2019-05-14T23:40:35.487Z,1557877235.487 [CommandLine](IMPORTANT): got command restart logs
2019-05-14T23:40:47.047Z,1557877247.047 [CommandLine](IMPORTANT): got command run ./Missions/test.xml
2019-05-14T23:40:47.047Z,1557877247.047 [MissionManager](INFO): Loading Mission: ./Missions/test.xml
2019-05-14T23:40:47.240Z,1557877247.240 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2019-05-14T23:40:47.271Z,1557877247.271 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2019-05-14T23:40:47.274Z,1557877247.274 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2019-05-14T23:40:47.276Z,1557877247.276 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2019-05-14T23:40:47.278Z,1557877247.278 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = 1000.000000 m
2019-05-14T23:40:47.280Z,1557877247.280 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2019-05-14T23:40:47.283Z,1557877247.283 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2019-05-14T23:40:47.286Z,1557877247.286 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2019-05-14T23:40:47.288Z,1557877247.288 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2019-05-14T23:40:47.291Z,1557877247.291 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s
2019-05-14T23:40:47.294Z,1557877247.294 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2019-05-14T23:40:47.296Z,1557877247.296 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2019-05-14T23:40:47.299Z,1557877247.299 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2019-05-14T23:40:47.301Z,1557877247.301 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2019-05-14T23:40:47.303Z,1557877247.303 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2019-05-14T23:40:47.305Z,1557877247.305 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2019-05-14T23:40:47.308Z,1557877247.308 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2019-05-14T23:40:47.312Z,1557877247.312 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2019-05-14T23:40:47.314Z,1557877247.314 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s
2019-05-14T23:40:47.316Z,1557877247.316 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2019-05-14T23:40:47.318Z,1557877247.318 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2019-05-14T23:40:47.321Z,1557877247.321 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2019-05-14T23:40:47.323Z,1557877247.323 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2019-05-14T23:40:47.339Z,1557877247.339 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-14T23:40:47.440Z,1557877247.440 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2019-05-14T23:40:47.446Z,1557877247.446 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-14T23:40:47.448Z,1557877247.448 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-14T23:40:47.461Z,1557877247.461 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2019-05-14T23:40:47.463Z,1557877247.463 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-14T23:40:47.469Z,1557877247.469 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2019-05-14T23:40:47.472Z,1557877247.472 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2019-05-14T23:40:47.489Z,1557877247.489 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-14T23:40:47.568Z,1557877247.568 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-14T23:40:47.638Z,1557877247.638 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-14T23:40:47.640Z,1557877247.640 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-14T23:40:47.655Z,1557877247.655 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-14T23:40:47.656Z,1557877247.656 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-14T23:40:47.673Z,1557877247.673 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-14T23:40:47.679Z,1557877247.679 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-14T23:40:47.688Z,1557877247.688 [circle_acoustic_contact:I.Pitch](DEBUG): Construct.
2019-05-14T23:40:47.692Z,1557877247.692 [circle_acoustic_contact:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-14T23:40:47.717Z,1557877247.717 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-05-14T23:40:48.054Z,1557877248.054 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2019-05-14T23:40:48.058Z,1557877248.058 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-05-14T23:40:48.063Z,1557877248.063 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-05-14T23:40:48.070Z,1557877248.070 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2019-05-14T23:40:48.072Z,1557877248.072 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2019-05-14T23:40:48.074Z,1557877248.074 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2019-05-14T23:40:48.076Z,1557877248.076 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2019-05-14T23:40:48.078Z,1557877248.078 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2019-05-14T23:40:48.080Z,1557877248.080 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2019-05-14T23:40:48.082Z,1557877248.082 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2019-05-14T23:40:48.084Z,1557877248.084 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2019-05-14T23:40:48.086Z,1557877248.086 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2019-05-14T23:40:48.087Z,1557877248.087 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2019-05-14T23:40:48.089Z,1557877248.089 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-05-14T23:40:48.092Z,1557877248.092 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 1.000000 bool
2019-05-14T23:40:48.094Z,1557877248.094 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 1.000000 bool
2019-05-14T23:40:48.096Z,1557877248.096 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 bool
