2020-06-08T16:55:01.051Z,1591635301.051 [CommandLine](IMPORTANT): got command restart logs
2020-06-08T16:55:14.041Z,1591635314.041 [DVL_micro](ERROR): DVL BIT error. See manual. Result code: -1146
2020-06-08T16:55:14.043Z,1591635314.043 [DVL_micro](ERROR): Failed to parse:
:BD00.00,+00000000.00,+00000000.00,9999.99,000.00
2020-06-08T16:55:23.586Z,1591635323.586 [CommandLine](IMPORTANT): got command failComponent
2020-06-08T16:55:23.587Z,1591635323.587 [CommandLine](IMPORTANT): Failed components:
2020-06-08T16:55:23.587Z,1591635323.587 [CommandLine](IMPORTANT): No failed Components.
2020-06-08T16:55:25.714Z,1591635325.714 [CommandLine](IMPORTANT): got command show stack
2020-06-08T16:55:25.714Z,1591635325.714 [CommandLine](IMPORTANT): Behavior Stack:

2020-06-08T16:55:25.715Z,1591635325.715 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-06-08T16:55:25.715Z,1591635325.715 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-06-08T16:55:47.176Z,1591635347.176 [DVL_micro](ERROR): only read 3 of 4 data items
2020-06-08T16:55:47.176Z,1591635347.176 [DVL_micro](ERROR): Failed to parse:
:BI,-01420,-01271,+00299,+0:BD,+00000000.00,+0000000000000.00,000.00
2020-06-08T16:55:57.074Z,1591635357.074 [CommandLine](IMPORTANT): got command show variable range
2020-06-08T16:55:57.075Z,1591635357.075 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-06-08T16:55:57.125Z,1591635357.125 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-06-08T16:55:57.125Z,1591635357.125 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-06-08T16:55:57.162Z,1591635357.162 [CommandLine](IMPORTANT): Docked.dockRange (meter)
2020-06-08T16:55:57.162Z,1591635357.162 [CommandLine](IMPORTANT): LineCapture.terminalRange (meter)
2020-06-08T16:55:57.163Z,1591635357.163 [CommandLine](IMPORTANT): LineCapture.armRange (meter)
2020-06-08T16:55:57.163Z,1591635357.163 [CommandLine](IMPORTANT): LineCapture.lockoutRange (meter)
2020-06-08T16:55:57.164Z,1591635357.164 [CommandLine](IMPORTANT): SetNav.dockRange (meter)
2020-06-08T16:55:57.165Z,1591635357.165 [CommandLine](IMPORTANT): SetNav.rangeTimeout (minute)
2020-06-08T16:55:57.165Z,1591635357.165 [CommandLine](IMPORTANT): Undock.undockRange (meter)
2020-06-08T16:55:57.232Z,1591635357.232 [CommandLine](IMPORTANT): DVL_micro.Beam1Range (meter)
2020-06-08T16:55:57.232Z,1591635357.232 [CommandLine](IMPORTANT): DVL_micro.Beam2Range (meter)
2020-06-08T16:55:57.233Z,1591635357.233 [CommandLine](IMPORTANT): DVL_micro.Beam3Range (meter)
2020-06-08T16:55:57.233Z,1591635357.233 [CommandLine](IMPORTANT): DVL_micro.Beam4Range (meter)
2020-06-08T16:55:57.236Z,1591635357.236 [CommandLine](IMPORTANT): DAT.range_request (count)
2020-06-08T16:55:57.237Z,1591635357.237 [CommandLine](IMPORTANT): DAT.range (meter)
2020-06-08T16:55:58.251Z,1591635358.251 [DataOverHttps](IMPORTANT): SBD MTMSN=20200608T165547
2020-06-08T16:56:05.913Z,1591635365.913 [DataOverHttps](INFO): Received command:load Science/circle_acoustic_contact.xml;set circle_acoustic_contact.ContactLabel 9 count;set circle_acoustic_contact.TrackingUpdatePeriod 15 second;run 
2020-06-08T16:56:05.945Z,1591635365.945 [CommandLine](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.xml
2020-06-08T16:56:05.946Z,1591635365.946 [MissionManager](INFO): Loading Mission: ./Missions/Science/circle_acoustic_contact.xml
2020-06-08T16:56:06.075Z,1591635366.075 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2020-06-08T16:56:06.078Z,1591635366.078 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2020-06-08T16:56:06.082Z,1591635366.082 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2020-06-08T16:56:06.084Z,1591635366.084 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2020-06-08T16:56:06.087Z,1591635366.087 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m
2020-06-08T16:56:06.090Z,1591635366.090 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2020-06-08T16:56:06.092Z,1591635366.092 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2020-06-08T16:56:06.094Z,1591635366.094 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2020-06-08T16:56:06.096Z,1591635366.096 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2020-06-08T16:56:06.099Z,1591635366.099 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s
2020-06-08T16:56:06.101Z,1591635366.101 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2020-06-08T16:56:06.103Z,1591635366.103 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2020-06-08T16:56:06.105Z,1591635366.105 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2020-06-08T16:56:06.107Z,1591635366.107 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2020-06-08T16:56:06.126Z,1591635366.126 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2020-06-08T16:56:06.128Z,1591635366.128 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2020-06-08T16:56:06.189Z,1591635366.189 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2020-06-08T16:56:06.192Z,1591635366.192 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2020-06-08T16:56:06.202Z,1591635366.202 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s
2020-06-08T16:56:06.204Z,1591635366.204 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2020-06-08T16:56:06.215Z,1591635366.215 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2020-06-08T16:56:06.225Z,1591635366.225 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2020-06-08T16:56:06.227Z,1591635366.227 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2020-06-08T16:56:06.228Z,1591635366.228 [MissionManager](INFO): Inserting Stack: Missions/Insert/AbortDrift.xml
2020-06-08T16:56:06.271Z,1591635366.271 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h
2020-06-08T16:56:06.278Z,1591635366.278 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2020-06-08T16:56:06.280Z,1591635366.280 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute.
