2019-05-16T20:59:34.789Z,1558040374.789 [Supervisor](DEBUG): Initializing supervisor.
2019-05-16T20:59:34.792Z,1558040374.792 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-05-16T20:59:34.792Z,1558040374.792 [SyncHandler](INFO): Protected caller Thread ID is 4088
2019-05-16T20:59:34.793Z,1558040374.793 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-05-16T20:59:34.794Z,1558040374.794 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-05-16T20:59:34.794Z,1558040374.794 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4089
2019-05-16T20:59:34.797Z,1558040374.797 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-05-16T20:59:34.809Z,1558040374.809 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-05-16T20:59:34.810Z,1558040374.810 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-05-16T20:59:34.810Z,1558040374.810 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4090
2019-05-16T20:59:34.811Z,1558040374.811 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-05-16T20:59:34.812Z,1558040374.812 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-05-16T20:59:34.812Z,1558040374.812 [logger ThreadHandler](INFO): Protected caller Thread ID is 4091
2019-05-16T20:59:34.815Z,1558040374.815 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-05-16T20:59:34.815Z,1558040374.815 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-05-16T20:59:34.817Z,1558040374.817 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-05-16T20:59:34.913Z,1558040374.913 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-05-16T20:59:34.913Z,1558040374.913 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-05-16T20:59:35.114Z,1558040375.114 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-05-16T20:59:35.114Z,1558040375.114 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-05-16T20:59:35.250Z,1558040375.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-05-16T20:59:35.251Z,1558040375.251 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-05-16T20:59:35.779Z,1558040375.779 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-05-16T20:59:35.779Z,1558040375.779 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-05-16T20:59:36.226Z,1558040376.226 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-05-16T20:59:36.226Z,1558040376.226 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-05-16T20:59:36.701Z,1558040376.701 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-05-16T20:59:36.702Z,1558040376.702 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-05-16T20:59:37.003Z,1558040377.003 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-05-16T20:59:37.003Z,1558040377.003 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-05-16T20:59:37.331Z,1558040377.331 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-05-16T20:59:37.331Z,1558040377.331 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-05-16T20:59:37.722Z,1558040377.722 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-05-16T20:59:37.722Z,1558040377.722 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-05-16T20:59:37.873Z,1558040377.873 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-05-16T20:59:37.873Z,1558040377.873 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-05-16T20:59:37.979Z,1558040377.979 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-05-16T20:59:37.980Z,1558040377.980 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-05-16T20:59:38.068Z,1558040378.068 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-05-16T20:59:38.279Z,1558040378.279 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-05-16T20:59:38.280Z,1558040378.280 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-05-16T20:59:38.746Z,1558040378.746 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-05-16T20:59:38.747Z,1558040378.747 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-05-16T20:59:39.113Z,1558040379.113 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-05-16T20:59:39.114Z,1558040379.114 [Supervisor](INFO): Opening Config file at: Config/._workSite.cfg
2019-05-16T20:59:39.243Z,1558040379.243 [Config/._workSite](ERROR): Could not parse value: resource
2019-05-16T20:59:39.318Z,1558040379.318 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/
2019-05-16T20:59:39.319Z,1558040379.319 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/secure.cfg
2019-05-16T20:59:39.403Z,1558040379.403 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Battery.cfg
2019-05-16T20:59:39.627Z,1558040379.627 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-05-16T20:59:39.627Z,1558040379.627 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Navigation.cfg
2019-05-16T20:59:39.723Z,1558040379.723 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Sensor.cfg
2019-05-16T20:59:39.887Z,1558040379.887 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/vehicle.cfg