2019-05-14T23:40:48.099Z,1557877248.099 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-05-14T23:40:48.102Z,1557877248.102 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-05-14T23:40:48.104Z,1557877248.104 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-05-14T23:40:48.135Z,1557877248.135 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-05-14T23:40:48.137Z,1557877248.137 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2019-05-14T23:40:48.139Z,1557877248.139 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2019-05-14T23:40:48.141Z,1557877248.141 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2019-05-14T23:40:48.144Z,1557877248.144 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2019-05-14T23:40:48.158Z,1557877248.158 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2019-05-14T23:40:48.160Z,1557877248.160 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2019-05-14T23:40:48.162Z,1557877248.162 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2019-05-14T23:40:48.164Z,1557877248.164 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2019-05-14T23:40:48.166Z,1557877248.166 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2019-05-14T23:40:48.178Z,1557877248.178 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2019-05-14T23:40:48.181Z,1557877248.181 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2019-05-14T23:40:48.183Z,1557877248.183 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2019-05-14T23:40:48.185Z,1557877248.185 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2019-05-14T23:40:48.187Z,1557877248.187 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2019-05-14T23:40:48.202Z,1557877248.202 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2019-05-14T23:40:48.204Z,1557877248.204 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2019-05-14T23:40:48.206Z,1557877248.206 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2019-05-14T23:40:48.208Z,1557877248.208 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2019-05-14T23:40:48.211Z,1557877248.211 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2019-05-14T23:40:48.223Z,1557877248.223 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2019-05-14T23:40:48.225Z,1557877248.225 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2019-05-14T23:40:48.227Z,1557877248.227 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2019-05-14T23:40:48.229Z,1557877248.229 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2019-05-14T23:40:48.232Z,1557877248.232 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2019-05-14T23:40:48.237Z,1557877248.237 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2019-05-14T23:40:48.239Z,1557877248.239 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2019-05-14T23:40:48.242Z,1557877248.242 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2019-05-14T23:40:48.244Z,1557877248.244 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2019-05-14T23:40:48.263Z,1557877248.263 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2019-05-14T23:40:48.265Z,1557877248.265 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2019-05-14T23:40:48.286Z,1557877248.286 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-14T23:40:48.297Z,1557877248.297 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-05-14T23:40:48.381Z,1557877248.381 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-14T23:40:48.414Z,1557877248.414 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-14T23:40:48.440Z,1557877248.440 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-14T23:40:48.474Z,1557877248.474 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2019-05-14T23:40:48.476Z,1557877248.476 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2019-05-14T23:40:48.486Z,1557877248.486 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2019-05-14T23:40:48.488Z,1557877248.488 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2019-05-14T23:40:48.497Z,1557877248.497 [circle_acoustic_contact:L.SetSpeed](DEBUG): Construct.
2019-05-14T23:40:48.500Z,1557877248.500 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-14T23:40:48.530Z,1557877248.530 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-14T23:40:48.546Z,1557877248.546 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2019-05-14T23:40:48.571Z,1557877248.571 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2019-05-14T23:40:48.583Z,1557877248.583 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2019-05-14T23:40:48.624Z,1557877248.624 [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>1000</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). -->

    <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>

        <Syslog Severity="Important">Updated center: Lat=<Arg Name="CenterLatitude"/><Units:degree/>, Lon=<Arg Name="CenterLongitude"/><Units:degree/>.</Syslog>
    </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>


2019-05-14T23:40:48.626Z,1557877248.626 [CommandLine](IMPORTANT): Running ./Missions/test.xml
2019-05-14T23:40:48.758Z,1557877248.758 [Default] Stopped
2019-05-14T23:40:48.758Z,1557877248.758 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-14T23:40:48.758Z,1557877248.758 [Default:B.GoToSurface] Stopped
2019-05-14T23:40:48.758Z,1557877248.758 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-14T23:40:48.758Z,1557877248.758 [Default:CheckIn] Stopped
2019-05-14T23:40:48.758Z,1557877248.758 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-14T23:40:48.758Z,1557877248.758 [Default:CheckIn:C.Wait] Stopped
2019-05-14T23:40:48.758Z,1557877248.758 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-05-14T23:40:48.758Z,1557877248.758 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact] Running Loop=1
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact:A.] Running Loop=1
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact:A.](INFO): Initializing Tracking.
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-14T23:40:48.759Z,1557877248.759 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:I.Pitch](DEBUG): Initialize.