2020-06-08T16:56:06.290Z,1591635366.290 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout
2020-06-08T16:56:06.346Z,1591635366.346 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-06-08T16:56:06.432Z,1591635366.432 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2020-06-08T16:56:06.455Z,1591635366.455 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2020-06-08T16:56:06.461Z,1591635366.461 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-06-08T16:56:06.464Z,1591635366.464 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2020-06-08T16:56:06.470Z,1591635366.470 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-06-08T16:56:06.485Z,1591635366.485 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2020-06-08T16:56:06.487Z,1591635366.487 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2020-06-08T16:56:06.505Z,1591635366.505 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-08T16:56:06.531Z,1591635366.531 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-06-08T16:56:06.582Z,1591635366.582 [DAT](INFO): ****** ping requested ******
2020-06-08T16:56:06.603Z,1591635366.603 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2020-06-08T16:56:06.610Z,1591635366.610 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2020-06-08T16:56:06.612Z,1591635366.612 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-06-08T16:56:06.621Z,1591635366.621 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-08T16:56:06.627Z,1591635366.627 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-08T16:56:06.652Z,1591635366.652 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-06-08T16:56:06.684Z,1591635366.684 [circle_acoustic_contact:J.Pitch](DEBUG): Construct.
2020-06-08T16:56:06.709Z,1591635366.709 [circle_acoustic_contact:K.Buoyancy](DEBUG): Construct Buoyancy.
2020-06-08T16:56:06.712Z,1591635366.712 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-06-08T16:56:06.912Z,1591635366.912 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2020-06-08T16:56:06.915Z,1591635366.915 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2020-06-08T16:56:06.917Z,1591635366.917 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2020-06-08T16:56:06.919Z,1591635366.919 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2020-06-08T16:56:06.936Z,1591635366.936 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2020-06-08T16:56:06.938Z,1591635366.938 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2020-06-08T16:56:06.940Z,1591635366.940 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2020-06-08T16:56:06.942Z,1591635366.942 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2020-06-08T16:56:06.944Z,1591635366.944 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2020-06-08T16:56:06.993Z,1591635366.993 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2020-06-08T16:56:06.996Z,1591635366.996 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2020-06-08T16:56:07.002Z,1591635367.002 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2020-06-08T16:56:07.004Z,1591635367.004 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2020-06-08T16:56:07.014Z,1591635367.014 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-06-08T16:56:07.021Z,1591635367.021 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2020-06-08T16:56:07.024Z,1591635367.024 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2020-06-08T16:56:07.034Z,1591635367.034 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 bool
2020-06-08T16:56:07.041Z,1591635367.041 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2020-06-08T16:56:07.044Z,1591635367.044 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2020-06-08T16:56:07.087Z,1591635367.087 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2020-06-08T16:56:07.105Z,1591635367.105 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-06-08T16:56:07.108Z,1591635367.108 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2020-06-08T16:56:07.115Z,1591635367.115 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2020-06-08T16:56:07.129Z,1591635367.129 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2020-06-08T16:56:07.132Z,1591635367.132 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2020-06-08T16:56:07.140Z,1591635367.140 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2020-06-08T16:56:07.147Z,1591635367.147 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2020-06-08T16:56:07.155Z,1591635367.155 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2020-06-08T16:56:07.172Z,1591635367.172 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2020-06-08T16:56:07.178Z,1591635367.178 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2020-06-08T16:56:07.180Z,1591635367.180 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2020-06-08T16:56:07.187Z,1591635367.187 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2020-06-08T16:56:07.190Z,1591635367.190 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2020-06-08T16:56:07.192Z,1591635367.192 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2020-06-08T16:56:07.206Z,1591635367.206 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2020-06-08T16:56:07.208Z,1591635367.208 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2020-06-08T16:56:07.211Z,1591635367.211 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2020-06-08T16:56:07.217Z,1591635367.217 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2020-06-08T16:56:07.219Z,1591635367.219 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2020-06-08T16:56:07.223Z,1591635367.223 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2020-06-08T16:56:07.233Z,1591635367.233 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2020-06-08T16:56:07.235Z,1591635367.235 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2020-06-08T16:56:07.243Z,1591635367.243 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2020-06-08T16:56:07.250Z,1591635367.250 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2020-06-08T16:56:07.252Z,1591635367.252 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2020-06-08T16:56:07.256Z,1591635367.256 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2020-06-08T16:56:07.266Z,1591635367.266 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2020-06-08T16:56:07.273Z,1591635367.273 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2020-06-08T16:56:07.275Z,1591635367.275 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2020-06-08T16:56:07.282Z,1591635367.282 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2020-06-08T16:56:07.284Z,1591635367.284 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2020-06-08T16:56:07.305Z,1591635367.305 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-08T16:56:07.318Z,1591635367.318 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-06-08T16:56:07.329Z,1591635367.329 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-08T16:56:07.339Z,1591635367.339 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-08T16:56:07.402Z,1591635367.402 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-08T16:56:07.436Z,1591635367.436 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2020-06-08T16:56:07.446Z,1591635367.446 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2020-06-08T16:56:07.448Z,1591635367.448 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2020-06-08T16:56:07.476Z,1591635367.476 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2020-06-08T16:56:07.487Z,1591635367.487 [circle_acoustic_contact:M.SetSpeed](DEBUG): Construct.
2020-06-08T16:56:07.514Z,1591635367.514 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-08T16:56:07.545Z,1591635367.545 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-08T16:56:07.556Z,1591635367.556 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2020-06-08T16:56:07.595Z,1591635367.595 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2020-06-08T16:56:07.612Z,1591635367.612 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2020-06-08T16:56:07.674Z,1591635367.674 [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>


2020-06-08T16:56:07.674Z,1591635367.674 [CommandLine](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.xml
2020-06-08T16:56:15.252Z,1591635375.252 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.ContactLabel 9.000000 count
2020-06-08T16:56:15.253Z,1591635375.253 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.TrackingUpdatePeriod 15.000000 second
2020-06-08T16:56:15.254Z,1591635375.254 [CommandLine](IMPORTANT): got command run 
2020-06-08T16:56:15.255Z,1591635375.255 [CommandLine](IMPORTANT): Running 
2020-06-08T16:56:15.496Z,1591635375.496 [Default] Stopped
2020-06-08T16:56:15.496Z,1591635375.496 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-08T16:56:15.496Z,1591635375.496 [Default:B.GoToSurface] Stopped
2020-06-08T16:56:15.496Z,1591635375.496 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-08T16:56:15.496Z,1591635375.496 [Default:CheckIn] Stopped
2020-06-08T16:56:15.496Z,1591635375.496 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-06-08T16:56:15.496Z,1591635375.496 [Default:CheckIn:Read_GPS] Stopped
2020-06-08T16:56:15.497Z,1591635375.497 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2020-06-08T16:56:15.497Z,1591635375.497 [circle_acoustic_contact] Running Loop=1
2020-06-08T16:56:15.497Z,1591635375.497 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2020-06-08T16:56:15.497Z,1591635375.497 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-08T16:56:15.497Z,1591635375.497 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::initialize circle_acoustic_contact:AbortDrift
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:AbortDrift:A] Running Loop=1
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:B.] Running Loop=1
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:B.](INFO): Initializing Tracking.
