager](INFO): DefineOutput mapPatch.MissionStartCompleted = 0 bool
2022-06-13T14:24:54.872Z,1655130294.872 [MissionManager](INFO): DefineOutput mapPatch.Turn = nan arcdeg
2022-06-13T14:24:54.875Z,1655130294.875 [MissionManager](INFO): DefineOutput mapPatch.WpTimeout = nan s
2022-06-13T14:24:54.877Z,1655130294.877 [MissionManager](INFO): DefineOutput mapPatch.SideLastHit = nan count
2022-06-13T14:24:54.879Z,1655130294.879 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakChl = nan ug/l
2022-06-13T14:24:54.881Z,1655130294.881 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakChlPriorToContinuedFlight = nan ug/l
2022-06-13T14:24:54.905Z,1655130294.905 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakSalinity = nan psu
2022-06-13T14:24:54.955Z,1655130294.955 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakSalinityPriorToContinuedFlight = nan psu
2022-06-13T14:24:54.962Z,1655130294.962 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakOil = nan kg/m3
2022-06-13T14:24:54.964Z,1655130294.964 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakOilPriorToContinuedFlight = nan kg/m3
2022-06-13T14:24:54.988Z,1655130294.988 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakDepth = nan m
2022-06-13T14:24:54.995Z,1655130294.995 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakLatitude = nan arcdeg
2022-06-13T14:24:55.034Z,1655130295.034 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakLongitude = nan arcdeg
2022-06-13T14:24:55.066Z,1655130295.066 [MissionManager](INFO): DefineOutput mapPatch.PatchPeakDistance = 0.000000 m
2022-06-13T14:24:55.068Z,1655130295.068 [MissionManager](INFO): DefineOutput mapPatch.StoppedForNaNPatchPeak = 0 bool
2022-06-13T14:24:55.074Z,1655130295.074 [MissionManager](INFO): DefineOutput mapPatch.StoppedForBeingOutsideOfPolygon = 0 bool
2022-06-13T14:24:55.077Z,1655130295.077 [MissionManager](INFO): DefineOutput mapPatch.ElapsedSinceStart = 0.000000 h
2022-06-13T14:24:55.091Z,1655130295.091 [MissionManager](INFO): DefineOutput mapPatch.ElapsedSinceLastHittingWall = 0.000000 h
2022-06-13T14:24:55.093Z,1655130295.093 [MissionManager](INFO): DefineOutput mapPatch.ElapsedSinceEndOfTransit = 0.000000 h
2022-06-13T14:24:55.099Z,1655130295.099 [mapPatch:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-13T14:24:55.116Z,1655130295.116 [mapPatch:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-13T14:24:55.138Z,1655130295.138 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.xml
2022-06-13T14:24:55.263Z,1655130295.263 [MissionManager](INFO): DefineArg mapPatch:NeedComms.DiveInterval = 3.000000 h
2022-06-13T14:24:55.265Z,1655130295.265 [MissionManager](INFO): DefineArg mapPatch:NeedComms.WaitForPitchUp = 10.000000 min
2022-06-13T14:24:55.280Z,1655130295.280 [MissionManager](INFO): DefineArg mapPatch:NeedComms.SurfacePitch = 20.000000 arcdeg
2022-06-13T14:24:55.294Z,1655130295.294 [MissionManager](INFO): DefineArg mapPatch:NeedComms.SurfaceDepthRate = nan m/s
2022-06-13T14:24:55.296Z,1655130295.296 [MissionManager](INFO): DefineArg mapPatch:NeedComms.SurfaceSpeed = 1.000000 m/s
2022-06-13T14:24:55.322Z,1655130295.322 [MissionManager](INFO): DefineArg mapPatch:NeedComms.GPSTimeout = 7.000000 min
2022-06-13T14:24:55.325Z,1655130295.325 [MissionManager](INFO): DefineArg mapPatch:NeedComms.CommsTimeout = 30.000000 min
2022-06-13T14:24:55.408Z,1655130295.408 [mapPatch:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2022-06-13T14:24:55.464Z,1655130295.464 [mapPatch:D.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2022-06-13T14:24:55.469Z,1655130295.469 [mapPatch:E.WaterDepthEnvelope](DEBUG): Construct WaterDepthEnvelope.
2022-06-13T14:24:55.496Z,1655130295.496 [mapPatch:F.Pitch](DEBUG): Construct.
2022-06-13T14:24:55.514Z,1655130295.514 [mapPatch:G.Buoyancy](DEBUG): Construct Buoyancy.
2022-06-13T14:24:55.516Z,1655130295.516 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.xml
2022-06-13T14:24:56.403Z,1655130296.403 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectChlActive = 0 bool
2022-06-13T14:24:56.405Z,1655130296.405 [MissionManager](INFO): DefineArg mapPatch:Science.TimeWindowPeakReport = nan min
2022-06-13T14:24:56.411Z,1655130296.411 [MissionManager](INFO): DefineArg mapPatch:Science.HighestChlPeakReportActive = 0 bool
2022-06-13T14:24:56.413Z,1655130296.413 [MissionManager](INFO): DefineArg mapPatch:Science.HighestSaltPeakReportActive = 0 bool
2022-06-13T14:24:56.419Z,1655130296.419 [MissionManager](INFO): DefineArg mapPatch:Science.HighestOilPeakReportActive = 0 bool
2022-06-13T14:24:56.421Z,1655130296.421 [MissionManager](INFO): DefineArg mapPatch:Science.PatchTracking = 0 bool
2022-06-13T14:24:56.428Z,1655130296.428 [MissionManager](INFO): DefineArg mapPatch:Science.DetectTrough = 0 bool
2022-06-13T14:24:56.432Z,1655130296.432 [MissionManager](INFO): DefineArg mapPatch:Science.FilterWidthHorizontal = 3.000000 count
2022-06-13T14:24:56.444Z,1655130296.444 [MissionManager](INFO): DefineArg mapPatch:Science.NumProfilesSlidingwindow = 100.000000 count
2022-06-13T14:24:56.448Z,1655130296.448 [MissionManager](INFO): DefineArg mapPatch:Science.OffPeakFractionHorizontal = 80.000000 %
2022-06-13T14:24:56.459Z,1655130296.459 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectNO3Active = 0 bool
2022-06-13T14:24:56.461Z,1655130296.461 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectOilActive = 0 bool
2022-06-13T14:24:56.467Z,1655130296.467 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectFDOMActive = 0 bool
2022-06-13T14:24:56.469Z,1655130296.469 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDetectSalinityActive = 0 bool
2022-06-13T14:24:56.471Z,1655130296.471 [MissionManager](INFO): DefineArg mapPatch:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2022-06-13T14:24:56.473Z,1655130296.473 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledAanderaaO2 = 0 bool
2022-06-13T14:24:56.484Z,1655130296.484 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledNeilBrown = 0 bool
2022-06-13T14:24:56.490Z,1655130296.490 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledSeabird = 1 bool
2022-06-13T14:24:56.493Z,1655130296.493 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledWetLabsBB2FL = 0 bool
2022-06-13T14:24:56.499Z,1655130296.499 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2022-06-13T14:24:56.516Z,1655130296.516 [MissionManager](INFO): DefineArg mapPatch:Science.EnabledWetLabsUBAT = 0 bool
2022-06-13T14:24:56.583Z,1655130296.583 [MissionManager](INFO): DefineArg mapPatch:Science.LowPassWindowLength = 20.000000 count
2022-06-13T14:24:56.618Z,1655130296.618 [MissionManager](INFO): DefineArg mapPatch:Science.MedianFilterLen = 5.000000 count
2022-06-13T14:24:56.620Z,1655130296.620 [MissionManager](INFO): DefineArg mapPatch:Science.PeakShallowBound = nan m
2022-06-13T14:24:56.634Z,1655130296.634 [MissionManager](INFO): DefineArg mapPatch:Science.PeakDeepBound = nan m
2022-06-13T14:24:56.637Z,1655130296.637 [MissionManager](INFO): DefineArg mapPatch:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2022-06-13T14:24:56.652Z,1655130296.652 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChl = 0.000000 ug/l
2022-06-13T14:24:56.666Z,1655130296.666 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlDepth = 0.000000 m
2022-06-13T14:24:56.669Z,1655130296.669 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlTemperature = 0.000000 degC
2022-06-13T14:24:56.691Z,1655130296.691 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlLatitude = nan arcdeg
2022-06-13T14:24:56.693Z,1655130296.693 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakChlLongitude = nan arcdeg
2022-06-13T14:24:56.708Z,1655130296.708 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3 = 0.000000 umol/l