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:Science] Running Loop=1
2019-05-14T23:40:48.760Z,1557877248.760 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:B] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:E] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:F] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:H] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-14T23:40:48.761Z,1557877248.761 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-14T23:40:48.762Z,1557877248.762 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-05-14T23:40:48.762Z,1557877248.762 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-14T23:40:48.763Z,1557877248.763 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2019-05-14T23:40:48.763Z,1557877248.763 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-14T23:40:48.763Z,1557877248.763 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-05-14T23:40:48.763Z,1557877248.763 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-05-14T23:40:48.764Z,1557877248.764 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2019-05-14T23:40:48.764Z,1557877248.764 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-14T23:40:48.764Z,1557877248.764 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-05-14T23:40:48.764Z,1557877248.764 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-14T23:40:48.765Z,1557877248.765 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2019-05-14T23:40:48.765Z,1557877248.765 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-14T23:40:48.765Z,1557877248.765 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-05-14T23:40:48.766Z,1557877248.766 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-14T23:40:48.767Z,1557877248.767 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2019-05-14T23:40:48.767Z,1557877248.767 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-14T23:40:48.767Z,1557877248.767 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-05-14T23:40:48.767Z,1557877248.767 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-14T23:40:48.768Z,1557877248.768 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-14T23:40:48.768Z,1557877248.768 [circle_acoustic_contact:L.SetSpeed](DEBUG): Initialize.
2019-05-14T23:40:48.768Z,1557877248.768 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-14T23:40:48.768Z,1557877248.768 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2019-05-14T23:40:48.768Z,1557877248.768 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-14T23:40:48.768Z,1557877248.768 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-14T23:40:48.769Z,1557877248.769 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-14T23:40:48.769Z,1557877248.769 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-14T23:40:48.769Z,1557877248.769 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-14T23:40:48.769Z,1557877248.769 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2019-05-14T23:40:48.769Z,1557877248.769 [circle_acoustic_contact:D] Running Loop=1
2019-05-14T23:40:48.770Z,1557877248.770 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-14T23:40:48.770Z,1557877248.770 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-14T23:40:48.770Z,1557877248.770 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-14T23:40:48.771Z,1557877248.771 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-14T23:40:48.771Z,1557877248.771 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-14T23:40:48.772Z,1557877248.772 [circle_acoustic_contact:Science] Running Loop=1
2019-05-14T23:40:48.773Z,1557877248.773 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2019-05-14T23:40:48.773Z,1557877248.773 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2019-05-14T23:40:48.774Z,1557877248.774 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:Read_Oil] Stopped
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:H] Stopped
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-14T23:40:48.775Z,1557877248.775 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-05-14T23:40:48.776Z,1557877248.776 [circle_acoustic_contact:Science:F] Stopped
2019-05-14T23:40:48.776Z,1557877248.776 [circle_acoustic_contact:Science:E] Stopped
2019-05-14T23:40:48.776Z,1557877248.776 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-14T23:40:48.776Z,1557877248.776 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2019-05-14T23:40:48.777Z,1557877248.777 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2019-05-14T23:40:48.777Z,1557877248.777 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-14T23:40:48.777Z,1557877248.777 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2019-05-14T23:40:48.778Z,1557877248.778 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2019-05-14T23:40:48.778Z,1557877248.778 [circle_acoustic_contact:Science:B] Stopped
2019-05-14T23:40:48.778Z,1557877248.778 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-14T23:40:48.778Z,1557877248.778 [circle_acoustic_contact:Science:A](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_oxygen_in_sea_water
2019-05-14T23:40:48.779Z,1557877248.779 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-14T23:40:48.779Z,1557877248.779 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-14T23:40:48.780Z,1557877248.780 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-14T23:40:48.780Z,1557877248.780 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-14T23:40:48.788Z,1557877248.788 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-14T23:40:48.788Z,1557877248.788 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-14T23:40:48.788Z,1557877248.788 [circle_acoustic_contact:D] Stopped
2019-05-14T23:40:48.789Z,1557877248.789 [circle_acoustic_contact:F] Running Loop=1
2019-05-14T23:40:48.789Z,1557877248.789 [circle_acoustic_contact:A.] Running Loop=1
2019-05-14T23:40:48.790Z,1557877248.790 [circle_acoustic_contact:A.](DEBUG): First numStartingFixesToIgnoreSetting_ hits rejected because the vehicle just left the surface, and the bearing estimate can be way wrong.