2019-05-16T20:59:40.087Z,1558040380.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Simulator.cfg
2019-05-16T20:59:40.174Z,1558040380.174 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Servo.cfg
2019-05-16T20:59:40.273Z,1558040380.273 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Control.cfg
2019-05-16T20:59:40.367Z,1558040380.367 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/Science.cfg
2019-05-16T20:59:40.519Z,1558040380.519 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/logger.cfg
2019-05-16T20:59:40.624Z,1558040380.624 [Supervisor](INFO): Opening Config file at: Config/lrauv-makai/BIT.cfg
2019-05-16T20:59:40.724Z,1558040380.724 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-makai/root/
2019-05-16T20:59:40.725Z,1558040380.725 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-05-16T20:59:40.735Z,1558040380.735 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-05-16T20:59:40.827Z,1558040380.827 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-05-16T20:59:40.828Z,1558040380.828 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-05-16T20:59:40.954Z,1558040380.954 [BuoyancyServo] Loaded
2019-05-16T20:59:40.955Z,1558040380.955 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-05-16T20:59:40.969Z,1558040380.969 [ElevatorServo] Loaded
2019-05-16T20:59:40.970Z,1558040380.970 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-05-16T20:59:40.984Z,1558040380.984 [MassServo] Loaded
2019-05-16T20:59:40.984Z,1558040380.984 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-05-16T20:59:40.998Z,1558040380.998 [RudderServo] Loaded
2019-05-16T20:59:40.999Z,1558040380.999 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-05-16T20:59:41.012Z,1558040381.012 [ThrusterServo] Loaded
2019-05-16T20:59:41.012Z,1558040381.012 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-05-16T20:59:41.013Z,1558040381.013 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-05-16T20:59:41.013Z,1558040381.013 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-05-16T20:59:41.139Z,1558040381.139 [SBIT](DEBUG): Construct Startup Built In Test.
2019-05-16T20:59:41.167Z,1558040381.167 [SBIT] Loaded
2019-05-16T20:59:41.167Z,1558040381.167 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-05-16T20:59:41.168Z,1558040381.168 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-05-16T20:59:41.194Z,1558040381.194 [IBIT] Loaded
2019-05-16T20:59:41.195Z,1558040381.195 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-05-16T20:59:41.198Z,1558040381.198 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-05-16T20:59:41.569Z,1558040381.569 [CBIT] Loaded
2019-05-16T20:59:41.569Z,1558040381.569 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-05-16T20:59:41.570Z,1558040381.570 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-05-16T20:59:41.570Z,1558040381.570 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-05-16T20:59:41.755Z,1558040381.755 [ESPComponent] Loaded
2019-05-16T20:59:41.755Z,1558040381.755 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2019-05-16T20:59:41.768Z,1558040381.768 [PAR_Licor] Loaded
2019-05-16T20:59:41.769Z,1558040381.769 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-05-16T20:59:41.815Z,1558040381.815 [WetLabsBB2FL] Loaded
2019-05-16T20:59:41.815Z,1558040381.815 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2019-05-16T20:59:41.816Z,1558040381.816 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 406624E0
2019-05-16T20:59:41.816Z,1558040381.816 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 4173
2019-05-16T20:59:41.817Z,1558040381.817 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-05-16T20:59:41.818Z,1558040381.818 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-05-16T20:59:41.856Z,1558040381.856 [DepthRateCalculator] Loaded
2019-05-16T20:59:41.857Z,1558040381.857 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-05-16T20:59:41.862Z,1558040381.862 [PitchRateCalculator] Loaded
2019-05-16T20:59:41.862Z,1558040381.862 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-05-16T20:59:41.877Z,1558040381.877 [SpeedCalculator] Loaded
2019-05-16T20:59:41.878Z,1558040381.878 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-05-16T20:59:41.898Z,1558040381.898 [TempGradientCalculator] Loaded
2019-05-16T20:59:41.898Z,1558040381.898 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-05-16T20:59:41.904Z,1558040381.904 [YawRateCalculator] Loaded
2019-05-16T20:59:41.904Z,1558040381.904 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-05-16T20:59:41.936Z,1558040381.936 [ElevatorOffsetCalculator] Loaded