2022-06-13T14:24:56.718Z,1655130296.718 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3Depth = 0.000000 m
2022-06-13T14:24:56.720Z,1655130296.720 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3Latitude = nan arcdeg
2022-06-13T14:24:56.727Z,1655130296.727 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakNO3Longitude = nan arcdeg
2022-06-13T14:24:56.742Z,1655130296.742 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOil = 0.000000 kg/m3
2022-06-13T14:24:56.744Z,1655130296.744 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOilDepth = 0.000000 m
2022-06-13T14:24:56.773Z,1655130296.773 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOilLatitude = nan arcdeg
2022-06-13T14:24:56.779Z,1655130296.779 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakOilLongitude = nan arcdeg
2022-06-13T14:24:56.794Z,1655130296.794 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOM = 0.000000 ppb
2022-06-13T14:24:56.796Z,1655130296.796 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMDepth = 0.000000 m
2022-06-13T14:24:56.803Z,1655130296.803 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMTemperature = nan degC
2022-06-13T14:24:56.816Z,1655130296.816 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMLatitude = nan arcdeg
2022-06-13T14:24:56.831Z,1655130296.831 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakFDOMLongitude = nan arcdeg
2022-06-13T14:24:56.833Z,1655130296.833 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchFDOMDistance = nan m
2022-06-13T14:24:56.843Z,1655130296.843 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSalt = 0.000000 psu
2022-06-13T14:24:56.850Z,1655130296.850 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltDepth = 0.000000 m
2022-06-13T14:24:56.852Z,1655130296.852 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltTemperature = 0.000000 degC
2022-06-13T14:24:56.867Z,1655130296.867 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltLatitude = nan arcdeg
2022-06-13T14:24:56.869Z,1655130296.869 [MissionManager](INFO): DefineOutput mapPatch:Science.PeakSaltLongitude = nan arcdeg
2022-06-13T14:24:56.887Z,1655130296.887 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChl = 0.000000 ug/l
2022-06-13T14:24:56.902Z,1655130296.902 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlDepth = 0.000000 m
2022-06-13T14:24:56.904Z,1655130296.904 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlLatitude = nan arcdeg
2022-06-13T14:24:56.911Z,1655130296.911 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlLongitude = nan arcdeg
2022-06-13T14:24:56.913Z,1655130296.913 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchChlDistance = nan m
2022-06-13T14:24:56.925Z,1655130296.925 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSalt = 0.000000 psu
2022-06-13T14:24:56.941Z,1655130296.941 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltDepth = 0.000000 m
2022-06-13T14:24:56.971Z,1655130296.971 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltLatitude = nan arcdeg
2022-06-13T14:24:56.973Z,1655130296.973 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltLongitude = nan arcdeg
2022-06-13T14:24:56.988Z,1655130296.988 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchSaltDistance = nan m
2022-06-13T14:24:56.996Z,1655130296.996 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOil = 0.000000 psu
2022-06-13T14:24:57.026Z,1655130297.026 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilDepth = 0.000000 m
2022-06-13T14:24:57.029Z,1655130297.029 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilLatitude = nan arcdeg
2022-06-13T14:24:57.048Z,1655130297.048 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilLongitude = nan arcdeg
2022-06-13T14:24:57.055Z,1655130297.055 [MissionManager](INFO): DefineOutput mapPatch:Science.PatchOilDistance = nan m
2022-06-13T14:24:57.160Z,1655130297.160 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:24:57.191Z,1655130297.191 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:24:57.268Z,1655130297.268 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:24:57.313Z,1655130297.313 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:24:57.395Z,1655130297.395 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:24:57.451Z,1655130297.451 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:24:57.485Z,1655130297.485 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2022-06-13T14:24:57.549Z,1655130297.549 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:24:57.568Z,1655130297.568 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDetectChlActive = reader:mapPatch.PeakDetectChl
2022-06-13T14:24:57.586Z,1655130297.586 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDetectSalinityActive = reader:mapPatch.PeakDetectSalinity
2022-06-13T14:24:57.587Z,1655130297.587 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDetectOilActive = reader:mapPatch.PeakDetectOil
2022-06-13T14:24:57.589Z,1655130297.589 [MissionManager](INFO): RedefineArg mapPatch:Science.DetectTrough = reader:mapPatch.DetectTheTrough
2022-06-13T14:24:57.606Z,1655130297.606 [MissionManager](INFO): RedefineArg mapPatch:Science.TimeWindowPeakReport = reader:mapPatch.TimeWindowPeakRpt
2022-06-13T14:24:57.608Z,1655130297.608 [MissionManager](INFO): RedefineArg mapPatch:Science.LowPassWindowLength = reader:mapPatch.LowPassWindowLen
2022-06-13T14:24:57.609Z,1655130297.609 [MissionManager](INFO): RedefineArg mapPatch:Science.MedianFilterLen = reader:mapPatch.MedianFilterLength
2022-06-13T14:24:57.627Z,1655130297.627 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakShallowBound = reader:mapPatch.PeakShallowBnd
2022-06-13T14:24:57.628Z,1655130297.628 [MissionManager](INFO): RedefineArg mapPatch:Science.PeakDeepBound = reader:mapPatch.PeakDeepBnd
2022-06-13T14:24:57.634Z,1655130297.634 [MissionManager](INFO): RedefineArg mapPatch:Science.DepChangeThreshForAttitudeFlip = reader:mapPatch.DepChangeThreshAttitudeFlip
2022-06-13T14:24:57.635Z,1655130297.635 [mapPatch:I.SetSpeed](DEBUG): Construct.
2022-06-13T14:24:58.090Z,1655130298.090 [mapPatch:Wait:B.Wait](DEBUG): Construct Wait.
2022-06-13T14:24:58.110Z,1655130298.110 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-13T14:24:58.117Z,1655130298.117 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-13T14:24:58.123Z,1655130298.123 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Construct YoYo.
2022-06-13T14:24:58.129Z,1655130298.129 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Construct Waypoint.
2022-06-13T14:24:58.153Z,1655130298.153 [mapPatch:PatchPeakIsNaN:B.Execute](DEBUG): Construct Execute.
2022-06-13T14:24:58.229Z,1655130298.229 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2022-06-13T14:24:58.255Z,1655130298.255 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2022-06-13T14:24:58.265Z,1655130298.265 [mapPatch:PatchMapping:L.YoYo](DEBUG): Construct YoYo.
2022-06-13T14:24:58.273Z,1655130298.273 [mapPatch:PatchMapping:OutsideOfPolygon:B.Execute](DEBUG): Construct Execute.
2022-06-13T14:24:58.313Z,1655130298.313 [mapPatch:PatchMapping:ChlPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:24:58.405Z,1655130298.405 [mapPatch:PatchMapping:SalinityPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:24:58.467Z,1655130298.467 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2022-06-13T14:24:58.658Z,1655130298.658 [mapPatch:PatchMapping:Zig:LegContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-13T14:24:58.697Z,1655130298.697 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Construct Waypoint.
2022-06-13T14:24:58.869Z,1655130298.869 [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: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/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">