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-06-08T16:56:15.498Z,1591635375.498 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:J.Pitch](DEBUG): Initialize.
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science:A] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science:B] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science:E] Running Loop=1
2020-06-08T16:56:15.499Z,1591635375.499 [circle_acoustic_contact:Science:F] Running Loop=1
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:H] Running Loop=1
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-06-08T16:56:15.500Z,1591635375.500 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-08T16:56:15.501Z,1591635375.501 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2020-06-08T16:56:15.502Z,1591635375.502 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-08T16:56:15.502Z,1591635375.502 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-06-08T16:56:15.502Z,1591635375.502 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-06-08T16:56:15.502Z,1591635375.502 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2020-06-08T16:56:15.502Z,1591635375.502 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-08T16:56:15.502Z,1591635375.502 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-06-08T16:56:15.503Z,1591635375.503 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-08T16:56:15.504Z,1591635375.504 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2020-06-08T16:56:15.504Z,1591635375.504 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-08T16:56:15.504Z,1591635375.504 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-06-08T16:56:15.504Z,1591635375.504 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-08T16:56:15.505Z,1591635375.505 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2020-06-08T16:56:15.505Z,1591635375.505 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-08T16:56:15.505Z,1591635375.505 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-06-08T16:56:15.505Z,1591635375.505 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-08T16:56:15.510Z,1591635375.510 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-08T16:56:15.511Z,1591635375.511 [circle_acoustic_contact:M.SetSpeed](DEBUG): Initialize.
2020-06-08T16:56:15.511Z,1591635375.511 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-08T16:56:15.511Z,1591635375.511 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2020-06-08T16:56:15.512Z,1591635375.512 [circle_acoustic_contact:E] Running Loop=1
2020-06-08T16:56:15.513Z,1591635375.513 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-08T16:56:15.513Z,1591635375.513 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-08T16:56:15.514Z,1591635375.514 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-08T16:56:15.514Z,1591635375.514 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-08T16:56:15.515Z,1591635375.515 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-08T16:56:15.515Z,1591635375.515 [circle_acoustic_contact:Science] Running Loop=1
2020-06-08T16:56:15.516Z,1591635375.516 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2020-06-08T16:56:15.516Z,1591635375.516 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-08T16:56:15.517Z,1591635375.517 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:Read_Oil] Stopped
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:H] Stopped
2020-06-08T16:56:15.518Z,1591635375.518 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-08T16:56:15.519Z,1591635375.519 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-06-08T16:56:15.519Z,1591635375.519 [circle_acoustic_contact:Science:F] Stopped
2020-06-08T16:56:15.519Z,1591635375.519 [circle_acoustic_contact:Science:E] Stopped
2020-06-08T16:56:15.519Z,1591635375.519 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-08T16:56:15.519Z,1591635375.519 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-06-08T16:56:15.520Z,1591635375.520 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-06-08T16:56:15.520Z,1591635375.520 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-08T16:56:15.520Z,1591635375.520 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-06-08T16:56:15.537Z,1591635375.537 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-06-08T16:56:15.537Z,1591635375.537 [circle_acoustic_contact:Science:B] Stopped
2020-06-08T16:56:15.537Z,1591635375.537 [circle_acoustic_contact:Science:A] Stopped
2020-06-08T16:56:15.537Z,1591635375.537 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-08T16:56:15.537Z,1591635375.537 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-08T16:56:15.538Z,1591635375.538 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-08T16:56:15.538Z,1591635375.538 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-06-08T16:56:15.538Z,1591635375.538 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-08T16:56:15.538Z,1591635375.538 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-08T16:56:15.539Z,1591635375.539 [circle_acoustic_contact:E] Stopped
2020-06-08T16:56:15.539Z,1591635375.539 [circle_acoustic_contact:G] Running Loop=1
2020-06-08T16:56:15.539Z,1591635375.539 [circle_acoustic_contact:B.] Running Loop=1
2020-06-08T16:56:15.539Z,1591635375.539 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:15.540Z,1591635375.540 [circle_acoustic_contact:B.](INFO): direction in vehicle frame: [ 0.051557 forward, -0.008998 starboard, 0.998630 keelward ]
2020-06-08T16:56:15.545Z,1591635375.545 [circle_acoustic_contact:B.](DEBUG): processing response from DAT
2020-06-08T16:56:15.547Z,1591635375.547 [circle_acoustic_contact:B.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.448650,0.893627,0.011966;-0.886983,0.446874,-0.116466;-0.109425,0.041639,0.993123 ]
2020-06-08T16:56:15.547Z,1591635375.547 [circle_acoustic_contact:B.](INFO): rangeToContact_ = 4.000000 m
2020-06-08T16:56:15.548Z,1591635375.548 [circle_acoustic_contact:B.](INFO): direction in world frame: [ -0.078163 north, 0.083633 east, 0.993426 down ]
2020-06-08T16:56:15.557Z,1591635375.557 [circle_acoustic_contact:B.](INFO): relPosInFSK: [ 0.206227 forward, -0.035992 starboard, 3.994518 keelward ]
2020-06-08T16:56:15.558Z,1591635375.558 [circle_acoustic_contact:B.](INFO): relPosInNED: [ -0.312651 north, 0.334532 east, 3.973706 down ]
2020-06-08T16:56:15.559Z,1591635375.559 [circle_acoustic_contact:B.](DEBUG): First numStartingFixesToIgnoreSetting_ hits rejected because the vehicle just left the surface, and the bearing estimate can be way wrong.
2020-06-08T16:56:15.566Z,1591635375.566 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-08T16:56:15.567Z,1591635375.567 [circle_acoustic_contact:AbortDrift:A](INFO): Insert acoustic timeout set to 0.250000 h .
2020-06-08T16:56:15.567Z,1591635375.567 [circle_acoustic_contact:AbortDrift:A] Stopped
2020-06-08T16:56:15.567Z,1591635375.567 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Running Loop=1
2020-06-08T16:56:15.567Z,1591635375.567 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2020-06-08T16:56:15.567Z,1591635375.567 [circle_acoustic_contact:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.25 hours.
