2020-06-04T10:37:05.338Z,1591267025.338 [Supervisor](DEBUG): Initializing supervisor.
2020-06-04T10:37:05.341Z,1591267025.341 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-06-04T10:37:05.342Z,1591267025.342 [SyncHandler](INFO): Protected caller Thread ID is 9380
2020-06-04T10:37:05.342Z,1591267025.342 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-06-04T10:37:05.343Z,1591267025.343 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-06-04T10:37:05.343Z,1591267025.343 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9381
2020-06-04T10:37:05.346Z,1591267025.346 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-06-04T10:37:05.468Z,1591267025.468 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-06-04T10:37:05.469Z,1591267025.469 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-06-04T10:37:05.469Z,1591267025.469 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 9382
2020-06-04T10:37:05.470Z,1591267025.470 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-06-04T10:37:05.471Z,1591267025.471 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-06-04T10:37:05.471Z,1591267025.471 [logger ThreadHandler](INFO): Protected caller Thread ID is 9383
2020-06-04T10:37:05.473Z,1591267025.473 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-06-04T10:37:05.473Z,1591267025.473 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-06-04T10:37:05.475Z,1591267025.475 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-06-04T10:37:05.785Z,1591267025.785 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-06-04T10:37:05.785Z,1591267025.785 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-06-04T10:37:06.377Z,1591267026.377 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-06-04T10:37:06.377Z,1591267026.377 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-06-04T10:37:06.516Z,1591267026.516 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-06-04T10:37:06.517Z,1591267026.517 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-06-04T10:37:06.978Z,1591267026.978 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-06-04T10:37:06.978Z,1591267026.978 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-06-04T10:37:07.075Z,1591267027.075 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-06-04T10:37:07.075Z,1591267027.075 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-06-04T10:37:07.156Z,1591267027.156 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-06-04T10:37:07.452Z,1591267027.452 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-06-04T10:37:07.453Z,1591267027.453 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-06-04T10:37:07.598Z,1591267027.598 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-06-04T10:37:07.599Z,1591267027.599 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-06-04T10:37:07.702Z,1591267027.702 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-06-04T10:37:07.703Z,1591267027.703 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2020-06-04T10:37:07.902Z,1591267027.902 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2020-06-04T10:37:07.902Z,1591267027.902 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-06-04T10:37:08.379Z,1591267028.379 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-06-04T10:37:08.380Z,1591267028.380 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-06-04T10:37:08.798Z,1591267028.798 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-06-04T10:37:08.798Z,1591267028.798 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-06-04T10:37:08.901Z,1591267028.901 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-06-04T10:37:08.901Z,1591267028.901 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-06-04T10:37:09.092Z,1591267029.092 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-06-04T10:37:09.093Z,1591267029.093 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-06-04T10:37:09.298Z,1591267029.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-06-04T10:37:09.299Z,1591267029.299 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-06-04T10:37:09.523Z,1591267029.523 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-06-04T10:37:09.525Z,1591267029.525 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/
2020-06-04T10:37:09.526Z,1591267029.526 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Control.cfg
2020-06-04T10:37:09.622Z,1591267029.622 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Sensor.cfg
2020-06-04T10:37:09.650Z,1591267029.650 [Config/Sensor](FAULT): Changing base units of DAT.verbosity from count to enum
2020-06-04T10:37:09.764Z,1591267029.764 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Simulator.cfg
2020-06-04T10:37:09.850Z,1591267029.850 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/secure.cfg
2020-06-04T10:37:09.933Z,1591267029.933 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Servo.cfg
2020-06-04T10:37:10.039Z,1591267030.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/vehicle.cfg
2020-06-04T10:37:10.290Z,1591267030.290 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Battery.cfg
2020-06-04T10:37:10.697Z,1591267030.697 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-06-04T10:37:10.698Z,1591267030.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Science.cfg
2020-06-04T10:37:10.808Z,1591267030.808 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/logger.cfg
2020-06-04T10:37:10.903Z,1591267030.903 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/BIT.cfg
2020-06-04T10:37:11.001Z,1591267031.001 [Supervisor](INFO): Opening Config file at: Config/lrauv-brizo/Navigation.cfg
2020-06-04T10:37:11.095Z,1591267031.095 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-brizo/LOGIN/
2020-06-04T10:37:11.096Z,1591267031.096 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-06-04T10:37:11.101Z,1591267031.101 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2020-06-04T10:37:11.176Z,1591267031.176 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2020-06-04T10:37:11.177Z,1591267031.177 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-06-04T10:37:11.195Z,1591267031.195 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-06-04T10:37:11.196Z,1591267031.196 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-06-04T10:37:11.236Z,1591267031.236 [DepthRateCalculator] Loaded
2020-06-04T10:37:11.237Z,1591267031.237 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-06-04T10:37:11.242Z,1591267031.242 [PitchRateCalculator] Loaded
2020-06-04T10:37:11.243Z,1591267031.243 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-06-04T10:37:11.258Z,1591267031.258 [SpeedCalculator] Loaded
2020-06-04T10:37:11.258Z,1591267031.258 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-06-04T10:37:11.279Z,1591267031.279 [TempGradientCalculator] Loaded
2020-06-04T10:37:11.279Z,1591267031.279 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-06-04T10:37:11.284Z,1591267031.284 [YawRateCalculator] Loaded
2020-06-04T10:37:11.285Z,1591267031.285 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-06-04T10:37:11.323Z,1591267031.323 [ElevatorOffsetCalculator] Loaded
2020-06-04T10:37:11.323Z,1591267031.323 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-06-04T10:37:11.324Z,1591267031.324 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-06-04T10:37:11.324Z,1591267031.324 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-06-04T10:37:11.371Z,1591267031.371 [VerticalControl](DEBUG): Construct VerticalControl.
2020-06-04T10:37:11.467Z,1591267031.467 [VerticalControl] Loaded
2020-06-04T10:37:11.467Z,1591267031.467 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-06-04T10:37:11.468Z,1591267031.468 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-06-04T10:37:11.546Z,1591267031.546 [HorizontalControl] Loaded
2020-06-04T10:37:11.546Z,1591267031.546 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-06-04T10:37:11.547Z,1591267031.547 [SpeedControl](DEBUG): Construct SpeedControl.
2020-06-04T10:37:11.552Z,1591267031.552 [SpeedControl] Loaded
2020-06-04T10:37:11.552Z,1591267031.552 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-06-04T10:37:11.553Z,1591267031.553 [LoopControl](DEBUG): Construct LoopControl.
2020-06-04T10:37:11.553Z,1591267031.553 [LoopControl] Loaded
2020-06-04T10:37:11.553Z,1591267031.553 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-06-04T10:37:11.554Z,1591267031.554 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-06-04T10:37:11.554Z,1591267031.554 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-06-04T10:37:11.667Z,1591267031.667 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-06-04T10:37:11.668Z,1591267031.668 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-06-04T10:37:11.687Z,1591267031.687 [NavChart] Loaded
2020-06-04T10:37:11.688Z,1591267031.688 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-06-04T10:37:11.691Z,1591267031.691 [UniversalFixResidualReporter] Loaded
2020-06-04T10:37:11.692Z,1591267031.692 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-06-04T10:37:11.692Z,1591267031.692 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-06-04T10:37:11.693Z,1591267031.693 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-06-04T10:37:11.791Z,1591267031.791 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-06-04T10:37:11.792Z,1591267031.792 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-06-04T10:37:12.089Z,1591267032.089 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-06-04T10:37:12.094Z,1591267032.094 [AHRS_M2](INFO): created writer for : platform_orientation
2020-06-04T10:37:12.095Z,1591267032.095 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-06-04T10:37:12.100Z,1591267032.100 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-06-04T10:37:12.101Z,1591267032.101 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-06-04T10:37:12.106Z,1591267032.106 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-06-04T10:37:12.106Z,1591267032.106 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-06-04T10:37:12.111Z,1591267032.111 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-06-04T10:37:12.181Z,1591267032.181 [AHRS_M2] Loaded
2020-06-04T10:37:12.181Z,1591267032.181 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-06-04T10:37:12.262Z,1591267032.262 [DataOverHttps] Loaded
2020-06-04T10:37:12.262Z,1591267032.262 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-06-04T10:37:12.263Z,1591267032.263 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408534E0
2020-06-04T10:37:12.263Z,1591267032.263 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 9465
2020-06-04T10:37:12.278Z,1591267032.278 [Depth_Keller] Loaded
2020-06-04T10:37:12.278Z,1591267032.278 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-06-04T10:37:12.282Z,1591267032.282 [DropWeight] Loaded
2020-06-04T10:37:12.283Z,1591267032.283 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2020-06-04T10:37:12.327Z,1591267032.327 [DVL_micro] Loaded
2020-06-04T10:37:12.327Z,1591267032.327 [ComponentRegistry](DEBUG): SyncComponent "DVL_micro" handled in the control thread.
2020-06-04T10:37:12.421Z,1591267032.421 [NAL9602] Loaded
2020-06-04T10:37:12.421Z,1591267032.421 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-06-04T10:37:12.460Z,1591267032.460 [Onboard] Loaded
2020-06-04T10:37:12.460Z,1591267032.460 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-06-04T10:37:12.463Z,1591267032.463 [Radio_Surface] Loaded
2020-06-04T10:37:12.463Z,1591267032.463 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-06-04T10:37:12.464Z,1591267032.464 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408834E0
2020-06-04T10:37:12.465Z,1591267032.465 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 9466
2020-06-04T10:37:12.595Z,1591267032.595 [DAT] Loaded
2020-06-04T10:37:12.595Z,1591267032.595 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2020-06-04T10:37:14.093Z,1591267034.093 [BPC1] Loaded