    <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>12</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>5</Value></DefineArg>

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>50</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>60</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>60</Value></DefineArg>

    <DefineArg Name="CheckNaNTimeout"><Description>
      If the patch peak value is NaN by this time, stop mission.
    </Description><Units:minute/><Value>10</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>4</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>30</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>10</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>9</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>5</Value></DefineArg>

    <DefineArg Name="PeakDeepBnd"><Description>
        Deep depth bound for detecting peak on each descent or ascent profile.
    </Description><Units:meter/><Value>10</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>90</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="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>2.0</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="MissionStartCompleted"><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>

<!-- 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="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>

    <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="PatchPeakSalinity"/><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="MissionStartComms">

          <Sequence/>

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

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

          <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>

          <Assign><Sequence/><Arg Name="MissionStartCompleted"/><True/></Assign>	  
	  
    </Aggregate>

    <Aggregate Id="MissionStartNoComms">

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

          <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>

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

2022-06-13T14:24:58.870Z,1655130298.870 [CommandExec](IMPORTANT): Loaded ./Missions/Science/mapPatch.xml
2022-06-13T14:25:12.479Z,1655130312.479 [CommandExec](IMPORTANT): got command set mapPatch.MissionTimeout 4 hour
2022-06-13T14:25:12.479Z,1655130312.479 [CommandExec](IMPORTANT): got command set mapPatch.MinAltitude 3 meter
2022-06-13T14:25:12.480Z,1655130312.480 [CommandExec](IMPORTANT): got command set mapPatch.MaxDepth 10 meter
2022-06-13T14:25:12.481Z,1655130312.481 [CommandExec](IMPORTANT): got command set mapPatch.CheckNaNTimeout 30 minute
2022-06-13T14:25:12.481Z,1655130312.481 [CommandExec](IMPORTANT): got command set mapPatch.TimePastOffPeakThreshold 30 minute
2022-06-13T14:25:12.482Z,1655130312.482 [CommandExec](IMPORTANT): got command set mapPatch.WpMaxDistance 5000 meter
2022-06-13T14:25:27.293Z,1655130327.293 [CommandExec](IMPORTANT): got command set mapPatch.WpTimeoutBase 5000 second
2022-06-13T14:25:27.293Z,1655130327.293 [CommandExec](IMPORTANT): got command set mapPatch.TransitYoYoMaxDepth 8 meter
2022-06-13T14:25:27.302Z,1655130327.302 [CommandExec](IMPORTANT): got command set mapPatch.PatchMappingYoYoMaxDepth 8 meter
2022-06-13T14:25:27.303Z,1655130327.303 [CommandExec](IMPORTANT): got command set mapPatch.YoYoMinAltitude 3 meter
2022-06-13T14:25:27.304Z,1655130327.304 [CommandExec](IMPORTANT): got command set mapPatch.PeakShallowBnd 2 meter
2022-06-13T14:25:27.304Z,1655130327.304 [CommandExec](IMPORTANT): got command set mapPatch.PeakDeepBnd 8 meter
2022-06-13T14:25:40.995Z,1655130340.995 [CommandExec](IMPORTANT): got command set mapPatch.WpBearing 330 degree
2022-06-13T14:25:40.995Z,1655130340.995 [CommandExec](IMPORTANT): got command set mapPatch.OffPeakFraction 10 percent
2022-06-13T14:25:40.996Z,1655130340.996 [CommandExec](IMPORTANT): got command set mapPatch.DepChangeThreshAttitudeFlip 1 meter
2022-06-13T14:25:40.997Z,1655130340.997 [CommandExec](IMPORTANT): got command set mapPatch.TurnAngleBase -120 degree
2022-06-13T14:25:40.997Z,1655130340.997 [CommandExec](IMPORTANT): got command run
2022-06-13T14:25:40.999Z,1655130340.999 [CommandExec](IMPORTANT): Running 
2022-06-13T14:25:41.217Z,1655130341.217 [DefaultWithUndock] Stopped
2022-06-13T14:25:41.217Z,1655130341.217 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2022-06-13T14:25:41.217Z,1655130341.217 [DefaultWithUndock:SurfaceDefault] Stopped
2022-06-13T14:25:41.217Z,1655130341.217 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2022-06-13T14:25:41.222Z,1655130341.222 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2022-06-13T14:25:41.222Z,1655130341.222 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-13T14:25:41.222Z,1655130341.222 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2022-06-13T14:25:41.222Z,1655130341.222 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:25:41.222Z,1655130341.222 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2022-06-13T14:25:41.222Z,1655130341.222 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T14:25:41.222Z,1655130341.222 [MissionManager](IMPORTANT): Started mission mapPatch
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch] Running Loop=1
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch](DEBUG): Aggregate::initialize mapPatch
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:A.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:B.DepthEnvelope] Running Loop=1
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:D.OffshoreEnvelope] Running Loop=1
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:D.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2022-06-13T14:25:41.223Z,1655130341.223 [mapPatch:E.WaterDepthEnvelope] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:E.WaterDepthEnvelope](DEBUG): Initialize WaterDepthEnvelopeComponent.
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:F.Pitch] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:F.Pitch](DEBUG): Initialize.
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:G.Buoyancy] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:G.Buoyancy](DEBUG): Initialize Buoyancy Component.
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science](DEBUG): Aggregate::initialize mapPatch:Science
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science:A] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science:B] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science:C] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science:D] Running Loop=1
2022-06-13T14:25:41.224Z,1655130341.224 [mapPatch:Science:E] Running Loop=1
2022-06-13T14:25:41.225Z,1655130341.225 [mapPatch:Science:F] Running Loop=1
2022-06-13T14:25:41.225Z,1655130341.225 [mapPatch:Science:Read_Oil] Running Loop=1
2022-06-13T14:25:41.225Z,1655130341.225 [mapPatch:Science:PeakDetectChl] Running Loop=1
2022-06-13T14:25:41.225Z,1655130341.225 [mapPatch:Science:PeakDetectChl](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectChl
2022-06-13T14:25:41.225Z,1655130341.225 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:25:41.225Z,1655130341.225 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:25:41.243Z,1655130341.243 [mapPatch:Science:HighestChlPeakReport] Running Loop=1
2022-06-13T14:25:41.243Z,1655130341.243 [mapPatch:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize mapPatch:Science:HighestChlPeakReport
2022-06-13T14:25:41.243Z,1655130341.243 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:25:41.243Z,1655130341.243 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:25:41.243Z,1655130341.243 [mapPatch:Science:PeakDetectNO3] Running Loop=1
2022-06-13T14:25:41.243Z,1655130341.243 [mapPatch:Science:PeakDetectNO3](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectNO3
2022-06-13T14:25:41.244Z,1655130341.244 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:25:41.244Z,1655130341.244 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:25:41.245Z,1655130341.245 [mapPatch:Science:PeakDetectOil] Running Loop=1
2022-06-13T14:25:41.245Z,1655130341.245 [mapPatch:Science:PeakDetectOil](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectOil
2022-06-13T14:25:41.245Z,1655130341.245 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:25:41.245Z,1655130341.245 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:25:41.246Z,1655130341.246 [mapPatch:Science:HighestOilPeakReport] Running Loop=1
2022-06-13T14:25:41.246Z,1655130341.246 [mapPatch:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize mapPatch:Science:HighestOilPeakReport
2022-06-13T14:25:41.247Z,1655130341.247 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:25:41.247Z,1655130341.247 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:25:41.247Z,1655130341.247 [mapPatch:Science:PeakDetectFDOM] Running Loop=1
2022-06-13T14:25:41.247Z,1655130341.247 [mapPatch:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectFDOM
2022-06-13T14:25:41.247Z,1655130341.247 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:25:41.247Z,1655130341.247 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:25:41.248Z,1655130341.248 [mapPatch:Science:PeakDetectSalinity] Running Loop=1
2022-06-13T14:25:41.248Z,1655130341.248 [mapPatch:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize mapPatch:Science:PeakDetectSalinity
2022-06-13T14:25:41.249Z,1655130341.249 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2022-06-13T14:25:41.249Z,1655130341.249 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2022-06-13T14:25:41.262Z,1655130341.262 [mapPatch:Science:HighestSaltPeakReport] Running Loop=1
2022-06-13T14:25:41.262Z,1655130341.262 [mapPatch:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize mapPatch:Science:HighestSaltPeakReport
2022-06-13T14:25:41.262Z,1655130341.262 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:25:41.262Z,1655130341.262 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:25:41.263Z,1655130341.263 [mapPatch:Science:OceanCurrent] Running Loop=1
2022-06-13T14:25:41.263Z,1655130341.263 [mapPatch:Science:OceanCurrent](DEBUG): Aggregate::initialize mapPatch:Science:OceanCurrent
2022-06-13T14:25:41.263Z,1655130341.263 [mapPatch:Science:OceanCurrent:A.] Running Loop=1
2022-06-13T14:25:41.263Z,1655130341.263 [mapPatch:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2022-06-13T14:25:41.263Z,1655130341.263 [mapPatch:I.SetSpeed] Running Loop=1
2022-06-13T14:25:41.263Z,1655130341.263 [mapPatch:I.SetSpeed](DEBUG): Initialize.
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation] Running Loop=1
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation](DEBUG): Aggregate::initialize mapPatch:TransitToPatchMappingStartLocation
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-13T14:25:41.264Z,1655130341.264 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-13T14:25:41.265Z,1655130341.265 [mapPatch:TransitToPatchMappingStartLocation:A] Running Loop=1
2022-06-13T14:25:41.271Z,1655130341.271 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo] Running Loop=1
2022-06-13T14:25:41.271Z,1655130341.271 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:41.271Z,1655130341.271 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope] Running Loop=1
2022-06-13T14:25:41.272Z,1655130341.272 [mapPatch:TransitToPatchMappingStartLocation:A] Stopped
2022-06-13T14:25:41.272Z,1655130341.272 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint] Running Loop=1
2022-06-13T14:25:41.273Z,1655130341.273 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-13T14:25:41.273Z,1655130341.273 [mapPatch:MissionStartComms] Running Loop=1
2022-06-13T14:25:41.273Z,1655130341.273 [mapPatch:MissionStartComms](DEBUG): Aggregate::initialize mapPatch:MissionStartComms
2022-06-13T14:25:41.286Z,1655130341.286 [mapPatch:MissionStartComms:MissionStartComms] Running Loop=1
2022-06-13T14:25:41.286Z,1655130341.286 [mapPatch:MissionStartComms:MissionStartComms](DEBUG): Aggregate::initialize mapPatch:MissionStartComms:MissionStartComms
2022-06-13T14:25:41.286Z,1655130341.286 [mapPatch:I.SetSpeed] Running Loop=1
2022-06-13T14:25:41.286Z,1655130341.286 [mapPatch:Science] Running Loop=1
2022-06-13T14:25:41.289Z,1655130341.289 [mapPatch:Science:HighestSaltPeakReport] Stopped
2022-06-13T14:25:41.289Z,1655130341.289 [mapPatch:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize mapPatch:Science:HighestSaltPeakReport
2022-06-13T14:25:41.289Z,1655130341.289 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-13T14:25:41.289Z,1655130341.289 [mapPatch:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:25:41.289Z,1655130341.289 [mapPatch:Science:PeakDetectSalinity] Stopped
2022-06-13T14:25:41.289Z,1655130341.289 [mapPatch:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectSalinity
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:PeakDetectFDOM] Stopped
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectFDOM
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:HighestOilPeakReport] Stopped
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize mapPatch:Science:HighestOilPeakReport
2022-06-13T14:25:41.294Z,1655130341.294 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:PeakDetectOil] Running Loop=1
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:PeakDetectNO3] Stopped
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectNO3
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:HighestChlPeakReport] Stopped
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize mapPatch:Science:HighestChlPeakReport
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:25:41.295Z,1655130341.295 [mapPatch:Science:PeakDetectChl] Stopped
2022-06-13T14:25:41.296Z,1655130341.296 [mapPatch:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectChl
2022-06-13T14:25:41.296Z,1655130341.296 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2022-06-13T14:25:41.296Z,1655130341.296 [mapPatch:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:25:41.296Z,1655130341.296 [mapPatch:Science:OceanCurrent:A.] Running Loop=1
2022-06-13T14:25:41.297Z,1655130341.297 [mapPatch:Science:Read_Oil] Running Loop=1
2022-06-13T14:25:41.297Z,1655130341.297 [mapPatch:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2022-06-13T14:25:41.297Z,1655130341.297 [mapPatch:Science:F] Stopped
2022-06-13T14:25:41.310Z,1655130341.310 [mapPatch:Science:E] Stopped
2022-06-13T14:25:41.310Z,1655130341.310 [mapPatch:Science:D] Stopped
2022-06-13T14:25:41.310Z,1655130341.310 [mapPatch:Science:C] Running Loop=1
2022-06-13T14:25:41.310Z,1655130341.310 [mapPatch:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2022-06-13T14:25:41.311Z,1655130341.311 [mapPatch:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2022-06-13T14:25:41.311Z,1655130341.311 [mapPatch:Science:B] Running Loop=1
2022-06-13T14:25:41.311Z,1655130341.311 [mapPatch:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2022-06-13T14:25:41.312Z,1655130341.312 [mapPatch:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2022-06-13T14:25:41.312Z,1655130341.312 [mapPatch:Science:A] Stopped
2022-06-13T14:25:41.312Z,1655130341.312 [mapPatch:G.Buoyancy] Running Loop=1
2022-06-13T14:25:41.312Z,1655130341.312 [mapPatch:F.Pitch] Running Loop=1
2022-06-13T14:25:41.313Z,1655130341.313 [mapPatch:E.WaterDepthEnvelope] Running Loop=1
2022-06-13T14:25:41.313Z,1655130341.313 [mapPatch:D.OffshoreEnvelope] Running Loop=1
2022-06-13T14:25:41.313Z,1655130341.313 [mapPatch:B.DepthEnvelope] Running Loop=1
2022-06-13T14:25:41.313Z,1655130341.313 [mapPatch:A.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:41.575Z,1655130341.575 [mapPatch:NeedComms] Running Loop=1
2022-06-13T14:25:41.575Z,1655130341.575 [mapPatch:NeedComms](DEBUG): Aggregate::initialize mapPatch:NeedComms
2022-06-13T14:25:41.575Z,1655130341.575 [mapPatch:NeedComms:B.GoToSurface] Running Loop=1
2022-06-13T14:25:41.575Z,1655130341.575 [mapPatch:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-13T14:25:41.575Z,1655130341.575 [mapPatch:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2022-06-13T14:25:41.576Z,1655130341.576 [mapPatch:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2022-06-13T14:25:41.576Z,1655130341.576 [mapPatch:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2022-06-13T14:25:41.576Z,1655130341.576 [mapPatch:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-13T14:25:41.577Z,1655130341.577 [mapPatch:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-13T14:25:41.577Z,1655130341.577 [mapPatch:NeedComms:A] Running Loop=1
2022-06-13T14:25:41.582Z,1655130341.582 [mapPatch:NeedComms:A](INFO): last time_fix was: 1655130052.000000 second since 1970/01/01T00:00:00Z 
2022-06-13T14:25:41.582Z,1655130341.582 [mapPatch:NeedComms:A] Stopped
2022-06-13T14:25:42.003Z,1655130342.003 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint] Stopped
2022-06-13T14:25:42.003Z,1655130342.003 [mapPatch:TransitToPatchMappingStartLocation:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-13T14:25:42.003Z,1655130342.003 [mapPatch:TransitToPatchMappingStartLocation:F] Running Loop=1
2022-06-13T14:25:42.013Z,1655130342.013 [mapPatch:NeedComms:C] Running Loop=1
2022-06-13T14:25:42.368Z,1655130342.368 [mapPatch:TransitToPatchMappingStartLocation:F] Stopped
2022-06-13T14:25:42.368Z,1655130342.368 [mapPatch:TransitToPatchMappingStartLocation:G] Running Loop=1
2022-06-13T14:25:42.390Z,1655130342.390 [mapPatch:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2022-06-13T14:25:42.717Z,1655130342.717 [mapPatch:TransitToPatchMappingStartLocation:G] Stopped
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation](INFO): Completed mapPatch:TransitToPatchMappingStartLocation
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation] Stopped
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation](DEBUG): Aggregate::uninitialize mapPatch:TransitToPatchMappingStartLocation
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope] Stopped