2020-06-08T16:56:15.658Z,1591635375.658 [WetLabsBB2FL](INFO): Powering up
2020-06-08T16:56:15.928Z,1591635375.928 [circle_acoustic_contact:G] Stopped
2020-06-08T16:56:15.933Z,1591635375.933 [circle_acoustic_contact:H] Running Loop=1
2020-06-08T16:56:15.934Z,1591635375.934 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:15.934Z,1591635375.934 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:15.934Z,1591635375.934 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:15.934Z,1591635375.934 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:15.934Z,1591635375.934 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:15.934Z,1591635375.934 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:15.935Z,1591635375.935 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1591634944.00. Resetting abort timer.
2020-06-08T16:56:15.936Z,1591635375.936 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1591635328.00. Resetting abort timer.
2020-06-08T16:56:16.302Z,1591635376.302 [circle_acoustic_contact:H] Stopped
2020-06-08T16:56:16.302Z,1591635376.302 [circle_acoustic_contact:I] Running Loop=1
2020-06-08T16:56:16.303Z,1591635376.303 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:16.303Z,1591635376.303 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:16.303Z,1591635376.303 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:16.303Z,1591635376.303 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:16.303Z,1591635376.303 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:16.694Z,1591635376.694 [circle_acoustic_contact:I] Stopped
2020-06-08T16:56:16.695Z,1591635376.695 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2020-06-08T16:56:16.695Z,1591635376.695 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2020-06-08T16:56:16.696Z,1591635376.696 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:16.696Z,1591635376.696 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:16.696Z,1591635376.696 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:16.696Z,1591635376.696 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:16.696Z,1591635376.696 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:16.696Z,1591635376.696 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:17.091Z,1591635377.091 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2020-06-08T16:56:17.092Z,1591635377.092 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2020-06-08T16:56:17.092Z,1591635377.092 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2020-06-08T16:56:17.092Z,1591635377.092 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2020-06-08T16:56:17.092Z,1591635377.092 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2020-06-08T16:56:17.094Z,1591635377.094 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2020-06-08T16:56:17.095Z,1591635377.095 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2020-06-08T16:56:17.098Z,1591635377.098 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2020-06-08T16:56:17.098Z,1591635377.098 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:17.099Z,1591635377.099 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:17.099Z,1591635377.099 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:17.099Z,1591635377.099 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:17.099Z,1591635377.099 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:17.536Z,1591635377.536 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:17.536Z,1591635377.536 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:17.536Z,1591635377.536 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:17.536Z,1591635377.536 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:17.536Z,1591635377.536 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:17.536Z,1591635377.536 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:17.928Z,1591635377.928 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:17.928Z,1591635377.928 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:17.928Z,1591635377.928 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:17.928Z,1591635377.928 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:17.928Z,1591635377.928 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:18.337Z,1591635378.337 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:18.337Z,1591635378.337 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:18.337Z,1591635378.337 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:18.338Z,1591635378.338 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:18.338Z,1591635378.338 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:18.338Z,1591635378.338 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:18.725Z,1591635378.725 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:18.725Z,1591635378.725 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:18.725Z,1591635378.725 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:18.725Z,1591635378.725 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:18.725Z,1591635378.725 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:18.830Z,1591635378.830 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-06-08T16:56:19.140Z,1591635379.140 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:19.140Z,1591635379.140 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:19.140Z,1591635379.140 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:19.140Z,1591635379.140 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:19.140Z,1591635379.140 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:19.140Z,1591635379.140 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:19.555Z,1591635379.555 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:19.555Z,1591635379.555 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:19.555Z,1591635379.555 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:19.555Z,1591635379.555 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:19.555Z,1591635379.555 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:19.962Z,1591635379.962 [BPC1](ERROR): Battery stick #6 (s/n: 00CA) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2020-06-08T16:56:19.963Z,1591635379.963 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2020-06-08T16:56:19.966Z,1591635379.966 [BPC1](INFO): Received data from all battery sticks.
2020-06-08T16:56:19.995Z,1591635379.995 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:19.995Z,1591635379.995 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:19.995Z,1591635379.995 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:19.995Z,1591635379.995 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:19.995Z,1591635379.995 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:19.995Z,1591635379.995 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:20.339Z,1591635380.339 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:20.339Z,1591635380.339 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:20.339Z,1591635380.339 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:20.339Z,1591635380.339 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:20.339Z,1591635380.339 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:20.752Z,1591635380.752 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:20.752Z,1591635380.752 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:20.753Z,1591635380.753 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:20.753Z,1591635380.753 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:20.753Z,1591635380.753 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:20.753Z,1591635380.753 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:20.839Z,1591635380.839 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161106 psu
2020-06-08T16:56:21.158Z,1591635381.158 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:21.158Z,1591635381.158 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:21.158Z,1591635381.158 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:21.159Z,1591635381.159 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:21.159Z,1591635381.159 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:21.575Z,1591635381.575 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:21.575Z,1591635381.575 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:21.576Z,1591635381.576 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:21.576Z,1591635381.576 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:21.576Z,1591635381.576 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:21.576Z,1591635381.576 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:21.843Z,1591635381.843 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161049 psu
2020-06-08T16:56:21.958Z,1591635381.958 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:21.958Z,1591635381.958 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:21.958Z,1591635381.958 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:21.958Z,1591635381.958 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:21.958Z,1591635381.958 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:22.363Z,1591635382.363 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:22.363Z,1591635382.363 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:22.363Z,1591635382.363 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:22.363Z,1591635382.363 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:22.363Z,1591635382.363 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:22.363Z,1591635382.363 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:22.786Z,1591635382.786 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:22.786Z,1591635382.786 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:22.786Z,1591635382.786 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:22.786Z,1591635382.786 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:22.786Z,1591635382.786 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:22.881Z,1591635382.881 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161044 psu
2020-06-08T16:56:23.196Z,1591635383.196 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:23.196Z,1591635383.196 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:23.196Z,1591635383.196 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:23.196Z,1591635383.196 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:23.196Z,1591635383.196 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:23.196Z,1591635383.196 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:23.584Z,1591635383.584 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:23.584Z,1591635383.584 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:23.584Z,1591635383.584 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:23.584Z,1591635383.584 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:23.584Z,1591635383.584 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:23.886Z,1591635383.886 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161043 psu