2020-06-04T10:37:14.093Z,1591267034.093 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-06-04T10:37:14.094Z,1591267034.094 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-06-04T10:37:14.094Z,1591267034.094 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-06-04T10:37:14.196Z,1591267034.196 [BuoyancyServo] Loaded
2020-06-04T10:37:14.196Z,1591267034.196 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-06-04T10:37:14.208Z,1591267034.208 [ElevatorServo] Loaded
2020-06-04T10:37:14.208Z,1591267034.208 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-06-04T10:37:14.218Z,1591267034.218 [MassServo] Loaded
2020-06-04T10:37:14.219Z,1591267034.219 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-06-04T10:37:14.229Z,1591267034.229 [RudderServo] Loaded
2020-06-04T10:37:14.230Z,1591267034.230 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-06-04T10:37:14.240Z,1591267034.240 [ThrusterServo] Loaded
2020-06-04T10:37:14.240Z,1591267034.240 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-06-04T10:37:14.241Z,1591267034.241 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-06-04T10:37:14.241Z,1591267034.241 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-06-04T10:37:14.320Z,1591267034.320 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-06-04T10:37:14.321Z,1591267034.321 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-06-04T10:37:14.346Z,1591267034.346 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-06-04T10:37:14.347Z,1591267034.347 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-06-04T10:37:14.633Z,1591267034.633 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-06-04T10:37:14.633Z,1591267034.633 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-06-04T10:37:14.838Z,1591267034.838 [ESPComponent] Loaded
2020-06-04T10:37:14.838Z,1591267034.838 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2020-06-04T10:37:14.852Z,1591267034.852 [PAR_Licor] Loaded
2020-06-04T10:37:14.852Z,1591267034.852 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-06-04T10:37:14.859Z,1591267034.859 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output470
2020-06-04T10:37:14.859Z,1591267034.859 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: Output470
2020-06-04T10:37:14.863Z,1591267034.863 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output650
2020-06-04T10:37:14.864Z,1591267034.864 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: Output650
2020-06-04T10:37:14.868Z,1591267034.868 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.OutputChl
2020-06-04T10:37:14.868Z,1591267034.868 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: OutputChl
2020-06-04T10:37:14.873Z,1591267034.873 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg470nm
2020-06-04T10:37:14.873Z,1591267034.873 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: VolumeScatCoeff117deg470nm
2020-06-04T10:37:14.877Z,1591267034.877 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg650nm
2020-06-04T10:37:14.877Z,1591267034.877 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: VolumeScatCoeff117deg650nm
2020-06-04T10:37:14.881Z,1591267034.881 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff470nm
2020-06-04T10:37:14.881Z,1591267034.881 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: BackscatteringCoeff470nm
2020-06-04T10:37:14.885Z,1591267034.885 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff650nm
2020-06-04T10:37:14.885Z,1591267034.885 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: BackscatteringCoeff650nm
2020-06-04T10:37:14.890Z,1591267034.890 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.894Z,1591267034.894 [WetLabsBB2FL](INFO): created writer for : mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.895Z,1591267034.895 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.895Z,1591267034.895 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_median_mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.899Z,1591267034.899 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.899Z,1591267034.899 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.903Z,1591267034.903 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_variance_mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.903Z,1591267034.903 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_variance_mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:37:14.907Z,1591267034.907 [WetLabsBB2FL] Loaded
2020-06-04T10:37:14.908Z,1591267034.908 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2020-06-04T10:37:14.909Z,1591267034.909 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A8F4E0
2020-06-04T10:37:14.909Z,1591267034.909 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 9467
2020-06-04T10:37:14.910Z,1591267034.910 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-06-04T10:37:14.910Z,1591267034.910 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-06-04T10:37:15.041Z,1591267035.041 [SBIT](DEBUG): Construct Startup Built In Test.
2020-06-04T10:37:15.052Z,1591267035.052 [SBIT] Loaded
2020-06-04T10:37:15.052Z,1591267035.052 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-06-04T10:37:15.053Z,1591267035.053 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-06-04T10:37:15.065Z,1591267035.065 [IBIT] Loaded
2020-06-04T10:37:15.065Z,1591267035.065 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-06-04T10:37:15.068Z,1591267035.068 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-06-04T10:37:15.204Z,1591267035.204 [CBIT] Loaded
2020-06-04T10:37:15.204Z,1591267035.204 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-06-04T10:37:15.204Z,1591267035.204 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-06-04T10:37:15.208Z,1591267035.208 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-06-04T10:37:15.209Z,1591267035.209 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-06-04T10:37:15.215Z,1591267035.215 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-06-04T10:37:15.216Z,1591267035.216 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AFA4E0
2020-06-04T10:37:15.217Z,1591267035.217 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 9468
2020-06-04T10:37:15.239Z,1591267035.239 [Supervisor](INFO): Main Thread ID is 9379
2020-06-04T10:37:15.239Z,1591267035.239 [Supervisor](DEBUG): Running supervisor.
2020-06-04T10:37:15.240Z,1591267035.240 [CommandLine ThreadHandler](INFO): Handler Thread ID is 9469
2020-06-04T10:37:15.242Z,1591267035.242 [controlThread ThreadHandler](INFO): Handler Thread ID is 9470
2020-06-04T10:37:15.243Z,1591267035.243 [logger ThreadHandler](INFO): Handler Thread ID is 9471
2020-06-04T10:37:15.244Z,1591267035.244 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 9472
2020-06-04T10:37:15.244Z,1591267035.244 [controlThread](DEBUG): Initializing ControlThread
2020-06-04T10:37:15.245Z,1591267035.245 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-06-04T10:37:15.245Z,1591267035.245 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-06-04T10:37:15.246Z,1591267035.246 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-06-04T10:37:15.246Z,1591267035.246 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-06-04T10:37:15.247Z,1591267035.247 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-06-04T10:37:15.247Z,1591267035.247 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-06-04T10:37:15.248Z,1591267035.248 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-06-04T10:37:15.249Z,1591267035.249 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-06-04T10:37:15.250Z,1591267035.250 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-06-04T10:37:15.250Z,1591267035.250 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-06-04T10:37:15.251Z,1591267035.251 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-06-04T10:37:15.252Z,1591267035.252 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-06-04T10:37:15.265Z,1591267035.265 [SBIT](INFO): Initialize SBIT Component.
2020-06-04T10:37:15.266Z,1591267035.266 [SBIT](IMPORTANT): git: 2020-05-06_C-13-gfbb430d
2020-06-04T10:37:15.266Z,1591267035.266 [SBIT](INFO): git hash: fbb430d2b1a5856a2bad2786bdeca44c86c9bac7
2020-06-04T10:37:15.267Z,1591267035.267 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-06-04T10:37:15.267Z,1591267035.267 [SBIT](IMPORTANT): Kernel Version:#1 PREEMPT Tue Sep 24 11:12:27 PDT 2019
2020-06-04T10:37:15.268Z,1591267035.268 [SBIT](INFO): Beginning SBIT in 59.000000 seconds.
2020-06-04T10:37:15.269Z,1591267035.269 [IBIT](INFO): Initialize IBIT Component.
2020-06-04T10:37:15.270Z,1591267035.270 [CBIT](DEBUG): Initialize CBIT Component.
2020-06-04T10:37:15.271Z,1591267035.271 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 9473
2020-06-04T10:37:15.281Z,1591267035.281 [CBIT](DEBUG): Initialized mux pins.
2020-06-04T10:37:15.281Z,1591267035.281 [CBIT](DEBUG): Initializing the watchdog timer.
2020-06-04T10:37:15.287Z,1591267035.287 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-06-04T10:37:15.291Z,1591267035.291 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 9474
2020-06-04T10:37:15.292Z,1591267035.292 [WetLabsBB2FL](INFO): Powering down
2020-06-04T10:37:15.309Z,1591267035.309 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-06-04T10:37:15.309Z,1591267035.309 [CBIT](DEBUG): Initializing heartbeat.
2020-06-04T10:37:15.317Z,1591267035.317 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 9475
2020-06-04T10:37:15.320Z,1591267035.320 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-06-04T10:37:15.320Z,1591267035.320 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-06-04T10:37:15.321Z,1591267035.321 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-06-04T10:37:15.321Z,1591267035.321 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-06-04T10:37:15.321Z,1591267035.321 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-06-04T10:37:15.321Z,1591267035.321 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-06-04T10:37:15.322Z,1591267035.322 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-06-04T10:37:15.322Z,1591267035.322 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-06-04T10:37:15.322Z,1591267035.322 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-06-04T10:37:15.322Z,1591267035.322 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-06-04T10:37:15.322Z,1591267035.322 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-06-04T10:37:15.323Z,1591267035.323 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-06-04T10:37:15.323Z,1591267035.323 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-06-04T10:37:15.323Z,1591267035.323 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-06-04T10:37:15.323Z,1591267035.323 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-06-04T10:37:15.323Z,1591267035.323 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-06-04T10:37:15.381Z,1591267035.381 [CBIT](DEBUG): Deactivating GF circuits.
2020-06-04T10:37:15.381Z,1591267035.381 [CBIT](DEBUG): Deactivating emergency mode.
2020-06-04T10:37:15.417Z,1591267035.417 [CBIT](DEBUG): Backplane powered.
2020-06-04T10:37:15.418Z,1591267035.418 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-06-04T10:37:15.427Z,1591267035.427 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-04T10:37:15.442Z,1591267035.442 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2020-06-04T10:37:15.443Z,1591267035.443 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-06-04T10:37:15.517Z,1591267035.517 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-06-04T10:37:15.518Z,1591267035.518 [Default:A.Wait](DEBUG): Construct Wait.
2020-06-04T10:37:15.520Z,1591267035.520 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-04T10:37:15.548Z,1591267035.548 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-06-04T10:37:15.562Z,1591267035.562 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-06-04T10:37:15.568Z,1591267035.568 [Default:E.Execute](DEBUG): Construct Execute.
2020-06-04T10:37:15.587Z,1591267035.587 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</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>13</Value></Setting>
    </Guidance:Wait>