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope] Stopped
2022-06-13T14:25:42.731Z,1655130342.731 [mapPatch:TransitToPatchMappingStartLocation:C.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo] Stopped
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:TransitToPatchMappingStartLocation:D.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping] Running Loop=1
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping](DEBUG): Aggregate::initialize mapPatch:PatchMapping
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:25:42.732Z,1655130342.732 [mapPatch:PatchMapping:L.YoYo] Running Loop=1
2022-06-13T14:25:42.733Z,1655130342.733 [mapPatch:PatchMapping:L.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-13T14:25:42.733Z,1655130342.733 [mapPatch:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-13T14:25:42.733Z,1655130342.733 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:25:42.733Z,1655130342.733 [mapPatch:PatchMapping:OutsideOfPolygon:A] Running Loop=1
2022-06-13T14:25:42.733Z,1655130342.733 [mapPatch:PatchMapping:A] Running Loop=1
2022-06-13T14:25:43.167Z,1655130343.167 [mapPatch:PatchMapping:OilPatchDetectionZig] Running Loop=1
2022-06-13T14:25:43.167Z,1655130343.167 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:25:43.167Z,1655130343.167 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:25:43.167Z,1655130343.167 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:25:43.168Z,1655130343.168 [mapPatch:PatchMapping:OutsideOfPolygon] Stopped
2022-06-13T14:25:43.168Z,1655130343.168 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:25:43.168Z,1655130343.168 [mapPatch:PatchMapping:OutsideOfPolygon:A] Stopped
2022-06-13T14:25:43.169Z,1655130343.169 [mapPatch:PatchMapping:L.YoYo] Running Loop=1
2022-06-13T14:25:43.169Z,1655130343.169 [mapPatch:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:43.169Z,1655130343.169 [mapPatch:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-13T14:25:43.178Z,1655130343.178 [mapPatch:PatchMapping:A] Stopped
2022-06-13T14:25:43.179Z,1655130343.179 [mapPatch:PatchMapping:B] Running Loop=1
2022-06-13T14:25:43.569Z,1655130343.569 [mapPatch:PatchMapping:B] Stopped
2022-06-13T14:25:43.569Z,1655130343.569 [mapPatch:PatchMapping:C] Running Loop=1
2022-06-13T14:25:43.925Z,1655130343.925 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142543.00,A,4133.81320,N,07044.30482,W,0.253,168.41,130622,,,A*74
2022-06-13T14:25:43.927Z,1655130343.927 [NAL9602](INFO): GPS fix at 20220613T142543: (41.563553, -70.738414)
2022-06-13T14:25:44.048Z,1655130344.048 [mapPatch:PatchMapping:C] Stopped
2022-06-13T14:25:44.048Z,1655130344.048 [mapPatch:PatchMapping:D] Running Loop=1
2022-06-13T14:25:44.065Z,1655130344.065 [mapPatch:NeedComms:C] Stopped
2022-06-13T14:25:44.065Z,1655130344.065 [mapPatch:NeedComms:D] Running Loop=1
2022-06-13T14:25:44.338Z,1655130344.338 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2022-06-13T14:25:44.341Z,1655130344.341 [mapPatch:PatchMapping:D] Stopped
2022-06-13T14:25:44.374Z,1655130344.374 [mapPatch:PatchMapping:E] Running Loop=1
2022-06-13T14:25:44.383Z,1655130344.383 [mapPatch:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2022-06-13T14:25:44.977Z,1655130344.977 [NAL9602](FAULT): LCB fault:  Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2022-06-13T14:25:44.977Z,1655130344.977 [NAL9602] Hardware Fault, FailCount= 1
2022-06-13T14:25:44.977Z,1655130344.977 [NAL9602](ERROR): Hardware Fault
2022-06-13T14:25:45.091Z,1655130345.091 [mapPatch:PatchMapping:E] Stopped
2022-06-13T14:25:45.091Z,1655130345.091 [mapPatch:PatchMapping:F] Running Loop=1
2022-06-13T14:25:45.275Z,1655130345.275 [CBIT](ERROR): Hardware Fault in component: NAL9602
2022-06-13T14:25:45.396Z,1655130345.396 [NAL9602](INFO): Powering down
2022-06-13T14:25:45.527Z,1655130345.527 [mapPatch:PatchMapping:F] Stopped
2022-06-13T14:25:45.527Z,1655130345.527 [mapPatch:PatchMapping:G] Running Loop=1
2022-06-13T14:25:45.809Z,1655130345.809 [NAL9602](FAULT): LCB fault:  Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2022-06-13T14:25:45.999Z,1655130345.999 [mapPatch:PatchMapping:G] Stopped
2022-06-13T14:25:46.001Z,1655130346.001 [mapPatch:PatchMapping:H] Running Loop=1
2022-06-13T14:25:46.403Z,1655130346.403 [mapPatch:PatchMapping:H] Stopped
2022-06-13T14:25:46.403Z,1655130346.403 [mapPatch:PatchMapping:I] Running Loop=1
2022-06-13T14:25:46.486Z,1655130346.486 [CBIT](INFO): Clearing failed state for component NAL9602
2022-06-13T14:25:46.486Z,1655130346.486 [NAL9602] No Fault, FailCount= 1
2022-06-13T14:25:46.680Z,1655130346.680 [mapPatch:PatchMapping:I] Stopped
2022-06-13T14:25:46.680Z,1655130346.680 [mapPatch:PatchMapping:Zig] Running Loop=1
2022-06-13T14:25:46.680Z,1655130346.680 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig
2022-06-13T14:25:46.680Z,1655130346.680 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Running Loop=1
2022-06-13T14:25:46.680Z,1655130346.680 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:25:46.680Z,1655130346.680 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Running Loop=1
2022-06-13T14:25:47.151Z,1655130347.151 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Stopped
2022-06-13T14:25:47.151Z,1655130347.151 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:25:47.151Z,1655130347.151 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Stopped
2022-06-13T14:25:47.151Z,1655130347.151 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Running Loop=1
2022-06-13T14:25:47.152Z,1655130347.152 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:25:47.152Z,1655130347.152 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Running Loop=1
2022-06-13T14:25:47.467Z,1655130347.467 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Stopped
2022-06-13T14:25:47.467Z,1655130347.467 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Running Loop=1
2022-06-13T14:25:47.895Z,1655130347.895 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Stopped
2022-06-13T14:25:47.895Z,1655130347.895 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Running Loop=1
2022-06-13T14:25:48.316Z,1655130348.316 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Stopped
2022-06-13T14:25:48.316Z,1655130348.316 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Running Loop=1
2022-06-13T14:25:48.687Z,1655130348.687 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D](IMPORTANT): Bearing = 330.000000 arcdeg 
2022-06-13T14:25:48.687Z,1655130348.687 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Stopped
2022-06-13T14:25:48.688Z,1655130348.688 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Running Loop=1
2022-06-13T14:25:48.688Z,1655130348.688 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:25:48.688Z,1655130348.688 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Running Loop=1
2022-06-13T14:25:48.688Z,1655130348.688 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-13T14:25:49.121Z,1655130349.121 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](INFO): Timed out from 2022-06-13T14:25:48.7Z
2022-06-13T14:25:49.121Z,1655130349.121 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Stopped
2022-06-13T14:25:49.121Z,1655130349.121 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-13T14:25:49.121Z,1655130349.121 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](INFO): Completed mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:25:49.121Z,1655130349.121 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Stopped
2022-06-13T14:25:49.126Z,1655130349.126 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:25:49.126Z,1655130349.126 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached] Running Loop=1
2022-06-13T14:25:49.126Z,1655130349.126 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached
2022-06-13T14:25:49.472Z,1655130349.472 [mapPatch:SyslogWpMaxDistanceReached] Running Loop=1
2022-06-13T14:25:49.472Z,1655130349.472 [mapPatch:SyslogWpMaxDistanceReached](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached
2022-06-13T14:25:49.472Z,1655130349.472 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl] Running Loop=1
2022-06-13T14:25:49.472Z,1655130349.472 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl
2022-06-13T14:25:49.472Z,1655130349.472 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl:A] Running Loop=1
2022-06-13T14:25:49.473Z,1655130349.473 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl] Stopped
2022-06-13T14:25:49.473Z,1655130349.473 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl
2022-06-13T14:25:49.473Z,1655130349.473 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedChl:A] Stopped
2022-06-13T14:25:49.473Z,1655130349.473 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt] Running Loop=1
2022-06-13T14:25:49.473Z,1655130349.473 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt
2022-06-13T14:25:49.473Z,1655130349.473 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt:A] Running Loop=1