2020-06-08T16:56:23.994Z,1591635383.994 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:23.994Z,1591635383.994 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:23.994Z,1591635383.994 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:23.995Z,1591635383.995 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:23.995Z,1591635383.995 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:23.995Z,1591635383.995 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:24.393Z,1591635384.393 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:24.394Z,1591635384.394 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:24.394Z,1591635384.394 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:24.394Z,1591635384.394 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:24.394Z,1591635384.394 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:24.807Z,1591635384.807 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:24.807Z,1591635384.807 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:24.807Z,1591635384.807 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:24.807Z,1591635384.807 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:24.807Z,1591635384.807 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:24.808Z,1591635384.808 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:24.882Z,1591635384.882 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161041 psu
2020-06-08T16:56:25.201Z,1591635385.201 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:25.202Z,1591635385.202 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:25.202Z,1591635385.202 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:25.202Z,1591635385.202 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:25.202Z,1591635385.202 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:25.607Z,1591635385.607 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:25.607Z,1591635385.607 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:25.607Z,1591635385.607 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:25.608Z,1591635385.608 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:25.608Z,1591635385.608 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:25.608Z,1591635385.608 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:25.986Z,1591635385.986 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:25.986Z,1591635385.986 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:25.986Z,1591635385.986 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:25.986Z,1591635385.986 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:25.986Z,1591635385.986 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:26.396Z,1591635386.396 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:26.396Z,1591635386.396 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:26.396Z,1591635386.396 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:26.396Z,1591635386.396 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:26.396Z,1591635386.396 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:26.396Z,1591635386.396 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:26.814Z,1591635386.814 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:26.814Z,1591635386.814 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:26.814Z,1591635386.814 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:26.814Z,1591635386.814 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:26.814Z,1591635386.814 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:26.890Z,1591635386.890 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161040 psu
2020-06-08T16:56:27.192Z,1591635387.192 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:27.192Z,1591635387.192 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:27.193Z,1591635387.193 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:27.193Z,1591635387.193 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:27.193Z,1591635387.193 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:27.193Z,1591635387.193 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:27.612Z,1591635387.612 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:27.612Z,1591635387.612 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:27.612Z,1591635387.612 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:27.613Z,1591635387.613 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:27.613Z,1591635387.613 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:27.890Z,1591635387.890 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161040 psu
2020-06-08T16:56:28.013Z,1591635388.013 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:28.013Z,1591635388.013 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:28.013Z,1591635388.013 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:28.013Z,1591635388.013 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:28.013Z,1591635388.013 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:28.014Z,1591635388.014 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:28.432Z,1591635388.432 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:28.432Z,1591635388.432 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:28.432Z,1591635388.432 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:28.432Z,1591635388.432 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:28.432Z,1591635388.432 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:28.843Z,1591635388.843 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:28.843Z,1591635388.843 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:28.843Z,1591635388.843 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:28.844Z,1591635388.844 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:28.844Z,1591635388.844 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:28.844Z,1591635388.844 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:28.886Z,1591635388.886 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161039 psu
2020-06-08T16:56:29.232Z,1591635389.232 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:29.232Z,1591635389.232 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:29.232Z,1591635389.232 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:29.232Z,1591635389.232 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:29.232Z,1591635389.232 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:29.640Z,1591635389.640 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:29.640Z,1591635389.640 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:29.640Z,1591635389.640 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:29.640Z,1591635389.640 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:29.640Z,1591635389.640 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:29.640Z,1591635389.640 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:29.890Z,1591635389.890 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161038 psu
2020-06-08T16:56:30.047Z,1591635390.047 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:30.047Z,1591635390.047 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:30.047Z,1591635390.047 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:30.047Z,1591635390.047 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:30.047Z,1591635390.047 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:30.441Z,1591635390.441 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:30.441Z,1591635390.441 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:30.441Z,1591635390.441 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:30.441Z,1591635390.441 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:30.441Z,1591635390.441 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:30.441Z,1591635390.441 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:30.840Z,1591635390.840 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:30.840Z,1591635390.840 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:30.840Z,1591635390.840 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:30.840Z,1591635390.840 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:30.840Z,1591635390.840 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:30.841Z,1591635390.841 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-08T16:56:30.841Z,1591635390.841 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-08T16:56:30.890Z,1591635390.890 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161035 psu
2020-06-08T16:56:31.223Z,1591635391.223 [DAT](INFO): ****** ping requested ******
2020-06-08T16:56:31.241Z,1591635391.241 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:31.241Z,1591635391.241 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:31.242Z,1591635391.242 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:31.242Z,1591635391.242 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:31.242Z,1591635391.242 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:31.242Z,1591635391.242 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:31.663Z,1591635391.663 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:31.663Z,1591635391.663 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:31.663Z,1591635391.663 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:31.663Z,1591635391.663 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:31.663Z,1591635391.663 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:31.883Z,1591635391.883 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161036 psu
2020-06-08T16:56:32.055Z,1591635392.055 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:32.056Z,1591635392.056 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:32.056Z,1591635392.056 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:32.056Z,1591635392.056 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:32.056Z,1591635392.056 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:32.056Z,1591635392.056 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:32.470Z,1591635392.470 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:32.470Z,1591635392.470 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:32.471Z,1591635392.471 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:32.471Z,1591635392.471 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:32.471Z,1591635392.471 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:32.887Z,1591635392.887 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161033 psu