2019-05-16T20:59:41.936Z,1558040381.936 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-05-16T20:59:41.936Z,1558040381.936 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-05-16T20:59:41.937Z,1558040381.937 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-05-16T20:59:41.963Z,1558040381.963 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-05-16T20:59:41.963Z,1558040381.963 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-05-16T20:59:42.062Z,1558040382.062 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-05-16T20:59:42.062Z,1558040382.062 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-05-16T20:59:42.082Z,1558040382.082 [NavChart] Loaded
2019-05-16T20:59:42.083Z,1558040382.083 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-05-16T20:59:42.086Z,1558040382.086 [UniversalFixResidualReporter] Loaded
2019-05-16T20:59:42.087Z,1558040382.087 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-05-16T20:59:42.087Z,1558040382.087 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-05-16T20:59:42.088Z,1558040382.088 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-05-16T20:59:42.420Z,1558040382.420 [AHRS_M2] Loaded
2019-05-16T20:59:42.421Z,1558040382.421 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-05-16T20:59:42.497Z,1558040382.497 [DataOverHttps] Loaded
2019-05-16T20:59:42.497Z,1558040382.497 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-05-16T20:59:42.498Z,1558040382.498 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4093A4E0
2019-05-16T20:59:42.498Z,1558040382.498 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 4174
2019-05-16T20:59:42.511Z,1558040382.511 [Depth_Keller] Loaded
2019-05-16T20:59:42.511Z,1558040382.511 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-05-16T20:59:42.599Z,1558040382.599 [NAL9602] Loaded
2019-05-16T20:59:42.599Z,1558040382.599 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-05-16T20:59:42.604Z,1558040382.604 [Onboard] Loaded
2019-05-16T20:59:42.605Z,1558040382.605 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-05-16T20:59:42.608Z,1558040382.608 [Radio_Surface] Loaded
2019-05-16T20:59:42.608Z,1558040382.608 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-05-16T20:59:42.609Z,1558040382.609 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4096A4E0
2019-05-16T20:59:42.610Z,1558040382.610 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 4175
2019-05-16T20:59:42.734Z,1558040382.734 [DAT] Loaded
2019-05-16T20:59:42.734Z,1558040382.734 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2019-05-16T20:59:43.960Z,1558040383.960 [BPC1] Loaded
2019-05-16T20:59:43.960Z,1558040383.960 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-05-16T20:59:43.960Z,1558040383.960 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-05-16T20:59:43.961Z,1558040383.961 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-05-16T20:59:44.411Z,1558040384.411 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-05-16T20:59:44.411Z,1558040384.411 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-05-16T20:59:44.705Z,1558040384.705 [VerticalControl](DEBUG): Construct VerticalControl.
2019-05-16T20:59:44.786Z,1558040384.786 [VerticalControl] Loaded
2019-05-16T20:59:44.786Z,1558040384.786 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-05-16T20:59:44.787Z,1558040384.787 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-05-16T20:59:44.842Z,1558040384.842 [HorizontalControl] Loaded
2019-05-16T20:59:44.842Z,1558040384.842 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-05-16T20:59:44.843Z,1558040384.843 [SpeedControl](DEBUG): Construct SpeedControl.
2019-05-16T20:59:44.844Z,1558040384.844 [SpeedControl] Loaded
2019-05-16T20:59:44.845Z,1558040384.845 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-05-16T20:59:44.846Z,1558040384.846 [LoopControl](DEBUG): Construct LoopControl.
2019-05-16T20:59:44.846Z,1558040384.846 [LoopControl] Loaded
2019-05-16T20:59:44.846Z,1558040384.846 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-05-16T20:59:44.847Z,1558040384.847 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-05-16T20:59:44.847Z,1558040384.847 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-05-16T20:59:44.860Z,1558040384.860 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-05-16T20:59:44.861Z,1558040384.861 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-05-16T20:59:45.136Z,1558040385.136 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-05-16T20:59:45.139Z,1558040385.139 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-05-16T20:59:45.140Z,1558040385.140 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-05-16T20:59:45.147Z,1558040385.147 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-05-16T20:59:45.148Z,1558040385.148 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AA54E0
2019-05-16T20:59:45.148Z,1558040385.148 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 4176
2019-05-16T20:59:45.153Z,1558040385.153 [Supervisor](INFO): Main Thread ID is 3127
2019-05-16T20:59:45.153Z,1558040385.153 [Supervisor](DEBUG): Running supervisor.