2019-05-14T23:40:48.798Z,1557877248.798 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-05-14T23:40:48.798Z,1557877248.798 [WetLabsBB2FL](INFO): Powering up
2019-05-14T23:40:48.807Z,1557877248.807 [Reporter](INFO): Tracking.contact_latitude 36.802702 arcdeg
2019-05-14T23:40:48.807Z,1557877248.807 [Reporter](INFO): Tracking.contact_longitude -121.788076 arcdeg
2019-05-14T23:40:48.808Z,1557877248.808 [Reporter](INFO): Tracking.range_to_contact 3.300000 m
2019-05-14T23:40:48.882Z,1557877248.882 [CTD_NeilBrown](INFO): Opening uart, block timeout 10ths=4
2019-05-14T23:40:49.253Z,1557877249.253 [circle_acoustic_contact:F] Stopped
2019-05-14T23:40:49.253Z,1557877249.253 [circle_acoustic_contact:G] Running Loop=1
2019-05-14T23:40:49.260Z,1557877249.260 [CTD_Seabird](INFO): Opening uart, block timeout 10ths=20
2019-05-14T23:40:49.271Z,1557877249.271 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:49.271Z,1557877249.271 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:49.272Z,1557877249.272 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:49.272Z,1557877249.272 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:49.272Z,1557877249.272 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:49.588Z,1557877249.588 [circle_acoustic_contact:G] Stopped
2019-05-14T23:40:49.593Z,1557877249.593 [circle_acoustic_contact:H] Running Loop=1
2019-05-14T23:40:49.609Z,1557877249.609 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:49.610Z,1557877249.610 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:50.001Z,1557877250.001 [circle_acoustic_contact:H] Stopped
2019-05-14T23:40:50.001Z,1557877250.001 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2019-05-14T23:40:50.001Z,1557877250.001 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2019-05-14T23:40:50.011Z,1557877250.011 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:50.011Z,1557877250.011 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:50.011Z,1557877250.011 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:50.011Z,1557877250.011 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:50.012Z,1557877250.012 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:50.373Z,1557877250.373 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2019-05-14T23:40:50.374Z,1557877250.374 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-14T23:40:50.374Z,1557877250.374 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-14T23:40:50.374Z,1557877250.374 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2019-05-14T23:40:50.374Z,1557877250.374 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2019-05-14T23:40:50.376Z,1557877250.376 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-14T23:40:50.377Z,1557877250.377 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-14T23:40:50.388Z,1557877250.388 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-14T23:40:50.388Z,1557877250.388 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:50.389Z,1557877250.389 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:50.389Z,1557877250.389 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:50.389Z,1557877250.389 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:50.389Z,1557877250.389 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:50.866Z,1557877250.866 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:50.866Z,1557877250.866 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:51.212Z,1557877251.212 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:51.212Z,1557877251.212 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:51.212Z,1557877251.212 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:51.212Z,1557877251.212 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:51.212Z,1557877251.212 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:51.612Z,1557877251.612 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:51.612Z,1557877251.612 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:51.612Z,1557877251.612 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:51.612Z,1557877251.612 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:51.612Z,1557877251.612 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:52.023Z,1557877252.023 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:52.023Z,1557877252.023 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:52.271Z,1557877252.271 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2019-05-14T23:40:52.446Z,1557877252.446 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:52.446Z,1557877252.446 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:52.446Z,1557877252.446 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:52.446Z,1557877252.446 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:52.446Z,1557877252.446 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:52.856Z,1557877252.856 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:52.856Z,1557877252.856 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:52.861Z,1557877252.861 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:52.861Z,1557877252.861 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:52.861Z,1557877252.861 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:53.211Z,1557877253.211 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:53.211Z,1557877253.211 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:53.633Z,1557877253.633 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:53.633Z,1557877253.633 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:53.634Z,1557877253.634 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:53.634Z,1557877253.634 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:53.634Z,1557877253.634 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:54.035Z,1557877254.035 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:54.035Z,1557877254.035 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:54.035Z,1557877254.035 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:54.036Z,1557877254.036 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:54.036Z,1557877254.036 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:54.466Z,1557877254.466 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:54.467Z,1557877254.467 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:54.864Z,1557877254.864 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:54.864Z,1557877254.864 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:54.864Z,1557877254.864 