    <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>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

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

</Mission>


2020-06-04T10:37:15.592Z,1591267035.592 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,DAT,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-06-04T10:37:15.609Z,1591267035.609 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-06-04T10:37:15.673Z,1591267035.673 [Radio_Surface](INFO): Powering up
2020-06-04T10:37:15.763Z,1591267035.763 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2020-06-04T10:37:15.763Z,1591267035.763 [DAT](INFO): Powering up
2020-06-04T10:37:15.763Z,1591267035.763 [DAT](DEBUG): Initializing DAT.
2020-06-04T10:37:15.853Z,1591267035.853 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2020-06-04T10:37:15.895Z,1591267035.895 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-06-04T10:37:15.901Z,1591267035.901 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-06-04T10:37:15.902Z,1591267035.902 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-06-04T10:37:15.913Z,1591267035.913 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-06-04T10:37:15.914Z,1591267035.914 [MassServo](DEBUG): Initializing EZServoServo.
2020-06-04T10:37:15.925Z,1591267035.925 [MassServo](DEBUG): Initializing MassServo.
2020-06-04T10:37:15.926Z,1591267035.926 [RudderServo](DEBUG): Initializing EZServoServo.
2020-06-04T10:37:15.937Z,1591267035.937 [RudderServo](DEBUG): Initializing RudderServo.
2020-06-04T10:37:15.938Z,1591267035.938 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-06-04T10:37:15.953Z,1591267035.953 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-06-04T10:37:16.030Z,1591267036.030 [DropWeight](CRITICAL): DROP WEIGHT MISSING.

2020-06-04T10:37:16.030Z,1591267036.030 [DropWeight] Hardware Fault, FailCount= 1
2020-06-04T10:37:16.030Z,1591267036.030 [DropWeight](ERROR): Hardware Fault
2020-06-04T10:37:16.076Z,1591267036.076 [CommandLine](FAULT): Scheduling is paused
2020-06-04T10:37:16.077Z,1591267036.077 [CBIT](INFO): Critical error at 20200604T103716
2020-06-04T10:37:16.078Z,1591267036.078 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-06-04T10:37:16.080Z,1591267036.080 [CBIT](ERROR): Hardware Fault in component: DropWeight
2020-06-04T10:37:16.080Z,1591267036.080 [CBIT](CRITICAL): Hardware Fault in component: DropWeight
2020-06-04T10:37:16.797Z,1591267036.797 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-06-04T10:37:16.797Z,1591267036.797 [RudderServo](FAULT): Rudder failed to initialize
2020-06-04T10:37:16.797Z,1591267036.797 [RudderServo] Communications Fault, FailCount= 1
2020-06-04T10:37:16.797Z,1591267036.797 [RudderServo](ERROR): Communications Fault
2020-06-04T10:37:16.918Z,1591267036.918 [CBIT](INFO): Critical error at 20200604T103716
2020-06-04T10:37:16.921Z,1591267036.921 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-06-04T10:37:17.110Z,1591267037.110 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-06-04T10:37:17.110Z,1591267037.110 [RudderServo](INFO): Powering down
2020-06-04T10:37:17.795Z,1591267037.795 [RudderServo](DEBUG): Initializing EZServoServo.
2020-06-04T10:37:17.914Z,1591267037.914 [RudderServo](DEBUG): Initializing RudderServo.
2020-06-04T10:37:17.918Z,1591267037.918 [CBIT](INFO): Clearing failed state for component RudderServo
2020-06-04T10:37:17.918Z,1591267037.918 [RudderServo] No Fault, FailCount= 1
2020-06-04T10:37:27.045Z,1591267047.045 [DAT](INFO): DAT read: 

2020-06-04T10:37:27.046Z,1591267047.046 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2020-06-04T10:37:27.047Z,1591267047.047 [DAT](INFO): unknown deviceResponse_: Teledyne Benthos DAT-900 Series

2020-06-04T10:37:28.222Z,1591267048.222 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005409
2020-06-04T10:37:28.673Z,1591267048.673 [DAT](INFO): DAT read: MF Frequency Band

2020-06-04T10:37:28.674Z,1591267048.674 [DAT](INFO): unknown deviceResponse_: MF Frequency Band

2020-06-04T10:37:28.675Z,1591267048.675 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.14.0

2020-06-04T10:37:28.675Z,1591267048.675 [DAT](INFO): unknown deviceResponse_: Directional Acoustic Transponder version 8.14.0

2020-06-04T10:37:28.676Z,1591267048.676 [DAT](INFO): DAT read: Jun  4 2020 10:37:05 

2020-06-04T10:37:28.676Z,1591267048.676 [DAT](INFO): unknown deviceResponse_: Jun  4 2020 10:37:05 

2020-06-04T10:37:29.883Z,1591267049.883 [DAT](INFO): DAT read: Features enabled [Bearing]

2020-06-04T10:37:29.884Z,1591267049.884 [DAT](INFO): unknown deviceResponse_: Features enabled [Bearing]

2020-06-04T10:37:29.885Z,1591267049.885 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2020-06-04T10:37:29.885Z,1591267049.885 [DAT](INFO): commRate: 800
2020-06-04T10:37:29.886Z,1591267049.886 [DAT](INFO): commRate: 800
2020-06-04T10:37:30.282Z,1591267050.282 [DAT](INFO): entering command mode
2020-06-04T10:37:30.770Z,1591267050.770 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:31.089Z,1591267051.089 [DAT](INFO): DAT read: 

2020-06-04T10:37:31.090Z,1591267051.090 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:31.516Z,1591267051.516 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:31.897Z,1591267051.897 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:32.301Z,1591267052.301 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:32.714Z,1591267052.714 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:33.120Z,1591267053.120 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:33.539Z,1591267053.539 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:33.917Z,1591267053.917 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:34.321Z,1591267054.321 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:34.733Z,1591267054.733 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:35.128Z,1591267055.128 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:35.561Z,1591267055.561 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:35.962Z,1591267055.962 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:36.342Z,1591267056.342 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:36.745Z,1591267056.745 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:37.157Z,1591267057.157 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:37.553Z,1591267057.553 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:37.957Z,1591267057.957 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:38.374Z,1591267058.374 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:38.766Z,1591267058.766 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:39.180Z,1591267059.180 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:39.581Z,1591267059.581 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:39.986Z,1591267059.986 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:40.381Z,1591267060.381 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-04T10:37:40.381Z,1591267060.381 [DAT](FAULT): failed to enter command mode
2020-06-04T10:37:40.792Z,1591267060.792 [DAT](INFO): entering command mode
2020-06-04T10:37:41.196Z,1591267061.196 [DAT](INFO): DAT read: user:1>

2020-06-04T10:37:41.197Z,1591267061.197 [DAT](INFO): DAT read: Command '+++' not found

2020-06-04T10:37:41.198Z,1591267061.198 [DAT](INFO): DAT read: Error

2020-06-04T10:37:41.198Z,1591267061.198 [DAT](INFO): setting verbose to 3
2020-06-04T10:37:41.605Z,1591267061.605 [DAT](INFO): DAT read: user:2>

2020-06-04T10:37:41.606Z,1591267061.606 [DAT](INFO): DAT read: Verbose         | 3           

2020-06-04T10:37:41.606Z,1591267061.606 [DAT](INFO): set verbose to 3
2020-06-04T10:37:41.607Z,1591267061.607 [DAT](INFO): setting transmit power to 8
2020-06-04T10:37:42.005Z,1591267062.005 [DAT](INFO): DAT read: user:3>

2020-06-04T10:37:42.006Z,1591267062.006 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2020-06-04T10:37:42.006Z,1591267062.006 [DAT](INFO): set transmit power to 8
2020-06-04T10:37:42.006Z,1591267062.006 [DAT](INFO): setting local address to 8
2020-06-04T10:37:42.398Z,1591267062.398 [DAT](INFO): DAT read: user:4>

2020-06-04T10:37:42.398Z,1591267062.398 [DAT](INFO): DAT read: LocalAddr       | 8           

2020-06-04T10:37:42.399Z,1591267062.399 [DAT](INFO): set local address to 8
2020-06-04T10:37:42.799Z,1591267062.799 [NAL9602](INFO): Powering up NAL9602
2020-06-04T10:37:53.736Z,1591267073.736 [NAL9602](INFO): NAL9602 initialized
2020-06-04T10:38:14.766Z,1591267094.766 [SBIT](IMPORTANT): Beginning Startup BIT
2020-06-04T10:38:14.774Z,1591267094.774 [CBIT](IMPORTANT): Beginning ground fault scan
2020-06-04T10:38:25.868Z,1591267105.868 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.017375
CHAN A1 (24V): 0.002951
CHAN A2 (12V): -0.004490
CHAN A3 (5V): -0.003614
CHAN B0 (3.3V): -0.001956
CHAN B1 (3.15aV): -0.001626
CHAN B2 (3.15bV): -0.000964
CHAN B3 (GND): -0.005315
OPEN: 0.003829
Full Scale Calc: 4.765 mA, -1.589 mA
2020-06-04T10:38:40.253Z,1591267120.253 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2020-06-04T10:38:40.255Z,1591267120.255 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-06-04T10:38:40.598Z,1591267120.598 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,DAT,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-06-04T10:38:40.883Z,1591267120.883 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-06-04T10:38:40.885Z,1591267120.885 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-06-04T10:38:41.013Z,1591267121.013 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DVL_micro,NAL9602,Onboard,DAT,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-06-04T10:38:41.354Z,1591267121.354 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-04T10:38:41.354Z,1591267121.354 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-06-04T10:38:41.354Z,1591267121.354 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-04T10:38:41.426Z,1591267121.426 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-04T10:38:41.802Z,1591267121.802 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-04T10:38:41.802Z,1591267121.802 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-06-04T10:38:41.979Z,1591267121.979 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1591220736.000000 second
2020-06-04T10:38:44.062Z,1591267124.062 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2020-06-04T10:38:44.794Z,1591267124.794 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-06-04T10:39:07.641Z,1591267147.641 [CommandLine](IMPORTANT): got command get latitude
2020-06-04T10:39:07.642Z,1591267147.642 [CommandLine](IMPORTANT): latitude 36.799999 arcdeg
2020-06-04T10:39:08.221Z,1591267148.221 [SBIT](IMPORTANT): SBIT PASSED
2020-06-04T10:39:08.221Z,1591267148.221 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-06-04T10:39:08.222Z,1591267148.222 [SBIT](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2020-06-04T10:39:08.222Z,1591267148.222 [SBIT](IMPORTANT): ESPComponent.simulateHardware=0 bool;