2019-05-16T20:59:45.154Z,1558040385.154 [CommandLine ThreadHandler](INFO): Handler Thread ID is 4177
2019-05-16T20:59:45.156Z,1558040385.156 [controlThread ThreadHandler](INFO): Handler Thread ID is 4178
2019-05-16T20:59:45.156Z,1558040385.156 [controlThread](DEBUG): Initializing ControlThread
2019-05-16T20:59:45.158Z,1558040385.158 [SBIT](INFO): Initialize SBIT Component.
2019-05-16T20:59:45.159Z,1558040385.159 [SBIT](IMPORTANT): git: 2019-05-01-16-gabf2db2
2019-05-16T20:59:45.159Z,1558040385.159 [SBIT](INFO): git hash: abf2db22d373819956bb5fd2f1aa4151f065a92d
2019-05-16T20:59:45.159Z,1558040385.159 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-05-16T20:59:45.161Z,1558040385.161 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Feb 21 11:17:40 PST 2019
2019-05-16T20:59:45.162Z,1558040385.162 [SBIT](INFO): Beginning SBIT in 24.000000 seconds.
2019-05-16T20:59:45.162Z,1558040385.162 [IBIT](INFO): Initialize IBIT Component.
2019-05-16T20:59:45.163Z,1558040385.163 [CBIT](DEBUG): Initialize CBIT Component.
2019-05-16T20:59:45.164Z,1558040385.164 [logger ThreadHandler](INFO): Handler Thread ID is 4179
2019-05-16T20:59:45.177Z,1558040385.177 [CBIT](DEBUG): Initialized mux pins.
2019-05-16T20:59:45.177Z,1558040385.177 [CBIT](DEBUG): Initializing the watchdog timer.
2019-05-16T20:59:45.189Z,1558040385.189 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 4180
2019-05-16T20:59:45.191Z,1558040385.191 [WetLabsBB2FL](INFO): Powering down
2019-05-16T20:59:45.201Z,1558040385.201 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-05-16T20:59:45.201Z,1558040385.201 [CBIT](DEBUG): Initializing heartbeat.
2019-05-16T20:59:45.218Z,1558040385.218 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 4181
2019-05-16T20:59:45.219Z,1558040385.219 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-05-16T20:59:45.229Z,1558040385.229 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 4182
2019-05-16T20:59:45.249Z,1558040385.249 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 4183
2019-05-16T20:59:45.252Z,1558040385.252 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-05-16T20:59:45.252Z,1558040385.252 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-05-16T20:59:45.253Z,1558040385.253 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-05-16T20:59:45.253Z,1558040385.253 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-05-16T20:59:45.253Z,1558040385.253 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-05-16T20:59:45.253Z,1558040385.253 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-05-16T20:59:45.254Z,1558040385.254 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-05-16T20:59:45.254Z,1558040385.254 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-05-16T20:59:45.254Z,1558040385.254 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-05-16T20:59:45.254Z,1558040385.254 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-05-16T20:59:45.254Z,1558040385.254 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-05-16T20:59:45.255Z,1558040385.255 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-05-16T20:59:45.255Z,1558040385.255 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-05-16T20:59:45.255Z,1558040385.255 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-05-16T20:59:45.255Z,1558040385.255 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-05-16T20:59:45.255Z,1558040385.255 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-05-16T20:59:45.273Z,1558040385.273 [CBIT](DEBUG): Deactivating GF circuits.
2019-05-16T20:59:45.273Z,1558040385.273 [CBIT](DEBUG): Deactivating emergency mode.
2019-05-16T20:59:45.309Z,1558040385.309 [CBIT](DEBUG): Backplane powered.