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:54.864Z,1557877254.864 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:54.864Z,1557877254.864 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:55.255Z,1557877255.255 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:55.255Z,1557877255.255 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:55.255Z,1557877255.255 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:55.256Z,1557877255.256 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:55.256Z,1557877255.256 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:55.685Z,1557877255.685 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:55.685Z,1557877255.685 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:56.089Z,1557877256.089 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:56.089Z,1557877256.089 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:56.089Z,1557877256.089 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:56.089Z,1557877256.089 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:56.089Z,1557877256.089 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:56.469Z,1557877256.469 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:56.470Z,1557877256.470 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:56.470Z,1557877256.470 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:56.470Z,1557877256.470 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:56.470Z,1557877256.470 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:56.894Z,1557877256.894 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:56.894Z,1557877256.894 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:57.251Z,1557877257.251 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:57.251Z,1557877257.251 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:57.251Z,1557877257.251 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:57.251Z,1557877257.251 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:57.251Z,1557877257.251 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:57.674Z,1557877257.674 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:57.674Z,1557877257.674 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:57.675Z,1557877257.675 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:57.675Z,1557877257.675 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:57.675Z,1557877257.675 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:58.068Z,1557877258.068 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:58.068Z,1557877258.068 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:58.493Z,1557877258.493 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:58.494Z,1557877258.494 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:58.494Z,1557877258.494 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:58.494Z,1557877258.494 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:58.494Z,1557877258.494 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:58.922Z,1557877258.922 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:40:58.922Z,1557877258.922 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:58.922Z,1557877258.922 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:40:58.922Z,1557877258.922 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:40:58.922Z,1557877258.922 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:40:59.332Z,1557877259.332 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:40:59.332Z,1557877259.332 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:40:59.680Z,1557877259.680 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:40:59.680Z,1557877259.680 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:40:59.680Z,1557877259.680 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:40:59.680Z,1557877259.680 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:40:59.680Z,1557877259.680 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:00.099Z,1557877260.099 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:41:00.099Z,1557877260.099 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:00.099Z,1557877260.099 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:41:00.100Z,1557877260.100 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:41:00.100Z,1557877260.100 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:41:00.553Z,1557877260.553 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:41:00.554Z,1557877260.554 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:41:00.927Z,1557877260.927 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:41:00.927Z,1557877260.927 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:41:00.927Z,1557877260.927 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:00.927Z,1557877260.927 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:41:00.928Z,1557877260.928 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:01.365Z,1557877261.365 [circle_acoustic_contact:UpdateCenter] Running Loop=1
2019-05-14T23:41:01.366Z,1557877261.366 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::initialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:01.366Z,1557877261.366 [circle_acoustic_contact:UpdateCenter:A] Running Loop=1
2019-05-14T23:41:01.366Z,1557877261.366 [circle_acoustic_contact:UpdateCenter:A] Stopped
2019-05-14T23:41:01.366Z,1557877261.366 [circle_acoustic_contact:UpdateCenter:B] Running Loop=1
2019-05-14T23:41:01.764Z,1557877261.764 [circle_acoustic_contact:UpdateCenter:B] Stopped
2019-05-14T23:41:01.764Z,1557877261.764 [circle_acoustic_contact:UpdateCenter:C] Running Loop=1
2019-05-14T23:41:02.122Z,1557877262.122 [CommandLine](IMPORTANT): got command stop
2019-05-14T23:41:02.123Z,1557877262.123 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-05-14T23:41:02.202Z,1557877262.202 [circle_acoustic_contact:UpdateCenter:C](IMPORTANT): Updated center: Lat= 36.802702 arcdeg , Lon= -121.788076 arcdeg .
2019-05-14T23:41:02.202Z,1557877262.202 [circle_acoustic_contact:UpdateCenter:C] Stopped
2019-05-14T23:41:02.202Z,1557877262.202 [circle_acoustic_contact:UpdateCenter](INFO): Completed circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:02.202Z,1557877262.202 [circle_acoustic_contact:UpdateCenter] Stopped
2019-05-14T23:41:02.202Z,1557877262.202 [circle_acoustic_contact:UpdateCenter](DEBUG): Aggregate::uninitialize circle_acoustic_contact:UpdateCenter
2019-05-14T23:41:02.203Z,1557877262.203 [MissionManager](INFO): MissionManager is completed.