2020-06-04T10:39:08.222Z,1591267148.222 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=242.907926 cubic_centimeter;

2020-06-04T10:39:08.222Z,1591267148.222 [SBIT](IMPORTANT): VerticalControl.massDefault=9.890285 millimeter;

2020-06-04T10:39:08.604Z,1591267148.604 [MissionManager](IMPORTANT): Started mission Startup
2020-06-04T10:39:08.604Z,1591267148.604 [Startup] Running Loop=1
2020-06-04T10:39:08.604Z,1591267148.604 [Startup](DEBUG): Aggregate::initialize Startup
2020-06-04T10:39:08.604Z,1591267148.604 [Startup:A.GoToSurface] Running Loop=1
2020-06-04T10:39:08.604Z,1591267148.604 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-04T10:39:08.605Z,1591267148.605 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-04T10:39:08.606Z,1591267148.606 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-04T10:39:08.606Z,1591267148.606 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-04T10:39:08.606Z,1591267148.606 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-04T10:39:08.607Z,1591267148.607 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-04T10:39:08.608Z,1591267148.608 [Startup:StartupSatComms] Running Loop=1
2020-06-04T10:39:08.608Z,1591267148.608 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-06-04T10:39:08.608Z,1591267148.608 [Startup:StartupSatComms:A] Running Loop=1
2020-06-04T10:39:09.018Z,1591267149.018 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-06-04T10:39:09.018Z,1591267149.018 [Startup:StartupSatComms:A] Stopped
2020-06-04T10:39:09.018Z,1591267149.018 [Startup:StartupSatComms:B] Running Loop=1
2020-06-04T10:39:09.438Z,1591267149.438 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-06-04T10:39:20.700Z,1591267160.700 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2020-06-04T10:39:20.700Z,1591267160.700 [DVL_micro](ERROR): Failed to parse:
:TS,000000000.0,+17.7,089.0,000
2020-06-04T10:39:20.829Z,1591267160.829 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20200604T025153/Courier0004.lzma
2020-06-04T10:39:21.831Z,1591267161.831 [DataOverHttps](INFO): Moved sent file to Logs/20200604T025153/Courier0004.lzma.bak
2020-06-04T10:39:21.831Z,1591267161.831 [DataOverHttps](INFO): SBD MOMSN=12364552
2020-06-04T10:39:30.810Z,1591267170.810 [DVL_micro](ERROR): Failed to parse:
:SA,-01.09,-06.74,038.6
2020-06-04T10:39:39.497Z,1591267179.497 [DataOverHttps](INFO): Sending 296 bytes from file Logs/20200604T103705/Courier0000.lzma
2020-06-04T10:39:39.840Z,1591267179.840 [CommandLine](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.xml
2020-06-04T10:39:39.841Z,1591267179.841 [MissionManager](INFO): Loading Mission: ./Missions/Science/circle_acoustic_contact.xml
2020-06-04T10:39:39.951Z,1591267179.951 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2020-06-04T10:39:39.954Z,1591267179.954 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2020-06-04T10:39:39.957Z,1591267179.957 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2020-06-04T10:39:39.960Z,1591267179.960 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2020-06-04T10:39:39.967Z,1591267179.967 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m
2020-06-04T10:39:39.970Z,1591267179.970 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2020-06-04T10:39:39.973Z,1591267179.973 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2020-06-04T10:39:39.976Z,1591267179.976 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2020-06-04T10:39:39.980Z,1591267179.980 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2020-06-04T10:39:40.023Z,1591267180.023 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s
2020-06-04T10:39:40.026Z,1591267180.026 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2020-06-04T10:39:40.029Z,1591267180.029 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2020-06-04T10:39:40.032Z,1591267180.032 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2020-06-04T10:39:40.035Z,1591267180.035 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2020-06-04T10:39:40.038Z,1591267180.038 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2020-06-04T10:39:40.041Z,1591267180.041 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2020-06-04T10:39:40.044Z,1591267180.044 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2020-06-04T10:39:40.114Z,1591267180.114 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2020-06-04T10:39:40.125Z,1591267180.125 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s
2020-06-04T10:39:40.128Z,1591267180.128 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2020-06-04T10:39:40.139Z,1591267180.139 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2020-06-04T10:39:40.161Z,1591267180.161 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2020-06-04T10:39:40.164Z,1591267180.164 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2020-06-04T10:39:40.164Z,1591267180.164 [MissionManager](INFO): Inserting Stack: Missions/Insert/AbortDrift.xml
2020-06-04T10:39:40.196Z,1591267180.196 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h
2020-06-04T10:39:40.202Z,1591267180.202 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2020-06-04T10:39:40.207Z,1591267180.207 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute.
2020-06-04T10:39:40.218Z,1591267180.218 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout
2020-06-04T10:39:40.391Z,1591267180.391 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-06-04T10:39:40.499Z,1591267180.499 [DataOverHttps](INFO): Moved sent file to Logs/20200604T103705/Courier0000.lzma.bak
2020-06-04T10:39:40.499Z,1591267180.499 [DataOverHttps](INFO): SBD MOMSN=12364554
2020-06-04T10:39:40.531Z,1591267180.531 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2020-06-04T10:39:40.539Z,1591267180.539 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2020-06-04T10:39:40.547Z,1591267180.547 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-06-04T10:39:40.563Z,1591267180.563 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2020-06-04T10:39:40.571Z,1591267180.571 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-06-04T10:39:40.578Z,1591267180.578 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2020-06-04T10:39:40.585Z,1591267180.585 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2020-06-04T10:39:40.595Z,1591267180.595 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-04T10:39:40.633Z,1591267180.633 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-06-04T10:39:40.660Z,1591267180.660 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2020-06-04T10:39:40.667Z,1591267180.667 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2020-06-04T10:39:40.672Z,1591267180.672 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-06-04T10:39:40.682Z,1591267180.682 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-04T10:39:40.697Z,1591267180.697 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-04T10:39:40.739Z,1591267180.739 [circle_acoustic_contact:J.Pitch](DEBUG): Construct.
2020-06-04T10:39:40.746Z,1591267180.746 [circle_acoustic_contact:K.Buoyancy](DEBUG): Construct Buoyancy.
2020-06-04T10:39:40.753Z,1591267180.753 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-06-04T10:39:41.150Z,1591267181.150 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2020-06-04T10:39:41.153Z,1591267181.153 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2020-06-04T10:39:41.156Z,1591267181.156 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2020-06-04T10:39:41.171Z,1591267181.171 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2020-06-04T10:39:41.174Z,1591267181.174 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2020-06-04T10:39:41.176Z,1591267181.176 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2020-06-04T10:39:41.179Z,1591267181.179 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2020-06-04T10:39:41.194Z,1591267181.194 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2020-06-04T10:39:41.197Z,1591267181.197 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2020-06-04T10:39:41.200Z,1591267181.200 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2020-06-04T10:39:41.211Z,1591267181.211 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2020-06-04T10:39:41.214Z,1591267181.214 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2020-06-04T10:39:41.216Z,1591267181.216 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2020-06-04T10:39:41.219Z,1591267181.219 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-06-04T10:39:41.246Z,1591267181.246 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2020-06-04T10:39:41.250Z,1591267181.250 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2020-06-04T10:39:41.253Z,1591267181.253 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool
2020-06-04T10:39:41.269Z,1591267181.269 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2020-06-04T10:39:41.272Z,1591267181.272 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2020-06-04T10:39:41.276Z,1591267181.276 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2020-06-04T10:39:41.279Z,1591267181.279 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-06-04T10:39:41.337Z,1591267181.337 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2020-06-04T10:39:41.340Z,1591267181.340 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2020-06-04T10:39:41.355Z,1591267181.355 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2020-06-04T10:39:41.363Z,1591267181.363 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2020-06-04T10:39:41.378Z,1591267181.378 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2020-06-04T10:39:41.385Z,1591267181.385 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2020-06-04T10:39:41.388Z,1591267181.388 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2020-06-04T10:39:41.395Z,1591267181.395 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2020-06-04T10:39:41.400Z,1591267181.400 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2020-06-04T10:39:41.413Z,1591267181.413 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2020-06-04T10:39:41.416Z,1591267181.416 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2020-06-04T10:39:41.420Z,1591267181.420 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2020-06-04T10:39:41.424Z,1591267181.424 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2020-06-04T10:39:41.435Z,1591267181.435 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2020-06-04T10:39:41.438Z,1591267181.438 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2020-06-04T10:39:41.449Z,1591267181.449 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2020-06-04T10:39:41.452Z,1591267181.452 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2020-06-04T10:39:41.460Z,1591267181.460 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2020-06-04T10:39:41.467Z,1591267181.467 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2020-06-04T10:39:41.474Z,1591267181.474 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2020-06-04T10:39:41.478Z,1591267181.478 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2020-06-04T10:39:41.490Z,1591267181.490 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2020-06-04T10:39:41.497Z,1591267181.497 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2020-06-04T10:39:41.500Z,1591267181.500 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2020-06-04T10:39:41.531Z,1591267181.531 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2020-06-04T10:39:41.538Z,1591267181.538 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2020-06-04T10:39:41.546Z,1591267181.546 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2020-06-04T10:39:41.561Z,1591267181.561 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2020-06-04T10:39:41.570Z,1591267181.570 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2020-06-04T10:39:41.589Z,1591267181.589 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2020-06-04T10:39:41.639Z,1591267181.639 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-04T10:39:41.675Z,1591267181.675 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-06-04T10:39:41.771Z,1591267181.771 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-04T10:39:41.829Z,1591267181.829 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-04T10:39:41.871Z,1591267181.871 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-04T10:39:41.906Z,1591267181.906 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2020-06-04T10:39:41.908Z,1591267181.908 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2020-06-04T10:39:41.918Z,1591267181.918 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2020-06-04T10:39:41.920Z,1591267181.920 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2020-06-04T10:39:41.930Z,1591267181.930 [circle_acoustic_contact:M.SetSpeed](DEBUG): Construct.
2020-06-04T10:39:41.941Z,1591267181.941 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-04T10:39:41.977Z,1591267181.977 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-04T10:39:41.992Z,1591267181.992 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2020-06-04T10:39:42.171Z,1591267182.171 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="circle_acoustic_contact">