2020-06-08T16:56:32.914Z,1591635392.914 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:32.914Z,1591635392.914 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:32.914Z,1591635392.914 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:32.914Z,1591635392.914 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:32.914Z,1591635392.914 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:32.914Z,1591635392.914 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:33.257Z,1591635393.257 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:33.257Z,1591635393.257 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:33.257Z,1591635393.257 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:33.257Z,1591635393.257 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:33.258Z,1591635393.258 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:33.680Z,1591635393.680 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:33.680Z,1591635393.680 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:33.680Z,1591635393.680 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:33.680Z,1591635393.680 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:33.680Z,1591635393.680 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:33.680Z,1591635393.680 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:33.891Z,1591635393.891 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161032 psu
2020-06-08T16:56:34.091Z,1591635394.091 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:34.091Z,1591635394.091 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:34.091Z,1591635394.091 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:34.091Z,1591635394.091 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:34.092Z,1591635394.092 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:34.504Z,1591635394.504 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:34.504Z,1591635394.504 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:34.504Z,1591635394.504 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:34.505Z,1591635394.505 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:34.505Z,1591635394.505 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:34.505Z,1591635394.505 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:34.896Z,1591635394.896 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161032 psu
2020-06-08T16:56:34.947Z,1591635394.947 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:34.947Z,1591635394.947 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:34.947Z,1591635394.947 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:34.947Z,1591635394.947 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:34.947Z,1591635394.947 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:35.310Z,1591635395.310 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:35.310Z,1591635395.310 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:35.311Z,1591635395.311 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:35.311Z,1591635395.311 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:35.311Z,1591635395.311 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:35.311Z,1591635395.311 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:35.312Z,1591635395.312 [circle_acoustic_contact:B.](INFO): direction in vehicle frame: [ 0.066205 forward, -0.048278 starboard, 0.996637 keelward ]
2020-06-08T16:56:35.312Z,1591635395.312 [circle_acoustic_contact:B.](DEBUG): processing response from DAT
2020-06-08T16:56:35.315Z,1591635395.315 [circle_acoustic_contact:B.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.449166,0.893368,0.011931;-0.886732,0.447385,-0.116418;-0.109342,0.041711,0.993129 ]
2020-06-08T16:56:35.315Z,1591635395.315 [circle_acoustic_contact:B.](INFO): rangeToContact_ = 4.000000 m
2020-06-08T16:56:35.316Z,1591635395.316 [circle_acoustic_contact:B.](INFO): direction in world frame: [ -0.036428 north, 0.079118 east, 0.996199 down ]
2020-06-08T16:56:35.316Z,1591635395.316 [circle_acoustic_contact:B.](INFO): relPosInFSK: [ 0.264822 forward, -0.193111 starboard, 3.986550 keelward ]
2020-06-08T16:56:35.318Z,1591635395.318 [circle_acoustic_contact:B.](INFO): relPosInNED: [ -0.145712 north, 0.316473 east, 3.984798 down ]
2020-06-08T16:56:35.318Z,1591635395.318 [circle_acoustic_contact:B.](DEBUG): Still accumulating hits to do low-pass filtering (after rejecting starting hits). Will return contact position after NumberOfFixesLowPass_+1 hits have been received.
2020-06-08T16:56:35.333Z,1591635395.333 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid acoustic ping at time: 1591635456.00. Resetting abort timer.
2020-06-08T16:56:35.689Z,1591635395.689 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:35.689Z,1591635395.689 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:35.689Z,1591635395.689 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:35.690Z,1591635395.690 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:35.690Z,1591635395.690 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:35.899Z,1591635395.899 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161030 psu
2020-06-08T16:56:36.108Z,1591635396.108 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:36.108Z,1591635396.108 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:36.108Z,1591635396.108 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:36.108Z,1591635396.108 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:36.108Z,1591635396.108 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:36.108Z,1591635396.108 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:36.527Z,1591635396.527 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:36.527Z,1591635396.527 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:36.527Z,1591635396.527 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:36.527Z,1591635396.527 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:36.527Z,1591635396.527 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:36.903Z,1591635396.903 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161030 psu
2020-06-08T16:56:36.973Z,1591635396.973 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:36.974Z,1591635396.974 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:36.974Z,1591635396.974 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:36.974Z,1591635396.974 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:36.974Z,1591635396.974 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:36.974Z,1591635396.974 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:37.316Z,1591635397.316 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:37.316Z,1591635397.316 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:37.316Z,1591635397.316 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:37.316Z,1591635397.316 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:37.316Z,1591635397.316 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:37.730Z,1591635397.730 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:37.730Z,1591635397.730 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:37.730Z,1591635397.730 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:37.731Z,1591635397.731 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:37.731Z,1591635397.731 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:37.731Z,1591635397.731 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:37.907Z,1591635397.907 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161029 psu
2020-06-08T16:56:38.170Z,1591635398.170 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:38.171Z,1591635398.171 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:38.171Z,1591635398.171 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:38.171Z,1591635398.171 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:38.171Z,1591635398.171 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:38.536Z,1591635398.536 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:38.536Z,1591635398.536 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:38.536Z,1591635398.536 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:38.536Z,1591635398.536 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:38.536Z,1591635398.536 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:38.536Z,1591635398.536 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:38.912Z,1591635398.912 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161030 psu
2020-06-08T16:56:38.968Z,1591635398.968 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:38.968Z,1591635398.968 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:38.968Z,1591635398.968 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:38.968Z,1591635398.968 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:39.004Z,1591635399.004 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:39.372Z,1591635399.372 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:39.372Z,1591635399.372 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:39.372Z,1591635399.372 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:39.372Z,1591635399.372 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:39.372Z,1591635399.372 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:39.377Z,1591635399.377 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:39.748Z,1591635399.748 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:39.748Z,1591635399.748 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:39.748Z,1591635399.748 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:39.748Z,1591635399.748 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:39.748Z,1591635399.748 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:39.915Z,1591635399.915 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161028 psu
2020-06-08T16:56:40.167Z,1591635400.167 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:40.167Z,1591635400.167 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:40.167Z,1591635400.167 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:40.167Z,1591635400.167 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:40.168Z,1591635400.168 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:40.168Z,1591635400.168 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:40.568Z,1591635400.568 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:40.568Z,1591635400.568 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:40.568Z,1591635400.568 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:40.568Z,1591635400.568 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:40.568Z,1591635400.568 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:40.919Z,1591635400.919 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161027 psu