2019-05-14T23:41:02.203Z,1557877262.203 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact] Stopped
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact:A.] Stopped
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact:StandardEnvelopes] Stopped
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-14T23:41:02.203Z,1557877262.203 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:I.Pitch] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:J.Buoyancy] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science:A] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science:C] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science:D] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science:G] Stopped
2019-05-14T23:41:02.204Z,1557877262.204 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:L.SetSpeed] Stopped
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:L.SetSpeed](DEBUG): Uninitialize.
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:YoYos] Stopped
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2019-05-14T23:41:02.213Z,1557877262.213 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper] Stopped
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2019-05-14T23:41:02.214Z,1557877262.214 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2019-05-14T23:41:02.501Z,1557877262.501 [WetLabsBB2FL](INFO): Powering down
2019-05-14T23:41:02.555Z,1557877262.555 [MissionManager](IMPORTANT): Started mission Default
2019-05-14T23:41:02.556Z,1557877262.556 [Default] Running Loop=1
2019-05-14T23:41:02.556Z,1557877262.556 [Default](DEBUG): Aggregate::initialize Default
2019-05-14T23:41:02.556Z,1557877262.556 [Default:B.GoToSurface] Running Loop=1
2019-05-14T23:41:02.556Z,1557877262.556 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-14T23:41:02.565Z,1557877262.565 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-14T23:41:02.565Z,1557877262.565 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-14T23:41:02.566Z,1557877262.566 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-14T23:41:02.566Z,1557877262.566 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-14T23:41:02.567Z,1557877262.567 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-14T23:41:02.567Z,1557877262.567 [Default:A.Wait] Running Loop=1
2019-05-14T23:41:02.567Z,1557877262.567 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-14T23:41:03.021Z,1557877263.021 [Aanderaa_O2](INFO): Powering down
2019-05-14T23:41:04.738Z,1557877264.738 [CommandLine](IMPORTANT): got command restart application
2019-05-14T23:41:05.742Z,1557877265.742 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:05.743Z,1557877265.743 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.745Z,1557877265.745 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-05-14T23:41:05.745Z,1557877265.745 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.746Z,1557877265.746 [CommandLine](INFO): Join timeout helper Thread ID is 1734
2019-05-14T23:41:05.746Z,1557877265.746 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-05-14T23:41:05.746Z,1557877265.746 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.747Z,1557877265.747 [NavChartDb](INFO): Join timeout helper Thread ID is 1735
2019-05-14T23:41:05.897Z,1557877265.897 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:05.897Z,1557877265.897 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.905Z,1557877265.905 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2019-05-14T23:41:05.905Z,1557877265.905 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.905Z,1557877265.905 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1736
2019-05-14T23:41:05.933Z,1557877265.933 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:05.933Z,1557877265.933 [WetLabsBB2FL](INFO): Powering down
2019-05-14T23:41:05.934Z,1557877265.934 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.945Z,1557877265.945 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2019-05-14T23:41:05.945Z,1557877265.945 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:05.945Z,1557877265.945 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1737
2019-05-14T23:41:06.329Z,1557877266.329 [CTD_Seabird](INFO): Powering down
2019-05-14T23:41:06.341Z,1557877266.341 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:06.341Z,1557877266.341 [CTD_Seabird](INFO): Powering down
2019-05-14T23:41:06.353Z,1557877266.353 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.357Z,1557877266.357 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2019-05-14T23:41:06.357Z,1557877266.357 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.357Z,1557877266.357 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 1738
2019-05-14T23:41:06.449Z,1557877266.449 [CTD_NeilBrown](INFO): Powering down
2019-05-14T23:41:06.461Z,1557877266.461 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:06.461Z,1557877266.461 [CTD_NeilBrown](INFO): Powering down
2019-05-14T23:41:06.481Z,1557877266.481 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.482Z,1557877266.482 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-05-14T23:41:06.482Z,1557877266.482 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.483Z,1557877266.483 [Radio_Surface](INFO): Join timeout helper Thread ID is 1739