    <Description>
        This mission runs a circle around a specified acoustic contact. The
        tracking behavior periodically queries the DAT for range and direction
        to the contact, and the DAT acoustically interrogates the contact. The
        tracking component then calculates the position of the contact to update
        the center of the circle. When the vehicle surfaces and updates its own
        position with GPS, it queries the contact again, then sends the contact
        position to shore.
    </Description>

<!-- Mission-wide settings -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

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

    <DefineArg Name="AcousticContactTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications with shore.
    </Description><Units:minute/><Value>15</Value></DefineArg>

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

    <DefineArg Name="ContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>0</Value></DefineArg>
    
    <DefineArg Name="ContactDepth"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CenterLatitude"><Description>
        The latitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>36.81544</Value></DefineArg>

    <DefineArg Name="CenterLongitude"><Description>
        The longitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>-121.82506</Value></DefineArg>

    <DefineArg Name="OuterCircleRadius"><Description>
        Radius of circle around acoustic contact during wait time
    </Description><Units:meter/><Value>300</Value></DefineArg>

    <DefineArg Name="InnerCircleRadius"><Description>
        Radius of circle around acoustic contact during wait time
    </Description><Units:meter/><Value>50</Value></DefineArg>

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>60</Value></DefineArg>

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

    <DefineArg Name="InnerCircleTime"><Description>
        Time before each normal communication cycle to move to the inner circle.
        Default value of 0 means vehicle will stay at OuterCircleRadius the
        whole time.
    </Description><Units:minute/><Value>0</Value></DefineArg>

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

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

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth during yo-yo's.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth during yo-yo's.
    </Description><Units:meter/><Value>33</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Min altitude while in yo-yo mode.
    </Description><Units:meter/><Value>10</Value></DefineArg>

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

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>105</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>1.5</Value></DefineArg>

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

    <Timeout Duration="MissionTimeout"/>

<!-- Add tracking directive high in the stack (above NeedComms to enable tracking from surface). -->

    <Insert Filename="Insert/AbortDrift.xml">
        <RedefineArg Name="AcousticTimeout"><Arg Name="AcousticContactTimeout"/></RedefineArg>
    </Insert>

    <Estimation:Tracking>
        <Parallel/>
        <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="ContactDepth"/></Setting>
        <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="ContactLabel"/></Setting>
        <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
        <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
    </Estimation:Tracking>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><Estimation:Tracking.range_to_contact/></Elapsed>
            <Lt><Arg Name="AcousticContactTimeout"/></Lt>
        </When>

        <Assign><Sequence/><Arg Name="CenterLatitude"/><Estimation:Tracking.contact_latitude/></Assign>

        <Assign><Sequence/><Arg Name="CenterLongitude"/><Estimation:Tracking.contact_longitude/></Assign>

    </Aggregate>

<!-- Most missions have the NeedComms aggregate at high priority. -->

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

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

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

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

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

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

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

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

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

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

    <Insert Filename="Insert/Science.xml" Id="Science">
        <Description>
            Get science data, including PeakDetectChl
        </Description>
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
        <RedefineArg Name="SampleISUS"><True/></RedefineArg>
        <RedefineArg Name="SampleISUSmaxPitch"><Units:degree/><Value>30.0</Value></RedefineArg>
        <RedefineArg Name="SampleISUSminPitch"><Units:degree/><Value>10.0</Value></RedefineArg>
    </Insert>

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

    <Aggregate Id="YoYos">

        <Parallel/>

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

    </Aggregate>

    <Aggregate Id="CircleWrapper">

        <Sequence/>

        <Aggregate Id="CircleContact">

            <Description>
                Circle the contact while updating its position using the
                tracking behavior.
            </Description>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Lt><Arg Name="NeedCommsTime"/><Sub><Arg Name="InnerCircleTime"/></Sub></Lt>
            </When>

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

            <!--<Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="OuterCircleRadius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>-->

        </Aggregate>

        <Aggregate Id="CircleContactClose">

            <Description>
                Circle the contact closely while updating its position using the
                tracking behavior.
            </Description>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Ge><Arg Name="NeedCommsTime"/><Sub><Arg Name="InnerCircleTime"/></Sub></Ge>
            </When>

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

            <!--<Guidance:Circle>
                <Sequence/>
                <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                <Setting><Guidance:Circle.radius/><Arg Name="InnerCircleRadius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
            </Guidance:Circle>-->

        </Aggregate>

    </Aggregate>

</Mission>


2020-06-04T10:39:42.172Z,1591267182.172 [CommandLine](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.xml
2020-06-04T10:39:47.947Z,1591267187.947 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.ContactLabel 9.000000 count
2020-06-04T10:39:51.823Z,1591267191.823 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.TrackingUpdatePeriod 15.000000 second
2020-06-04T10:39:51.831Z,1591267191.831 [CommandLine](IMPORTANT): got command run 
2020-06-04T10:39:51.851Z,1591267191.851 [CommandLine](IMPORTANT): Running 
2020-06-04T10:40:03.645Z,1591267203.645 [CommandLine](IMPORTANT): got command show stack
2020-06-04T10:40:03.645Z,1591267203.645 [CommandLine](IMPORTANT): Behavior Stack:

2020-06-04T10:40:03.645Z,1591267203.645 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2020-06-04T10:40:03.646Z,1591267203.646 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2020-06-04T10:40:06.519Z,1591267206.519 [DataOverHttps](INFO): Sending 1412 bytes from file Logs/20200604T025153/Express0001.lzma
2020-06-04T10:40:07.519Z,1591267207.519 [DataOverHttps](INFO): Moved sent file to Logs/20200604T025153/Express0001.lzma.bak
2020-06-04T10:40:07.519Z,1591267207.519 [DataOverHttps](INFO): SBD MOMSN=12364559
2020-06-04T10:40:09.074Z,1591267209.074 [Startup:StartupSatComms:B](INFO): Timed out from 2020-06-04T10:39:09.0Z
2020-06-04T10:40:09.074Z,1591267209.074 [Startup:StartupSatComms:B] Stopped
2020-06-04T10:40:09.074Z,1591267209.074 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-06-04T10:40:09.074Z,1591267209.074 [Startup:StartupSatComms] Stopped
2020-06-04T10:40:09.074Z,1591267209.074 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-06-04T10:40:09.075Z,1591267209.075 [Startup](INFO): Completed Startup
2020-06-04T10:40:09.075Z,1591267209.075 [MissionManager](INFO): Startup is completed.
2020-06-04T10:40:09.075Z,1591267209.075 [MissionManager](INFO): Uninitializing Mission Startup
2020-06-04T10:40:09.075Z,1591267209.075 [Startup] Stopped
2020-06-04T10:40:09.075Z,1591267209.075 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-06-04T10:40:09.076Z,1591267209.076 [Startup:A.GoToSurface] Stopped
2020-06-04T10:40:09.076Z,1591267209.076 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-04T10:40:09.432Z,1591267209.432 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2020-06-04T10:40:09.437Z,1591267209.437 [circle_acoustic_contact] Running Loop=1
2020-06-04T10:40:09.437Z,1591267209.437 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2020-06-04T10:40:09.437Z,1591267209.437 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-04T10:40:09.437Z,1591267209.437 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::initialize circle_acoustic_contact:AbortDrift
2020-06-04T10:40:09.437Z,1591267209.437 [circle_acoustic_contact:AbortDrift:A] Running Loop=1
2020-06-04T10:40:09.437Z,1591267209.437 [circle_acoustic_contact:B.] Running Loop=1
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:B.](INFO): Initializing Tracking.
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-04T10:40:09.438Z,1591267209.438 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:J.Pitch](DEBUG): Initialize.
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:Science] Running Loop=1
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:Science:A] Running Loop=1
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:Science:B] Running Loop=1
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-04T10:40:09.439Z,1591267209.439 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:E] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:F] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:H] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-06-04T10:40:09.440Z,1591267209.440 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-04T10:40:09.466Z,1591267209.466 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2020-06-04T10:40:09.467Z,1591267209.467 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-04T10:40:09.467Z,1591267209.467 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-06-04T10:40:09.467Z,1591267209.467 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-06-04T10:40:09.467Z,1591267209.467 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2020-06-04T10:40:09.467Z,1591267209.467 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-04T10:40:09.467Z,1591267209.467 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-06-04T10:40:09.468Z,1591267209.468 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-04T10:40:09.478Z,1591267209.478 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2020-06-04T10:40:09.478Z,1591267209.478 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-04T10:40:09.478Z,1591267209.478 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-06-04T10:40:09.478Z,1591267209.478 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-04T10:40:09.480Z,1591267209.480 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2020-06-04T10:40:09.480Z,1591267209.480 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-04T10:40:09.480Z,1591267209.480 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-06-04T10:40:09.480Z,1591267209.480 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-04T10:40:09.499Z,1591267209.499 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-04T10:40:09.499Z,1591267209.499 [circle_acoustic_contact:M.SetSpeed](DEBUG): Initialize.
2020-06-04T10:40:09.499Z,1591267209.499 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-04T10:40:09.499Z,1591267209.499 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2020-06-04T10:40:09.499Z,1591267209.499 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-04T10:40:09.500Z,1591267209.500 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-04T10:40:09.500Z,1591267209.500 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-04T10:40:09.500Z,1591267209.500 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-04T10:40:09.500Z,1591267209.500 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-04T10:40:09.500Z,1591267209.500 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2020-06-04T10:40:09.500Z,1591267209.500 [circle_acoustic_contact:E] Running Loop=1
2020-06-04T10:40:09.505Z,1591267209.505 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-04T10:40:09.505Z,1591267209.505 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-04T10:40:09.506Z,1591267209.506 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-04T10:40:09.506Z,1591267209.506 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-04T10:40:09.508Z,1591267209.508 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-04T10:40:09.508Z,1591267209.508 [circle_acoustic_contact:Science] Running Loop=1
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-04T10:40:09.518Z,1591267209.518 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:Read_Oil] Stopped
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:H] Stopped
2020-06-04T10:40:09.519Z,1591267209.519 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:F] Stopped
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:E] Stopped
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:D] Stopped
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:C] Stopped
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:B] Stopped
2020-06-04T10:40:09.520Z,1591267209.520 [circle_acoustic_contact:Science:A] Stopped
2020-06-04T10:40:09.529Z,1591267209.529 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-04T10:40:09.529Z,1591267209.529 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-04T10:40:09.530Z,1591267209.530 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-04T10:40:09.530Z,1591267209.530 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-04T10:40:09.530Z,1591267209.530 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-04T10:40:09.530Z,1591267209.530 [circle_acoustic_contact:E] Stopped
2020-06-04T10:40:09.531Z,1591267209.531 [circle_acoustic_contact:G] Running Loop=1
2020-06-04T10:40:09.531Z,1591267209.531 [circle_acoustic_contact:B.] Running Loop=1
2020-06-04T10:40:09.531Z,1591267209.531 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:09.531Z,1591267209.531 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-04T10:40:09.532Z,1591267209.532 [circle_acoustic_contact:AbortDrift:A](INFO): Insert acoustic timeout set to 0.250000 h .
2020-06-04T10:40:09.532Z,1591267209.532 [circle_acoustic_contact:AbortDrift:A] Stopped
2020-06-04T10:40:09.532Z,1591267209.532 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Running Loop=1
2020-06-04T10:40:09.532Z,1591267209.532 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2020-06-04T10:40:09.541Z,1591267209.541 [circle_acoustic_contact:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.25 hours.
2020-06-04T10:40:09.742Z,1591267209.742 [WetLabsBB2FL](INFO): Powering up
2020-06-04T10:40:09.853Z,1591267209.853 [circle_acoustic_contact:G] Stopped
2020-06-04T10:40:09.854Z,1591267209.854 [circle_acoustic_contact:H] Running Loop=1
2020-06-04T10:40:09.855Z,1591267209.855 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:09.856Z,1591267209.856 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1591220736.00. Resetting abort timer.
2020-06-04T10:40:10.252Z,1591267210.252 [circle_acoustic_contact:H] Stopped
2020-06-04T10:40:10.252Z,1591267210.252 [circle_acoustic_contact:I] Running Loop=1
2020-06-04T10:40:10.277Z,1591267210.277 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:10.669Z,1591267210.669 [circle_acoustic_contact:I] Stopped
2020-06-04T10:40:10.670Z,1591267210.670 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2020-06-04T10:40:10.670Z,1591267210.670 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2020-06-04T10:40:10.670Z,1591267210.670 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:11.070Z,1591267211.070 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2020-06-04T10:40:11.070Z,1591267211.070 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2020-06-04T10:40:11.070Z,1591267211.070 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2020-06-04T10:40:11.070Z,1591267211.070 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2020-06-04T10:40:11.071Z,1591267211.071 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2020-06-04T10:40:11.078Z,1591267211.078 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2020-06-04T10:40:11.078Z,1591267211.078 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:11.507Z,1591267211.507 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:11.910Z,1591267211.910 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:12.290Z,1591267212.290 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:12.702Z,1591267212.702 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:13.107Z,1591267213.107 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:13.498Z,1591267213.498 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:13.914Z,1591267213.914 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:14.308Z,1591267214.308 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:14.686Z,1591267214.686 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:15.118Z,1591267215.118 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:15.518Z,1591267215.518 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:15.933Z,1591267215.933 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:16.595Z,1591267216.595 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:16.867Z,1591267216.867 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:17.180Z,1591267217.180 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:17.610Z,1591267217.610 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:18.028Z,1591267218.028 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:18.388Z,1591267218.388 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:18.845Z,1591267218.845 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:19.255Z,1591267219.255 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:19.549Z,1591267219.549 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:19.956Z,1591267219.956 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:20.374Z,1591267220.374 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:20.772Z,1591267220.772 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:21.168Z,1591267221.168 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:21.582Z,1591267221.582 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:21.979Z,1591267221.979 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:22.393Z,1591267222.393 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:22.801Z,1591267222.801 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:23.226Z,1591267223.226 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:23.630Z,1591267223.630 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:24.018Z,1591267224.018 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:24.460Z,1591267224.460 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:24.465Z,1591267224.465 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-04T10:40:24.465Z,1591267224.465 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-04T10:40:24.801Z,1591267224.801 [DAT](INFO): ****** received valid address query ******
2020-06-04T10:40:24.801Z,1591267224.801 [DAT](INFO): ****** received valid ping request ******
2020-06-04T10:40:24.802Z,1591267224.802 [DAT](INFO): setting remote address to 0
2020-06-04T10:40:24.840Z,1591267224.840 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:25.196Z,1591267225.196 [DAT](INFO): DAT read: user:5>

2020-06-04T10:40:25.198Z,1591267225.198 [DAT](INFO): DAT read: RemoteAddr      | 0           

2020-06-04T10:40:25.198Z,1591267225.198 [DAT](INFO): set remote address to 0
2020-06-04T10:40:25.198Z,1591267225.198 [DAT](INFO): ****** received valid address query ******
2020-06-04T10:40:25.198Z,1591267225.198 [DAT](INFO): ****** received valid ping request ******
2020-06-04T10:40:25.199Z,1591267225.199 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-06-04T10:40:25.200Z,1591267225.200 [DAT](INFO): ****** ping requested ******
2020-06-04T10:40:25.221Z,1591267225.221 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:25.592Z,1591267225.592 [DAT](INFO): DAT read: user:6>

2020-06-04T10:40:25.604Z,1591267225.604 [DAT](INFO): DAT read: Tx time:10:40:05.1621

2020-06-04T10:40:25.604Z,1591267225.604 [DAT](INFO): transmitted an acoustic signal
2020-06-04T10:40:25.604Z,1591267225.604 [DAT](INFO): publishing transmit ping time
2020-06-04T10:40:25.624Z,1591267225.624 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:26.036Z,1591267226.036 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:26.426Z,1591267226.426 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:26.866Z,1591267226.866 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:27.247Z,1591267227.247 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:27.655Z,1591267227.655 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:28.074Z,1591267228.074 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:28.438Z,1591267228.438 [DAT](INFO): DAT read: Rx Time:10:40:07.5708

2020-06-04T10:40:28.439Z,1591267228.439 [DAT](INFO): received an acoustic signal
2020-06-04T10:40:28.454Z,1591267228.454 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:28.855Z,1591267228.855 [DAT](INFO): DAT read: Bearing  69.2, -67.4 (Local)

2020-06-04T10:40:28.855Z,1591267228.855 [DAT](INFO): Local Bearing received:Bearing  69.2, -67.4 (Local)

2020-06-04T10:40:28.856Z,1591267228.856 [DAT](INFO): DAT read: Range 8 to 9 : 3.3 m  (Round-trip  4.5 ms) speed  0.0 m/s