2022-06-13T14:25:49.895Z,1655130349.895 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt] Stopped
2022-06-13T14:25:49.895Z,1655130349.895 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt
2022-06-13T14:25:49.895Z,1655130349.895 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedSalt:A] Stopped
2022-06-13T14:25:49.895Z,1655130349.895 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil] Running Loop=1
2022-06-13T14:25:49.895Z,1655130349.895 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil](DEBUG): Aggregate::initialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil
2022-06-13T14:25:49.896Z,1655130349.896 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil:A] Running Loop=1
2022-06-13T14:25:50.149Z,1655130350.149 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20220613T135553/Courier0022.lzma
2022-06-13T14:25:50.302Z,1655130350.302 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil] Stopped
2022-06-13T14:25:50.302Z,1655130350.302 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil
2022-06-13T14:25:50.302Z,1655130350.302 [mapPatch:SyslogWpMaxDistanceReached:SyslogWpMaxDistanceReachedOil:A] Stopped
2022-06-13T14:25:50.302Z,1655130350.302 [mapPatch:SyslogWpMaxDistanceReached](INFO): Completed mapPatch:SyslogWpMaxDistanceReached
2022-06-13T14:25:50.303Z,1655130350.303 [mapPatch:SyslogWpMaxDistanceReached] Stopped
2022-06-13T14:25:50.303Z,1655130350.303 [mapPatch:SyslogWpMaxDistanceReached](DEBUG): Aggregate::uninitialize mapPatch:SyslogWpMaxDistanceReached
2022-06-13T14:25:50.679Z,1655130350.679 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached](INFO): Completed mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached
2022-06-13T14:25:50.680Z,1655130350.680 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached] Stopped
2022-06-13T14:25:50.680Z,1655130350.680 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:MaxLegDistReached
2022-06-13T14:25:50.680Z,1655130350.680 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:G] Running Loop=1
2022-06-13T14:25:51.095Z,1655130351.095 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:G] Stopped
2022-06-13T14:25:51.095Z,1655130351.095 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:H] Running Loop=1
2022-06-13T14:25:51.152Z,1655130351.152 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0022.lzma.bak
2022-06-13T14:25:51.152Z,1655130351.152 [DataOverHttps](INFO): SBD MOMSN=1937594
2022-06-13T14:25:51.508Z,1655130351.508 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:H] Stopped
2022-06-13T14:25:51.509Z,1655130351.509 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:I] Running Loop=1
2022-06-13T14:25:51.919Z,1655130351.919 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:I] Stopped
2022-06-13T14:25:51.919Z,1655130351.919 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:J] Running Loop=1
2022-06-13T14:25:52.304Z,1655130352.304 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:J] Stopped
2022-06-13T14:25:52.304Z,1655130352.304 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:K] Running Loop=1
2022-06-13T14:25:52.710Z,1655130352.710 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:K] Stopped
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](INFO): Completed mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Stopped
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:Zig](INFO): Completed mapPatch:PatchMapping:Zig
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:Zig] Stopped
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Stopped
2022-06-13T14:25:52.711Z,1655130352.711 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig] Running Loop=1
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight] Running Loop=1
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow] Running Loop=1
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow
2022-06-13T14:25:52.712Z,1655130352.712 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow:A] Running Loop=1
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping](INFO): Completed mapPatch:PatchMapping
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping] Stopped
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping:J.DepthEnvelope] Stopped
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping:K.AltitudeEnvelope] Stopped
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping:L.YoYo] Stopped
2022-06-13T14:25:52.714Z,1655130352.714 [mapPatch:PatchMapping:L.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig] Stopped
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig] Stopped
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight] Stopped
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow] Stopped
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping:OilPatchDetectionZig:PeakFoundTerminateZig:NotInContinuedFlight:PeakFoundNotContinuedFlightLow:A] Stopped
2022-06-13T14:25:52.715Z,1655130352.715 [mapPatch:PatchMapping](INFO): Running loop #2
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping] Running Loop=2
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping](DEBUG): Aggregate::initialize mapPatch:PatchMapping
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping:J.DepthEnvelope] Running Loop=1
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping:K.AltitudeEnvelope] Running Loop=1
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping:L.YoYo] Running Loop=1
2022-06-13T14:25:52.716Z,1655130352.716 [mapPatch:PatchMapping:L.YoYo](DEBUG): Initialize YoYoComponent.
2022-06-13T14:25:52.717Z,1655130352.717 [mapPatch:PatchMapping:OutsideOfPolygon] Running Loop=1
2022-06-13T14:25:52.717Z,1655130352.717 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:25:52.717Z,1655130352.717 [mapPatch:PatchMapping:OutsideOfPolygon:A] Running Loop=1
2022-06-13T14:25:52.717Z,1655130352.717 [mapPatch:PatchMapping:A] Running Loop=1
2022-06-13T14:25:53.125Z,1655130353.125 [mapPatch:PatchMapping:OutsideOfPolygon] Stopped
2022-06-13T14:25:53.125Z,1655130353.125 [mapPatch:PatchMapping:OutsideOfPolygon](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OutsideOfPolygon
2022-06-13T14:25:53.125Z,1655130353.125 [mapPatch:PatchMapping:OutsideOfPolygon:A] Stopped
2022-06-13T14:25:53.131Z,1655130353.131 [mapPatch:PatchMapping:A] Stopped
2022-06-13T14:25:53.131Z,1655130353.131 [mapPatch:PatchMapping:B] Running Loop=1
2022-06-13T14:25:53.506Z,1655130353.506 [mapPatch:PatchMapping:B] Stopped
2022-06-13T14:25:53.507Z,1655130353.507 [mapPatch:PatchMapping:C] Running Loop=1
2022-06-13T14:25:53.961Z,1655130353.961 [mapPatch:PatchMapping:C] Stopped
2022-06-13T14:25:53.961Z,1655130353.961 [mapPatch:PatchMapping:D] Running Loop=1
2022-06-13T14:25:54.336Z,1655130354.336 [mapPatch:PatchMapping:D] Stopped
2022-06-13T14:25:54.336Z,1655130354.336 [mapPatch:PatchMapping:E] Running Loop=1
2022-06-13T14:25:54.735Z,1655130354.735 [mapPatch:PatchMapping:E] Stopped
2022-06-13T14:25:54.735Z,1655130354.735 [mapPatch:PatchMapping:F] Running Loop=1
2022-06-13T14:25:55.159Z,1655130355.159 [mapPatch:PatchMapping:F] Stopped
2022-06-13T14:25:55.159Z,1655130355.159 [mapPatch:PatchMapping:G] Running Loop=1
2022-06-13T14:25:55.531Z,1655130355.531 [mapPatch:PatchMapping:G] Stopped
2022-06-13T14:25:55.531Z,1655130355.531 [mapPatch:PatchMapping:H] Running Loop=1
2022-06-13T14:25:55.949Z,1655130355.949 [mapPatch:PatchMapping:H] Stopped
2022-06-13T14:25:55.949Z,1655130355.949 [mapPatch:PatchMapping:I] Running Loop=1
2022-06-13T14:25:56.359Z,1655130356.359 [mapPatch:PatchMapping:OilPatchDetectionZig] Running Loop=1
2022-06-13T14:25:56.359Z,1655130356.359 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:25:56.359Z,1655130356.359 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Running Loop=1
2022-06-13T14:25:56.359Z,1655130356.359 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](INFO): Initialize.
2022-06-13T14:25:56.361Z,1655130356.361 [mapPatch:PatchMapping:I] Stopped
2022-06-13T14:25:56.361Z,1655130356.361 [mapPatch:PatchMapping:Zig] Running Loop=1
2022-06-13T14:25:56.361Z,1655130356.361 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig
2022-06-13T14:25:56.361Z,1655130356.361 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Running Loop=1
2022-06-13T14:25:56.366Z,1655130356.366 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:25:56.366Z,1655130356.366 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Running Loop=1
2022-06-13T14:25:56.738Z,1655130356.738 [mapPatch:PatchMapping:Zig:LegContinuedFlight] Stopped
2022-06-13T14:25:56.739Z,1655130356.739 [mapPatch:PatchMapping:Zig:LegContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegContinuedFlight
2022-06-13T14:25:56.739Z,1655130356.739 [mapPatch:PatchMapping:Zig:LegContinuedFlight:A] Stopped
2022-06-13T14:25:56.739Z,1655130356.739 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Running Loop=1
2022-06-13T14:25:56.739Z,1655130356.739 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:25:56.739Z,1655130356.739 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Running Loop=1