2020-06-08T16:56:40.987Z,1591635400.987 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:40.987Z,1591635400.987 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:40.987Z,1591635400.987 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:40.988Z,1591635400.988 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:40.988Z,1591635400.988 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:40.988Z,1591635400.988 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:41.348Z,1591635401.348 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:41.348Z,1591635401.348 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:41.348Z,1591635401.348 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:41.348Z,1591635401.348 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:41.348Z,1591635401.348 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:41.766Z,1591635401.766 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:41.766Z,1591635401.766 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:41.766Z,1591635401.766 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:41.766Z,1591635401.766 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:41.766Z,1591635401.766 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:41.766Z,1591635401.766 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:41.923Z,1591635401.923 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161024 psu
2020-06-08T16:56:42.146Z,1591635402.146 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:42.147Z,1591635402.147 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:42.147Z,1591635402.147 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:42.147Z,1591635402.147 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:42.147Z,1591635402.147 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:42.567Z,1591635402.567 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:42.568Z,1591635402.568 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:42.568Z,1591635402.568 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:42.569Z,1591635402.569 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:42.569Z,1591635402.569 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:42.569Z,1591635402.569 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:42.927Z,1591635402.927 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161023 psu
2020-06-08T16:56:43.004Z,1591635403.004 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:43.004Z,1591635403.004 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:43.004Z,1591635403.004 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:43.004Z,1591635403.004 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:43.004Z,1591635403.004 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:43.376Z,1591635403.376 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:43.376Z,1591635403.376 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:43.376Z,1591635403.376 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:43.377Z,1591635403.377 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:43.377Z,1591635403.377 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:43.377Z,1591635403.377 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:43.761Z,1591635403.761 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:43.761Z,1591635403.761 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:43.762Z,1591635403.762 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:43.762Z,1591635403.762 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:43.762Z,1591635403.762 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:43.931Z,1591635403.931 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161021 psu
2020-06-08T16:56:44.208Z,1591635404.208 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:44.208Z,1591635404.208 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:44.209Z,1591635404.209 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:44.209Z,1591635404.209 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:44.209Z,1591635404.209 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:44.209Z,1591635404.209 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:44.596Z,1591635404.596 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:44.596Z,1591635404.596 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:44.596Z,1591635404.596 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:44.596Z,1591635404.596 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:44.596Z,1591635404.596 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:44.935Z,1591635404.935 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161021 psu
2020-06-08T16:56:45.038Z,1591635405.038 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:45.038Z,1591635405.038 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:45.039Z,1591635405.039 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:45.039Z,1591635405.039 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:45.039Z,1591635405.039 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:45.039Z,1591635405.039 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:45.429Z,1591635405.429 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:45.429Z,1591635405.429 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:45.429Z,1591635405.429 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:45.430Z,1591635405.430 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:45.430Z,1591635405.430 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:45.801Z,1591635405.801 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:45.801Z,1591635405.801 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:45.801Z,1591635405.801 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:45.801Z,1591635405.801 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:45.801Z,1591635405.801 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:45.801Z,1591635405.801 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:45.942Z,1591635405.942 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161021 psu
2020-06-08T16:56:46.192Z,1591635406.192 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:46.192Z,1591635406.192 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:46.192Z,1591635406.192 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:46.192Z,1591635406.192 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:46.192Z,1591635406.192 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:46.610Z,1591635406.610 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:46.610Z,1591635406.610 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:46.610Z,1591635406.610 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:46.610Z,1591635406.610 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:46.610Z,1591635406.610 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:46.610Z,1591635406.610 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:46.943Z,1591635406.943 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161020 psu
2020-06-08T16:56:47.005Z,1591635407.005 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:47.005Z,1591635407.005 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:47.005Z,1591635407.005 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:47.006Z,1591635407.006 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:47.006Z,1591635407.006 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:47.405Z,1591635407.405 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:47.405Z,1591635407.405 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:47.405Z,1591635407.405 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:47.406Z,1591635407.406 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:47.406Z,1591635407.406 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:47.406Z,1591635407.406 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:47.820Z,1591635407.820 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:47.820Z,1591635407.820 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:47.820Z,1591635407.820 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:47.820Z,1591635407.820 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:47.820Z,1591635407.820 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:47.956Z,1591635407.956 [CTD_Seabird](ERROR): Salinity reading out of range: 0.161018 psu
2020-06-08T16:56:48.197Z,1591635408.197 [DVL_micro](ERROR): only read 3 of 4 data items
2020-06-08T16:56:48.198Z,1591635408.198 [DVL_micro](ERROR): Failed to parse:
:BI,-01218,00252,+00000,I
2020-06-08T16:56:48.275Z,1591635408.275 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2020-06-08T16:56:48.275Z,1591635408.275 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:48.275Z,1591635408.275 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2020-06-08T16:56:48.275Z,1591635408.275 [circle_acoustic_contact:UpdateCenter:A] Stopped
2020-06-08T16:56:48.275Z,1591635408.275 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2020-06-08T16:56:48.276Z,1591635408.276 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:48.634Z,1591635408.634 [CommandLine](IMPORTANT): got command stop
2020-06-08T16:56:48.635Z,1591635408.635 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-06-08T16:56:48.656Z,1591635408.656 [circle_acoustic_contact:UpdateCenter:B] Stopped
2020-06-08T16:56:48.656Z,1591635408.656 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:48.656Z,1591635408.656 [circle_acoustic_contact:UpdateCenter] Stopped
2020-06-08T16:56:48.656Z,1591635408.656 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2020-06-08T16:56:48.656Z,1591635408.656 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-08T16:56:48.665Z,1591635408.665 [MissionManager](INFO): MissionManager is completed.
2020-06-08T16:56:48.665Z,1591635408.665 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact] Stopped
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:AbortDrift] Stopped
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::uninitialize circle_acoustic_contact:AbortDrift
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Stopped
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:B.] Stopped
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:B.](DEBUG): Uninitializing Tracking.
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:StandardEnvelopes] Stopped
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2020-06-08T16:56:48.666Z,1591635408.666 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:J.Pitch] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:K.Buoyancy] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:Science] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:Science:C] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:Science:D] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:Science:G] Stopped
2020-06-08T16:56:48.667Z,1591635408.667 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:M.SetSpeed] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:M.SetSpeed](DEBUG): Uninitialize.