2019-05-16T20:59:45.313Z,1558040385.313 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-05-16T20:59:45.313Z,1558040385.313 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-05-16T20:59:45.314Z,1558040385.314 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-05-16T20:59:45.314Z,1558040385.314 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-05-16T20:59:45.315Z,1558040385.315 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-05-16T20:59:45.315Z,1558040385.315 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-05-16T20:59:45.316Z,1558040385.316 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-05-16T20:59:45.316Z,1558040385.316 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-05-16T20:59:45.326Z,1558040385.326 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-05-16T20:59:45.328Z,1558040385.328 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-05-16T20:59:45.328Z,1558040385.328 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-05-16T20:59:45.337Z,1558040385.337 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-05-16T20:59:45.338Z,1558040385.338 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-05-16T20:59:45.373Z,1558040385.373 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T20:59:45.400Z,1558040385.400 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2019-05-16T20:59:45.416Z,1558040385.416 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-05-16T20:59:45.498Z,1558040385.498 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-05-16T20:59:45.499Z,1558040385.499 [Default:A.Wait](DEBUG): Construct Wait.
2019-05-16T20:59:45.501Z,1558040385.501 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T20:59:45.527Z,1558040385.527 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-05-16T20:59:45.560Z,1558040385.560 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-05-16T20:59:45.582Z,1558040385.582 [Default:E.Execute](DEBUG): Construct Execute.
2019-05-16T20:59:45.585Z,1558040385.585 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

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

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

    </Aggregate>

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

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

</Mission>


2019-05-16T20:59:45.605Z,1558040385.605 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T20:59:45.614Z,1558040385.614 [ESPComponent](INFO): powering down ESP
2019-05-16T20:59:45.633Z,1558040385.633 [Radio_Surface](INFO): Powering up
2019-05-16T20:59:45.910Z,1558040385.910 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T20:59:46.068Z,1558040386.068 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2019-05-16T20:59:46.068Z,1558040386.068 [DAT](INFO): Powering up
2019-05-16T20:59:46.068Z,1558040386.068 [DAT](DEBUG): Initializing DAT.
2019-05-16T20:59:46.153Z,1558040386.153 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2019-05-16T20:59:46.203Z,1558040386.203 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-05-16T20:59:46.213Z,1558040386.213 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-05-16T20:59:46.215Z,1558040386.215 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-05-16T20:59:46.225Z,1558040386.225 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-05-16T20:59:46.226Z,1558040386.226 [MassServo](DEBUG): Initializing EZServoServo.
2019-05-16T20:59:46.237Z,1558040386.237 [MassServo](DEBUG): Initializing MassServo.
2019-05-16T20:59:46.238Z,1558040386.238 [RudderServo](DEBUG): Initializing EZServoServo.
2019-05-16T20:59:46.252Z,1558040386.252 [RudderServo](DEBUG): Initializing RudderServo.