2022-06-13T14:25:57.157Z,1655130357.157 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:A] Stopped
2022-06-13T14:25:57.157Z,1655130357.157 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Running Loop=1
2022-06-13T14:25:57.552Z,1655130357.552 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:B] Stopped
2022-06-13T14:25:57.552Z,1655130357.552 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Running Loop=1
2022-06-13T14:25:57.977Z,1655130357.977 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:C] Stopped
2022-06-13T14:25:57.977Z,1655130357.977 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Running Loop=1
2022-06-13T14:25:58.360Z,1655130358.360 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D](IMPORTANT): Bearing = nan arcdeg 
2022-06-13T14:25:58.360Z,1655130358.360 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:D] Stopped
2022-06-13T14:25:58.360Z,1655130358.360 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Running Loop=1
2022-06-13T14:25:58.360Z,1655130358.360 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::initialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:25:58.360Z,1655130358.360 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Running Loop=1
2022-06-13T14:25:58.360Z,1655130358.360 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Initialize WaypointComponent.
2022-06-13T14:25:58.361Z,1655130358.361 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](CRITICAL): Must specify both distanceDelta and distanceDeltaBearing, or neither
2022-06-13T14:25:58.430Z,1655130358.430 [CBIT](INFO): Critical error at 20220613T142558
2022-06-13T14:25:58.431Z,1655130358.431 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2022-06-13T14:25:58.771Z,1655130358.771 [MissionManager](INFO): MissionManager is completed.
2022-06-13T14:25:58.771Z,1655130358.771 [MissionManager](INFO): Uninitializing Mission mapPatch
2022-06-13T14:25:58.771Z,1655130358.771 [mapPatch] Stopped
2022-06-13T14:25:58.771Z,1655130358.771 [mapPatch](DEBUG): Aggregate::uninitialize mapPatch
2022-06-13T14:25:58.771Z,1655130358.771 [mapPatch:A.AltitudeEnvelope] Stopped
2022-06-13T14:25:58.771Z,1655130358.771 [mapPatch:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:25:58.771Z,1655130358.771 [mapPatch:B.DepthEnvelope] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:B.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:NeedComms] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:NeedComms](DEBUG): Aggregate::uninitialize mapPatch:NeedComms
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:NeedComms:B.GoToSurface] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:NeedComms:D] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:D.OffshoreEnvelope] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:D.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:E.WaterDepthEnvelope] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:E.WaterDepthEnvelope](DEBUG): Uninitialize WaterDepthEnvelopeComponent.
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:F.Pitch] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:G.Buoyancy] Stopped
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:G.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2022-06-13T14:25:58.772Z,1655130358.772 [mapPatch:Science] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science](DEBUG): Aggregate::uninitialize mapPatch:Science
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:B] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:C] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:Read_Oil] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:OceanCurrent] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:OceanCurrent](DEBUG): Aggregate::uninitialize mapPatch:Science:OceanCurrent
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:OceanCurrent:A.] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:PeakDetectOil] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize mapPatch:Science:PeakDetectOil
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:I.SetSpeed] Stopped
2022-06-13T14:25:58.773Z,1655130358.773 [mapPatch:I.SetSpeed](DEBUG): Uninitialize.
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:MissionStartComms] Stopped
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch:MissionStartComms
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:MissionStartComms:MissionStartComms] Stopped
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:MissionStartComms:MissionStartComms](DEBUG): Aggregate::uninitialize mapPatch:MissionStartComms:MissionStartComms
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:PatchMapping] Stopped
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:PatchMapping](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:PatchMapping:J.DepthEnvelope] Stopped
2022-06-13T14:25:58.774Z,1655130358.774 [mapPatch:PatchMapping:J.DepthEnvelope](DEBUG): Uninitialize.
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:K.AltitudeEnvelope] Stopped
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:K.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:L.YoYo] Stopped
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:L.YoYo](DEBUG): Uninitialize YoYoComponent.
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:OilPatchDetectionZig] Stopped
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:OilPatchDetectionZig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:OilPatchDetectionZig
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal] Stopped
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:OilPatchDetectionZig:PatchTrackTrigger.PeakDetectHorizontal](DEBUG): Uninitialize.
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:Zig] Stopped
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:Zig](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight] Stopped
2022-06-13T14:25:58.775Z,1655130358.775 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight
2022-06-13T14:25:58.776Z,1655130358.776 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist] Stopped
2022-06-13T14:25:58.776Z,1655130358.776 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist](DEBUG): Aggregate::uninitialize mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist
2022-06-13T14:25:58.776Z,1655130358.776 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint] Stopped
2022-06-13T14:25:58.776Z,1655130358.776 [mapPatch:PatchMapping:Zig:LegNotContinuedFlight:ZigCompleteMaxDist:ZigMaxDist.Waypoint](DEBUG): Uninitialize WaypointComponent.
2022-06-13T14:25:59.212Z,1655130359.212 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2022-06-13T14:25:59.212Z,1655130359.212 [DefaultWithUndock] Running Loop=1
2022-06-13T14:25:59.212Z,1655130359.212 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2022-06-13T14:25:59.212Z,1655130359.212 [DefaultWithUndock:A.Wait] Running Loop=1
2022-06-13T14:25:59.212Z,1655130359.212 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2022-06-13T14:26:00.189Z,1655130360.189 [DataOverHttps](INFO): Sending 65 bytes from file Logs/20220613T135553/Courier0025.lzma
2022-06-13T14:26:01.192Z,1655130361.192 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0025.lzma.bak
2022-06-13T14:26:01.193Z,1655130361.193 [DataOverHttps](INFO): SBD MOMSN=1937597
2022-06-13T14:26:15.748Z,1655130375.748 [NAL9602](INFO): Powering up NAL9602
2022-06-13T14:26:26.621Z,1655130386.621 [NAL9602](INFO): NAL9602 initialized
2022-06-13T14:26:29.463Z,1655130389.463 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2022-06-13T14:26:29.463Z,1655130389.463 [DefaultWithUndock:A.Wait] Stopped
2022-06-13T14:26:29.464Z,1655130389.464 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2022-06-13T14:26:29.464Z,1655130389.464 [DefaultWithUndock:LeaveDock] Running Loop=1
2022-06-13T14:26:29.464Z,1655130389.464 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2022-06-13T14:26:29.464Z,1655130389.464 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2022-06-13T14:26:29.464Z,1655130389.464 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2022-06-13T14:26:29.464Z,1655130389.464 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2022-06-13T14:26:29.465Z,1655130389.465 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2022-06-13T14:26:29.465Z,1655130389.465 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2022-06-13T14:26:30.252Z,1655130390.252 [PowerOnly](INFO): Powering up loadControl
2022-06-13T14:26:32.347Z,1655130392.347 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2022-06-13T14:26:32.347Z,1655130392.347 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:32.725Z,1655130392.725 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2022-06-13T14:26:33.113Z,1655130393.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:26:33.524Z,1655130393.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:26:34.336Z,1655130394.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142633.83*54