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2020-06-08T16:56:48.668Z,1591635408.668 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper] Stopped
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2020-06-08T16:56:48.673Z,1591635408.673 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2020-06-08T16:56:49.011Z,1591635409.011 [MissionManager](IMPORTANT): Started mission Default
2020-06-08T16:56:49.012Z,1591635409.012 [Default] Running Loop=1
2020-06-08T16:56:49.012Z,1591635409.012 [Default](DEBUG): Aggregate::initialize Default
2020-06-08T16:56:49.012Z,1591635409.012 [Default:B.GoToSurface] Running Loop=1
2020-06-08T16:56:49.012Z,1591635409.012 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-08T16:56:49.012Z,1591635409.012 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-08T16:56:49.013Z,1591635409.013 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-08T16:56:49.013Z,1591635409.013 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-08T16:56:49.013Z,1591635409.013 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-08T16:56:49.014Z,1591635409.014 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-08T16:56:49.014Z,1591635409.014 [Default:A.Wait] Running Loop=1
2020-06-08T16:56:49.014Z,1591635409.014 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-08T16:56:49.033Z,1591635409.033 [WetLabsBB2FL](INFO): Powering down
2020-06-08T16:56:53.075Z,1591635413.075 [CommandLine](IMPORTANT): got command restart application
2020-06-08T16:56:53.435Z,1591635413.435 [DVL_micro](ERROR): only read 1 of 4 data items
2020-06-08T16:56:53.435Z,1591635413.435 [DVL_micro](ERROR): Failed to parse:
:BI,-01073+00180,+00000,I0000000.0000.00,+00000000.00,9999.99,000.00
2020-06-08T16:56:54.081Z,1591635414.081 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:54.081Z,1591635414.081 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.097Z,1591635414.097 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-06-08T16:56:54.097Z,1591635414.097 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.097Z,1591635414.097 [CommandLine](INFO): Join timeout helper Thread ID is 7724
2020-06-08T16:56:54.098Z,1591635414.098 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-06-08T16:56:54.098Z,1591635414.098 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.099Z,1591635414.099 [NavChartDb](INFO): Join timeout helper Thread ID is 7725
2020-06-08T16:56:54.365Z,1591635414.365 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:54.365Z,1591635414.365 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.369Z,1591635414.369 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2020-06-08T16:56:54.369Z,1591635414.369 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.369Z,1591635414.369 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 7726
2020-06-08T16:56:54.485Z,1591635414.485 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:54.485Z,1591635414.485 [WetLabsBB2FL](INFO): Powering down
2020-06-08T16:56:54.486Z,1591635414.486 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.489Z,1591635414.489 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2020-06-08T16:56:54.489Z,1591635414.489 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:54.489Z,1591635414.489 [CTD_Seabird](INFO): Join timeout helper Thread ID is 7727
2020-06-08T16:56:54.973Z,1591635414.973 [CTD_Seabird](INFO): Powering down
2020-06-08T16:56:54.985Z,1591635414.985 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:54.985Z,1591635414.985 [CTD_Seabird](INFO): Powering down
2020-06-08T16:56:55.001Z,1591635415.001 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:55.001Z,1591635415.001 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-06-08T16:56:55.001Z,1591635415.001 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:55.002Z,1591635415.002 [Radio_Surface](INFO): Join timeout helper Thread ID is 7728
2020-06-08T16:56:55.317Z,1591635415.317 [Radio_Surface](INFO): Powering down
2020-06-08T16:56:55.318Z,1591635415.318 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:55.318Z,1591635415.318 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:55.334Z,1591635415.334 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-06-08T16:56:55.334Z,1591635415.334 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:55.334Z,1591635415.334 [DataOverHttps](INFO): Join timeout helper Thread ID is 7729
2020-06-08T16:56:56.241Z,1591635416.241 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:56.241Z,1591635416.241 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.250Z,1591635416.250 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-06-08T16:56:56.250Z,1591635416.250 [logger ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.250Z,1591635416.250 [logger](INFO): Join timeout helper Thread ID is 7730
2020-06-08T16:56:56.250Z,1591635416.250 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:56.251Z,1591635416.251 [logger ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.258Z,1591635416.258 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-06-08T16:56:56.258Z,1591635416.258 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.258Z,1591635416.258 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-06-08T16:56:56.258Z,1591635416.258 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.258Z,1591635416.258 [controlThread](INFO): Join timeout helper Thread ID is 7731
2020-06-08T16:56:56.323Z,1591635416.323 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-08T16:56:56.323Z,1591635416.323 [controlThread](DEBUG): Uninitializing ControlThread
2020-06-08T16:56:56.323Z,1591635416.323 [AHRS_M2](INFO): Powering down
2020-06-08T16:56:56.465Z,1591635416.465 [DVL_micro](INFO): Powering down
2020-06-08T16:56:56.466Z,1591635416.466 [NAL9602](INFO): Powering down
2020-06-08T16:56:56.467Z,1591635416.467 [DAT](INFO): Powering down
2020-06-08T16:56:56.606Z,1591635416.606 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-06-08T16:56:56.607Z,1591635416.607 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-06-08T16:56:56.607Z,1591635416.607 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-06-08T16:56:56.608Z,1591635416.608 [MissionManager](INFO): Uninitializing Mission Default
2020-06-08T16:56:56.608Z,1591635416.608 [Default] Stopped
2020-06-08T16:56:56.608Z,1591635416.608 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-08T16:56:56.608Z,1591635416.608 [Default:A.Wait] Stopped
2020-06-08T16:56:56.608Z,1591635416.608 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-08T16:56:56.608Z,1591635416.608 [Default:B.GoToSurface] Stopped
2020-06-08T16:56:56.608Z,1591635416.608 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-08T16:56:56.611Z,1591635416.611 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-06-08T16:56:56.611Z,1591635416.611 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-06-08T16:56:56.611Z,1591635416.611 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-06-08T16:56:56.612Z,1591635416.612 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-06-08T16:56:56.612Z,1591635416.612 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-06-08T16:56:56.612Z,1591635416.612 [BuoyancyServo](INFO): Powering down
2020-06-08T16:56:56.745Z,1591635416.745 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-06-08T16:56:56.745Z,1591635416.745 [ElevatorServo](INFO): Powering down
2020-06-08T16:56:56.746Z,1591635416.746 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-06-08T16:56:56.746Z,1591635416.746 [MassServo](INFO): Powering down
2020-06-08T16:56:56.747Z,1591635416.747 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-06-08T16:56:56.747Z,1591635416.747 [RudderServo](INFO): Powering down
2020-06-08T16:56:56.748Z,1591635416.748 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-06-08T16:56:56.748Z,1591635416.748 [ThrusterServo](INFO): Powering down
2020-06-08T16:56:56.749Z,1591635416.749 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-06-08T16:56:56.749Z,1591635416.749 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-06-08T16:56:56.749Z,1591635416.749 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-06-08T16:56:56.749Z,1591635416.749 [CBIT](DEBUG): Powering off loads.
2020-06-08T16:56:56.761Z,1591635416.761 [CBIT](DEBUG): Disabling WDT.
2020-06-08T16:56:56.773Z,1591635416.773 [CBIT](DEBUG): Opening all GF detection circuits.
2020-06-08T16:56:56.774Z,1591635416.774 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.854Z,1591635416.854 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.861Z,1591635416.861 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.921Z,1591635416.921 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.926Z,1591635416.926 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:56.962Z,1591635416.962 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-08T16:56:57.014Z,1591635417.014 [logger ThreadHandler](INFO): Thread cancelled.