2020-06-04T10:40:28.857Z,1591267228.857 [DAT](ERROR): Read range message, but no direction.
2020-06-04T10:40:28.878Z,1591267228.878 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:29.294Z,1591267229.294 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:29.685Z,1591267229.685 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:30.065Z,1591267230.065 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:30.540Z,1591267230.540 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:30.983Z,1591267230.983 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:31.314Z,1591267231.314 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:31.728Z,1591267231.728 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:32.130Z,1591267232.130 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:32.479Z,1591267232.479 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:32.884Z,1591267232.884 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:33.298Z,1591267233.298 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:33.721Z,1591267233.721 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:34.116Z,1591267234.116 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:34.542Z,1591267234.542 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:34.926Z,1591267234.926 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:35.316Z,1591267235.316 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:35.707Z,1591267235.707 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:36.116Z,1591267236.116 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:36.527Z,1591267236.527 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:36.949Z,1591267236.949 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:37.352Z,1591267237.352 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:37.728Z,1591267237.728 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:38.154Z,1591267238.154 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:38.549Z,1591267238.549 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:38.978Z,1591267238.978 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:39.381Z,1591267239.381 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:39.801Z,1591267239.801 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:39.802Z,1591267239.802 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-04T10:40:39.802Z,1591267239.802 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-04T10:40:40.174Z,1591267240.174 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:40.554Z,1591267240.554 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:40.965Z,1591267240.965 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:41.374Z,1591267241.374 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:41.781Z,1591267241.781 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:42.196Z,1591267242.196 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:42.580Z,1591267242.580 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:42.991Z,1591267242.991 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:43.393Z,1591267243.393 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:43.788Z,1591267243.788 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:44.228Z,1591267244.228 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:44.652Z,1591267244.652 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:45.331Z,1591267245.331 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:45.558Z,1591267245.558 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:45.866Z,1591267245.866 [DAT](INFO): ****** received valid address query ******
2020-06-04T10:40:45.866Z,1591267245.866 [DAT](INFO): ****** received valid ping request ******
2020-06-04T10:40:45.866Z,1591267245.866 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-06-04T10:40:45.868Z,1591267245.868 [DAT](INFO): ****** ping requested ******
2020-06-04T10:40:46.019Z,1591267246.019 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:46.290Z,1591267246.290 [DAT](INFO): DAT read: user:7>

2020-06-04T10:40:46.291Z,1591267246.291 [DAT](INFO): DAT read: Tx time:10:40:25.8120

2020-06-04T10:40:46.301Z,1591267246.301 [DAT](INFO): transmitted an acoustic signal
2020-06-04T10:40:46.301Z,1591267246.301 [DAT](INFO): publishing transmit ping time
2020-06-04T10:40:46.431Z,1591267246.431 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:46.816Z,1591267246.816 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:47.219Z,1591267247.219 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:47.594Z,1591267247.594 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:47.954Z,1591267247.954 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:48.374Z,1591267248.374 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:48.752Z,1591267248.752 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:49.153Z,1591267249.153 [DAT](INFO): DAT read: Rx Time:10:40:28.2207

2020-06-04T10:40:49.153Z,1591267249.153 [DAT](INFO): received an acoustic signal
2020-06-04T10:40:49.174Z,1591267249.174 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:49.571Z,1591267249.571 [DAT](INFO): DAT read: Bearing  69.2, -67.6 (Local)

2020-06-04T10:40:49.571Z,1591267249.571 [DAT](INFO): Local Bearing received:Bearing  69.2, -67.6 (Local)

2020-06-04T10:40:49.572Z,1591267249.572 [DAT](INFO): DAT read: Range 8 to 9 : 3.3 m  (Round-trip  4.5 ms) speed  0.0 m/s

2020-06-04T10:40:49.573Z,1591267249.573 [DAT](ERROR): Read range message, but no direction.
2020-06-04T10:40:49.594Z,1591267249.594 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:49.931Z,1591267249.931 [DVL_micro](ERROR): only read 0 of 1 data item for BIT error
2020-06-04T10:40:49.932Z,1591267249.932 [DVL_micro](ERROR): Failed to parse:
:TS,00000000000000,35.0,+17.8,489.0,000
2020-06-04T10:40:50.002Z,1591267250.002 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:50.378Z,1591267250.378 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:50.782Z,1591267250.782 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:51.198Z,1591267251.198 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:51.616Z,1591267251.616 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:52.006Z,1591267252.006 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:52.463Z,1591267252.463 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:52.821Z,1591267252.821 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:53.206Z,1591267253.206 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:53.657Z,1591267253.657 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:54.024Z,1591267254.024 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:54.440Z,1591267254.440 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:54.838Z,1591267254.838 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:54.839Z,1591267254.839 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-04T10:40:54.839Z,1591267254.839 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-04T10:40:55.244Z,1591267255.244 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:55.306Z,1591267255.306 [DataOverHttps](INFO): Sending 699 bytes from file Logs/20200604T025153/Express0005.lzma
2020-06-04T10:40:55.634Z,1591267255.634 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:56.033Z,1591267256.033 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:56.306Z,1591267256.306 [DataOverHttps](INFO): Moved sent file to Logs/20200604T025153/Express0005.lzma.bak
2020-06-04T10:40:56.307Z,1591267256.307 [DataOverHttps](INFO): SBD MOMSN=12364611
2020-06-04T10:40:56.440Z,1591267256.440 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:56.834Z,1591267256.834 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:57.282Z,1591267257.282 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:57.649Z,1591267257.649 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:58.067Z,1591267258.067 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:58.476Z,1591267258.476 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:58.893Z,1591267258.893 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:59.334Z,1591267259.334 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:40:59.782Z,1591267259.782 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:00.126Z,1591267260.126 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:00.522Z,1591267260.522 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:00.919Z,1591267260.919 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:01.292Z,1591267261.292 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:01.686Z,1591267261.686 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:02.095Z,1591267262.095 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:02.515Z,1591267262.515 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:02.904Z,1591267262.904 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:03.302Z,1591267263.302 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:03.715Z,1591267263.715 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:04.114Z,1591267264.114 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:04.525Z,1591267264.525 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:04.953Z,1591267264.953 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:05.330Z,1591267265.330 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:05.738Z,1591267265.738 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:06.145Z,1591267266.145 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:06.508Z,1591267266.508 [DAT](INFO): ****** received valid address query ******
2020-06-04T10:41:06.508Z,1591267266.508 [DAT](INFO): ****** received valid ping request ******
2020-06-04T10:41:06.508Z,1591267266.508 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-06-04T10:41:06.509Z,1591267266.509 [DAT](INFO): ****** ping requested ******
2020-06-04T10:41:06.554Z,1591267266.554 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:06.917Z,1591267266.917 [DAT](INFO): DAT read: user:8>

2020-06-04T10:41:06.918Z,1591267266.918 [DAT](INFO): DAT read: Tx time:10:40:46.4619

2020-06-04T10:41:06.918Z,1591267266.918 [DAT](INFO): transmitted an acoustic signal
2020-06-04T10:41:06.918Z,1591267266.918 [DAT](INFO): publishing transmit ping time
2020-06-04T10:41:06.933Z,1591267266.933 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:07.342Z,1591267267.342 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:07.767Z,1591267267.767 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:08.138Z,1591267268.138 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:08.558Z,1591267268.558 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:08.957Z,1591267268.957 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:09.362Z,1591267269.362 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:09.752Z,1591267269.752 [DAT](INFO): DAT read: Rx Time:10:40:48.8704

2020-06-04T10:41:09.752Z,1591267269.752 [DAT](INFO): received an acoustic signal
2020-06-04T10:41:09.774Z,1591267269.774 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:10.188Z,1591267270.188 [DAT](INFO): DAT read: Bearing  70.6, -66.6 (Local)

2020-06-04T10:41:10.188Z,1591267270.188 [DAT](INFO): Local Bearing received:Bearing  70.6, -66.6 (Local)

2020-06-04T10:41:10.189Z,1591267270.189 [DAT](INFO): DAT read: Range 8 to 9 : 3.3 m  (Round-trip  4.4 ms) speed  0.1 m/s

2020-06-04T10:41:10.190Z,1591267270.190 [DAT](ERROR): Read range message, but no direction.
2020-06-04T10:41:10.224Z,1591267270.224 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:10.224Z,1591267270.224 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-04T10:41:10.225Z,1591267270.225 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-04T10:41:10.590Z,1591267270.590 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:10.998Z,1591267270.998 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:11.390Z,1591267271.390 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:11.790Z,1591267271.790 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:12.192Z,1591267272.192 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:12.613Z,1591267272.613 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:12.994Z,1591267272.994 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:13.410Z,1591267273.410 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:13.927Z,1591267273.927 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:14.212Z,1591267274.212 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:14.643Z,1591267274.643 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:15.064Z,1591267275.064 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:15.478Z,1591267275.478 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:15.846Z,1591267275.846 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:16.238Z,1591267276.238 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:16.646Z,1591267276.646 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:17.050Z,1591267277.050 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:17.438Z,1591267277.438 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:17.854Z,1591267277.854 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:18.243Z,1591267278.243 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:18.682Z,1591267278.682 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:19.047Z,1591267279.047 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:19.461Z,1591267279.461 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:19.873Z,1591267279.873 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:20.291Z,1591267280.291 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:20.691Z,1591267280.691 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:21.086Z,1591267281.086 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:21.494Z,1591267281.494 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:21.906Z,1591267281.906 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:22.283Z,1591267282.283 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:22.727Z,1591267282.727 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:23.111Z,1591267283.111 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:23.508Z,1591267283.508 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:23.895Z,1591267283.895 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:24.309Z,1591267284.309 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:24.713Z,1591267284.713 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:25.136Z,1591267285.136 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:25.520Z,1591267285.520 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:25.537Z,1591267285.537 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-04T10:41:25.537Z,1591267285.537 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-04T10:41:25.934Z,1591267285.934 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:26.342Z,1591267286.342 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:26.761Z,1591267286.761 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:27.128Z,1591267287.128 [DAT](INFO): ****** received valid address query ******
2020-06-04T10:41:27.128Z,1591267287.128 [DAT](INFO): ****** received valid ping request ******
2020-06-04T10:41:27.128Z,1591267287.128 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-06-04T10:41:27.128Z,1591267287.128 [DAT](INFO): ****** ping requested ******
2020-06-04T10:41:27.181Z,1591267287.181 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:27.523Z,1591267287.523 [DAT](INFO): DAT read: user:9>

2020-06-04T10:41:27.524Z,1591267287.524 [DAT](INFO): DAT read: Tx time:10:41:07.1117