2022-06-13T14:26:35.170Z,1655130395.170 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:36.757Z,1655130396.757 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:26:37.999Z,1655130397.999 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:38.780Z,1655130398.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:26:39.178Z,1655130399.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:26:39.993Z,1655130399.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142639.50*50

2022-06-13T14:26:40.801Z,1655130400.801 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:42.403Z,1655130402.403 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:26:43.633Z,1655130403.633 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:44.425Z,1655130404.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:26:44.836Z,1655130404.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:26:45.667Z,1655130405.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142645.15*5A

2022-06-13T14:26:46.464Z,1655130406.464 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:48.080Z,1655130408.080 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:26:49.316Z,1655130409.316 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:50.097Z,1655130410.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2022-06-13T14:26:50.521Z,1655130410.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2022-06-13T14:26:51.308Z,1655130411.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142650.82*50

2022-06-13T14:26:52.141Z,1655130412.141 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:52.921Z,1655130412.921 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: nan m. Transitioning docking module to standby.
2022-06-13T14:26:53.753Z,1655130413.753 [DUSBL_Hydroid](ERROR): No response from remote modem.
2022-06-13T14:26:54.968Z,1655130414.968 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2022-06-13T14:26:54.969Z,1655130414.969 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2022-06-13T14:26:55.370Z,1655130415.370 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2022-06-13T14:26:55.370Z,1655130415.370 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:LeaveDock] Stopped
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:LeaveDock:A.] Stopped
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2022-06-13T14:26:55.371Z,1655130415.371 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2022-06-13T14:26:55.372Z,1655130415.372 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2022-06-13T14:26:55.372Z,1655130415.372 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2022-06-13T14:26:55.372Z,1655130415.372 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2022-06-13T14:26:55.372Z,1655130415.372 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2022-06-13T14:26:55.373Z,1655130415.373 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2022-06-13T14:26:55.801Z,1655130415.801 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2022-06-13T14:26:55.802Z,1655130415.802 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2022-06-13T14:26:55.802Z,1655130415.802 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2022-06-13T14:27:27.622Z,1655130447.622 [NAL9602](ERROR): parseGSV uart error: serial timeout
2022-06-13T14:27:40.958Z,1655130460.958 [NAL9602](INFO): SBD MO Status=0, MOMSN=39963, MT Status=0, MTMSN=0
2022-06-13T14:27:40.958Z,1655130460.958 [NAL9602](INFO): No messages in MT queue
2022-06-13T14:28:01.584Z,1655130481.584 [PowerOnly](INFO): Powering down loadControl
2022-06-13T14:28:25.856Z,1655130505.856 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2022-06-13T14:28:51.284Z,1655130531.284 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,142850.00,A,4133.80069,N,07044.30920,W,0.369,180.36,130622,,,A*7F
2022-06-13T14:28:51.288Z,1655130531.288 [NAL9602](INFO): GPS fix at 20220613T142850: (41.563345, -70.738487)
2022-06-13T14:28:51.343Z,1655130531.343 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2022-06-13T14:28:51.343Z,1655130531.343 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2022-06-13T14:28:54.934Z,1655130534.934 [DataOverHttps](INFO): Sending 156 bytes from file Logs/20220613T135553/Courier0028.lzma
2022-06-13T14:28:55.928Z,1655130535.928 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Courier0028.lzma.bak
2022-06-13T14:28:55.928Z,1655130535.928 [DataOverHttps](INFO): SBD MOMSN=1937600
2022-06-13T14:29:05.972Z,1655130545.972 [DataOverHttps](INFO): Sending 852 bytes from file Logs/20220613T135553/Express0023.lzma
2022-06-13T14:29:06.972Z,1655130546.972 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0023.lzma.bak
2022-06-13T14:29:06.972Z,1655130546.972 [DataOverHttps](INFO): SBD MOMSN=1937604
2022-06-13T14:29:17.297Z,1655130557.297 [DataOverHttps](INFO): Sending 194 bytes from file Logs/20220613T135553/Express0026.lzma
2022-06-13T14:29:18.312Z,1655130558.312 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0026.lzma.bak
2022-06-13T14:29:18.312Z,1655130558.312 [DataOverHttps](INFO): SBD MOMSN=1937640
2022-06-13T14:29:23.594Z,1655130563.594 [NAL9602](INFO): Not Powering down - fast GPS
2022-06-13T14:29:27.349Z,1655130567.349 [DataOverHttps](INFO): Sending 113 bytes from file Logs/20220613T135553/Express0027.lzma
2022-06-13T14:29:28.352Z,1655130568.352 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0027.lzma.bak
2022-06-13T14:29:28.352Z,1655130568.352 [DataOverHttps](INFO): SBD MOMSN=1937643
2022-06-13T14:29:37.412Z,1655130577.412 [DataOverHttps](INFO): Sending 192 bytes from file Logs/20220613T135553/Express0029.lzma
2022-06-13T14:29:38.412Z,1655130578.412 [DataOverHttps](INFO): Moved sent file to Logs/20220613T135553/Express0029.lzma.bak
2022-06-13T14:29:38.412Z,1655130578.412 [DataOverHttps](INFO): SBD MOMSN=1937646
2022-06-13T14:29:41.064Z,1655130581.064 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2022-06-13T14:29:41.064Z,1655130581.064 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2022-06-13T14:29:41.064Z,1655130581.064 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2022-06-13T14:31:33.786Z,1655130693.786 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2022-06-13T14:31:43.807Z,1655130703.807 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2022-06-13T14:32:44.003Z,1655130764.003 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2022-06-13T14:32:54.481Z,1655130774.481 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2022-06-13T14:32:54.499Z,1655130774.499 [Micromodem](INFO): Nmea in: $CACST,6,1,20220613143254.340860,06,864,23,0112,0150,208,02,02,01,02,-1,-01,-01,1,3,1,0,150,14.3,-0.03,-100,3.03,-01,1.18,60,14500,4000*6E

2022-06-13T14:33:21.323Z,1655130801.323 [DataOverHttps](IMPORTANT): SBD MTMSN=20220613T143320
2022-06-13T14:33:25.342Z,1655130805.342 [DataOverHttps](INFO): Received command: restart logs