2019-05-14T23:41:06.483Z,1557877266.483 [Radio_Surface](INFO): Powering down
2019-05-14T23:41:06.484Z,1557877266.484 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:06.484Z,1557877266.484 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.486Z,1557877266.486 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-05-14T23:41:06.486Z,1557877266.486 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.486Z,1557877266.486 [DataOverHttps](INFO): Join timeout helper Thread ID is 1740
2019-05-14T23:41:06.517Z,1557877266.517 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:06.521Z,1557877266.521 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.534Z,1557877266.534 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-05-14T23:41:06.534Z,1557877266.534 [logger ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.534Z,1557877266.534 [logger](INFO): Join timeout helper Thread ID is 1741
2019-05-14T23:41:06.573Z,1557877266.573 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:06.573Z,1557877266.573 [logger ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.578Z,1557877266.578 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-05-14T23:41:06.578Z,1557877266.578 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.578Z,1557877266.578 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-05-14T23:41:06.578Z,1557877266.578 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:06.579Z,1557877266.579 [controlThread](INFO): Join timeout helper Thread ID is 1742
2019-05-14T23:41:06.662Z,1557877266.662 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-14T23:41:06.662Z,1557877266.662 [controlThread](DEBUG): Uninitializing ControlThread
2019-05-14T23:41:06.662Z,1557877266.662 [AHRS_M2](INFO): Powering down
2019-05-14T23:41:06.733Z,1557877266.733 [NAL9602](INFO): Powering down
2019-05-14T23:41:06.735Z,1557877266.735 [DAT](INFO): Powering down
2019-05-14T23:41:06.853Z,1557877266.853 [Aanderaa_O2](INFO): Powering down
2019-05-14T23:41:06.855Z,1557877266.855 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-05-14T23:41:06.855Z,1557877266.855 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-05-14T23:41:06.856Z,1557877266.856 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-05-14T23:41:06.856Z,1557877266.856 [MissionManager](INFO): Uninitializing Mission Default
2019-05-14T23:41:06.856Z,1557877266.856 [Default] Stopped
2019-05-14T23:41:06.857Z,1557877266.857 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-14T23:41:06.857Z,1557877266.857 [Default:A.Wait] Stopped
2019-05-14T23:41:06.857Z,1557877266.857 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-14T23:41:06.857Z,1557877266.857 [Default:B.GoToSurface] Stopped
2019-05-14T23:41:06.857Z,1557877266.857 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-14T23:41:06.859Z,1557877266.859 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-05-14T23:41:06.860Z,1557877266.860 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-05-14T23:41:06.860Z,1557877266.860 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-05-14T23:41:06.860Z,1557877266.860 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-05-14T23:41:06.860Z,1557877266.860 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-05-14T23:41:06.861Z,1557877266.861 [BuoyancyServo](INFO): Powering down
2019-05-14T23:41:06.993Z,1557877266.993 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-05-14T23:41:06.993Z,1557877266.993 [ElevatorServo](INFO): Powering down
2019-05-14T23:41:06.994Z,1557877266.994 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-05-14T23:41:06.994Z,1557877266.994 [MassServo](INFO): Powering down
2019-05-14T23:41:06.995Z,1557877266.995 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-05-14T23:41:06.995Z,1557877266.995 [RudderServo](INFO): Powering down
2019-05-14T23:41:06.996Z,1557877266.996 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-05-14T23:41:06.996Z,1557877266.996 [ThrusterServo](INFO): Powering down
2019-05-14T23:41:06.996Z,1557877266.996 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-05-14T23:41:06.997Z,1557877266.997 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-05-14T23:41:06.997Z,1557877266.997 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-05-14T23:41:06.997Z,1557877266.997 [CBIT](DEBUG): Powering off loads.
2019-05-14T23:41:07.009Z,1557877267.009 [CBIT](DEBUG): Disabling WDT.
2019-05-14T23:41:07.021Z,1557877267.021 [CBIT](DEBUG): Opening all GF detection circuits.
2019-05-14T23:41:07.022Z,1557877267.022 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.195Z,1557877267.195 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.201Z,1557877267.201 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.235Z,1557877267.235 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.238Z,1557877267.238 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.241Z,1557877267.241 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.277Z,1557877267.277 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-14T23:41:07.340Z,1557877267.340 [logger ThreadHandler](INFO): Thread cancelled.