2020-06-04T10:41:27.524Z,1591267287.524 [DAT](INFO): transmitted an acoustic signal
2020-06-04T10:41:27.524Z,1591267287.524 [DAT](INFO): publishing transmit ping time
2020-06-04T10:41:27.589Z,1591267287.589 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:27.998Z,1591267287.998 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:28.619Z,1591267288.619 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:28.845Z,1591267288.845 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:29.197Z,1591267289.197 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:29.604Z,1591267289.604 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:30.021Z,1591267290.021 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:30.363Z,1591267290.363 [DAT](INFO): DAT read: Rx Time:10:41:09.5204

2020-06-04T10:41:30.363Z,1591267290.363 [DAT](INFO): received an acoustic signal
2020-06-04T10:41:30.398Z,1591267290.398 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:30.763Z,1591267290.763 [DAT](INFO): DAT read: Bearing  70.2, -68.2 (Local)

2020-06-04T10:41:30.763Z,1591267290.763 [DAT](INFO): Local Bearing received:Bearing  70.2, -68.2 (Local)

2020-06-04T10:41:30.784Z,1591267290.784 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:31.171Z,1591267291.171 [DAT](INFO): DAT read: Range 8 to 9 : 3.3 m  (Round-trip  4.5 ms) speed  0.0 m/s

2020-06-04T10:41:31.172Z,1591267291.172 [DAT](ERROR): Read range message, but no direction.
2020-06-04T10:41:31.190Z,1591267291.190 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:31.606Z,1591267291.606 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:32.003Z,1591267292.003 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:32.398Z,1591267292.398 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:32.797Z,1591267292.797 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:33.174Z,1591267293.174 [DVL_micro](ERROR): Failed to parse:
:SA,-01.09,-06.71,038.8
2020-06-04T10:41:33.215Z,1591267293.215 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:33.591Z,1591267293.591 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:34.004Z,1591267294.004 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:34.409Z,1591267294.409 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:34.826Z,1591267294.826 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:35.207Z,1591267295.207 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:35.525Z,1591267295.525 [CommandLine](IMPORTANT): got command stop
2020-06-04T10:41:35.525Z,1591267295.525 [CommandLine](IMPORTANT): Scheduling is paused
2020-06-04T10:41:35.525Z,1591267295.525 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-06-04T10:41:35.634Z,1591267295.634 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-04T10:41:35.634Z,1591267295.634 [MissionManager](INFO): MissionManager is completed.
2020-06-04T10:41:35.635Z,1591267295.635 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact] Stopped
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:AbortDrift] Stopped
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::uninitialize circle_acoustic_contact:AbortDrift
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Stopped
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:B.] Stopped
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:B.](DEBUG): Uninitializing Tracking.
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:StandardEnvelopes] Stopped
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2020-06-04T10:41:35.635Z,1591267295.635 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:J.Pitch] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:K.Buoyancy] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science:G] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-06-04T10:41:35.636Z,1591267295.636 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:M.SetSpeed] Stopped
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:M.SetSpeed](DEBUG): Uninitialize.
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos] Stopped
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-06-04T10:41:35.653Z,1591267295.653 [circle_acoustic_contact:CircleWrapper] Stopped
2020-06-04T10:41:35.654Z,1591267295.654 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2020-06-04T10:41:35.654Z,1591267295.654 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2020-06-04T10:41:35.654Z,1591267295.654 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2020-06-04T10:41:35.654Z,1591267295.654 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2020-06-04T10:41:36.022Z,1591267296.022 [MissionManager](IMPORTANT): Started mission Default
2020-06-04T10:41:36.023Z,1591267296.023 [Default] Running Loop=1
2020-06-04T10:41:36.023Z,1591267296.023 [Default](DEBUG): Aggregate::initialize Default
2020-06-04T10:41:36.023Z,1591267296.023 [Default:B.GoToSurface] Running Loop=1
2020-06-04T10:41:36.023Z,1591267296.023 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-04T10:41:36.023Z,1591267296.023 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-04T10:41:36.023Z,1591267296.023 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-04T10:41:36.024Z,1591267296.024 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-04T10:41:36.024Z,1591267296.024 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-04T10:41:36.024Z,1591267296.024 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-04T10:41:36.025Z,1591267296.025 [Default:A.Wait] Running Loop=1
2020-06-04T10:41:36.025Z,1591267296.025 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-04T10:41:36.081Z,1591267296.081 [WetLabsBB2FL](INFO): Powering down
2020-06-04T10:41:38.709Z,1591267298.709 [CommandLine](IMPORTANT): got command quit
2020-06-04T10:41:39.713Z,1591267299.713 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:39.713Z,1591267299.713 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:39.857Z,1591267299.857 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-06-04T10:41:39.857Z,1591267299.857 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:39.858Z,1591267299.858 [CommandLine](INFO): Join timeout helper Thread ID is 9521
2020-06-04T10:41:39.861Z,1591267299.861 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-06-04T10:41:39.861Z,1591267299.861 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:39.861Z,1591267299.861 [NavChartDb](INFO): Join timeout helper Thread ID is 9522
2020-06-04T10:41:40.005Z,1591267300.005 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:40.005Z,1591267300.005 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:40.017Z,1591267300.017 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2020-06-04T10:41:40.017Z,1591267300.017 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:40.017Z,1591267300.017 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 9523
2020-06-04T10:41:40.517Z,1591267300.517 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:40.518Z,1591267300.518 [WetLabsBB2FL](INFO): Powering down
2020-06-04T10:41:40.518Z,1591267300.518 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:40.525Z,1591267300.525 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-06-04T10:41:40.525Z,1591267300.525 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:40.525Z,1591267300.525 [Radio_Surface](INFO): Join timeout helper Thread ID is 9524
2020-06-04T10:41:40.725Z,1591267300.725 [Radio_Surface](INFO): Powering down
2020-06-04T10:41:40.726Z,1591267300.726 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:40.726Z,1591267300.726 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:40.745Z,1591267300.745 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-06-04T10:41:40.745Z,1591267300.745 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:40.745Z,1591267300.745 [DataOverHttps](INFO): Join timeout helper Thread ID is 9525
2020-06-04T10:41:41.577Z,1591267301.577 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:41.577Z,1591267301.577 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:41.594Z,1591267301.594 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-06-04T10:41:41.594Z,1591267301.594 [logger ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:41.594Z,1591267301.594 [logger](INFO): Join timeout helper Thread ID is 9526
2020-06-04T10:41:41.641Z,1591267301.641 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:41.641Z,1591267301.641 [logger ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:41.658Z,1591267301.658 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-06-04T10:41:41.658Z,1591267301.658 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:41.658Z,1591267301.658 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-06-04T10:41:41.658Z,1591267301.658 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:41.659Z,1591267301.659 [controlThread](INFO): Join timeout helper Thread ID is 9527
2020-06-04T10:41:41.723Z,1591267301.723 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-04T10:41:41.723Z,1591267301.723 [controlThread](DEBUG): Uninitializing ControlThread
2020-06-04T10:41:41.723Z,1591267301.723 [AHRS_M2](INFO): Powering down
2020-06-04T10:41:41.865Z,1591267301.865 [DVL_micro](INFO): Powering down
2020-06-04T10:41:41.866Z,1591267301.866 [NAL9602](INFO): Powering down
2020-06-04T10:41:41.867Z,1591267301.867 [DAT](INFO): Powering down
2020-06-04T10:41:42.006Z,1591267302.006 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-06-04T10:41:42.007Z,1591267302.007 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-06-04T10:41:42.007Z,1591267302.007 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-06-04T10:41:42.008Z,1591267302.008 [MissionManager](INFO): Uninitializing Mission Default
2020-06-04T10:41:42.008Z,1591267302.008 [Default] Stopped
2020-06-04T10:41:42.008Z,1591267302.008 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-04T10:41:42.008Z,1591267302.008 [Default:A.Wait] Stopped
2020-06-04T10:41:42.008Z,1591267302.008 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-04T10:41:42.008Z,1591267302.008 [Default:B.GoToSurface] Stopped
2020-06-04T10:41:42.008Z,1591267302.008 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-04T10:41:42.011Z,1591267302.011 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-06-04T10:41:42.011Z,1591267302.011 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-06-04T10:41:42.011Z,1591267302.011 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-06-04T10:41:42.011Z,1591267302.011 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-06-04T10:41:42.012Z,1591267302.012 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-06-04T10:41:42.012Z,1591267302.012 [BuoyancyServo](INFO): Powering down
2020-06-04T10:41:42.141Z,1591267302.141 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-06-04T10:41:42.141Z,1591267302.141 [ElevatorServo](INFO): Powering down
2020-06-04T10:41:42.142Z,1591267302.142 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-06-04T10:41:42.142Z,1591267302.142 [MassServo](INFO): Powering down
2020-06-04T10:41:42.143Z,1591267302.143 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-06-04T10:41:42.143Z,1591267302.143 [RudderServo](INFO): Powering down
2020-06-04T10:41:42.144Z,1591267302.144 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-06-04T10:41:42.144Z,1591267302.144 [ThrusterServo](INFO): Powering down
2020-06-04T10:41:42.145Z,1591267302.145 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-06-04T10:41:42.145Z,1591267302.145 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-06-04T10:41:42.145Z,1591267302.145 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-06-04T10:41:42.145Z,1591267302.145 [CBIT](DEBUG): Powering off loads.
2020-06-04T10:41:42.157Z,1591267302.157 [CBIT](DEBUG): Disabling WDT.
2020-06-04T10:41:42.169Z,1591267302.169 [CBIT](DEBUG): Opening all GF detection circuits.
2020-06-04T10:41:42.170Z,1591267302.170 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:42.251Z,1591267302.251 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:42.259Z,1591267302.259 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:42.318Z,1591267302.318 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:42.346Z,1591267302.346 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-04T10:41:42.407Z,1591267302.407 [logger ThreadHandler](INFO): Thread cancelled.