2019-05-16T20:59:46.253Z,1558040386.253 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-05-16T20:59:46.261Z,1558040386.261 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-05-16T21:00:01.248Z,1558040401.248 [DAT](INFO): setting local address to 3
2019-05-16T21:00:01.649Z,1558040401.649 [DAT](INFO): set local address to 3
2019-05-16T21:00:09.803Z,1558040409.803 [SBIT](IMPORTANT): Beginning Startup BIT
2019-05-16T21:00:09.807Z,1558040409.807 [CBIT](IMPORTANT): Beginning ground fault scan
2019-05-16T21:00:12.728Z,1558040412.728 [NAL9602](INFO): Powering up NAL9602
2019-05-16T21:00:20.929Z,1558040420.929 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006578
CHAN A1 (24V): -0.000707
CHAN A2 (12V): 0.002878
CHAN A3 (5V): -0.004241
CHAN B0 (3.3V): -0.003058
CHAN B1 (3.15aV): -0.002043
CHAN B2 (3.15bV): -0.000581
CHAN B3 (GND): -0.004876
OPEN: 0.012400
Full Scale Calc: 4.765 mA, -1.589 mA
2019-05-16T21:00:23.650Z,1558040423.650 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:00:24.453Z,1558040424.453 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:01:00.287Z,1558040460.287 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:01:00.288Z,1558040460.288 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:01:03.551Z,1558040463.551 [SBIT](IMPORTANT): SBIT PASSED
2019-05-16T21:01:03.626Z,1558040463.626 [CommandLine](IMPORTANT): got command configSet list
2019-05-16T21:01:03.627Z,1558040463.627 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-05-16T21:01:03.627Z,1558040463.627 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-05-16T21:01:03.627Z,1558040463.627 [CommandLine](IMPORTANT): AcousticModem_Benthos_ATM900.loadAtStartup=0 bool;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): BR_Ping1D.verbosity=1 count;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): PAR_Licor.adcCal=8.765e-06 microampere_per_count;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): PAR_Licor.darkCount=0 count;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): PAR_Licor.multiplier=190.3 micromole_per_second_per_square_meter_per_microampere;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): PNI_TCM.loadAtStartup=0 bool;

2019-05-16T21:01:03.628Z,1558040463.628 [CommandLine](IMPORTANT): Rowe_600LCM.loadAtStartup=0 bool;

2019-05-16T21:01:03.947Z,1558040463.947 [MissionManager](IMPORTANT): Started mission Startup
2019-05-16T21:01:03.947Z,1558040463.947 [Startup] Running Loop=1
2019-05-16T21:01:03.947Z,1558040463.947 [Startup](DEBUG): Aggregate::initialize Startup
2019-05-16T21:01:03.947Z,1558040463.947 [Startup:A.GoToSurface] Running Loop=1
2019-05-16T21:01:03.947Z,1558040463.947 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:01:03.948Z,1558040463.948 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:01:03.949Z,1558040463.949 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:01:03.949Z,1558040463.949 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:01:03.950Z,1558040463.950 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:01:03.950Z,1558040463.950 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:01:03.951Z,1558040463.951 [Startup:StartupSatComms] Running Loop=1
2019-05-16T21:01:03.952Z,1558040463.952 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-05-16T21:01:03.952Z,1558040463.952 [Startup:StartupSatComms:A] Running Loop=1
2019-05-16T21:01:04.353Z,1558040464.353 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-05-16T21:01:31.795Z,1558040491.795 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:01:31.795Z,1558040491.795 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:01:39.087Z,1558040499.087 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:01:39.087Z,1558040499.087 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:01:57.251Z,1558040517.251 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:01:57.251Z,1558040517.251 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:02:04.140Z,1558040524.140 [Startup:StartupSatComms:A](INFO): Timed out from 2019-05-16T21:01:03.0Z
2019-05-16T21:02:04.140Z,1558040524.140 [Startup:StartupSatComms:A] Stopped
2019-05-16T21:02:04.140Z,1558040524.140 [Startup:StartupSatComms:B] Running Loop=1
2019-05-16T21:02:04.540Z,1558040524.540 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-05-16T21:02:14.619Z,1558040534.619 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:02:14.620Z,1558040534.620 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:02:29.875Z,1558040549.875 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004801
2019-05-16T21:02:31.591Z,1558040551.591 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:02:31.592Z,1558040551.592 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:02:40.879Z,1558040560.879 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:02:40.879Z,1558040560.879 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:02:42.076Z,1558040562.076 [DataOverHttps](INFO): Sending 46 bytes from file Logs/20190516T194307/Courier0016.lzma
2019-05-16T21:02:42.882Z,1558040562.882 [DataOverHttps](INFO): Moved sent file to Logs/20190516T194307/Courier0016.lzma.bak
2019-05-16T21:02:42.883Z,1558040562.883 [DataOverHttps](INFO): SBD MOMSN=11085199
2019-05-16T21:02:45.522Z,1558040565.522 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-05-16T21:02:45.522Z,1558040565.522 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-16T21:02:45.549Z,1558040565.549 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-16T21:02:45.799Z,1558040565.799 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-16T21:02:45.799Z,1558040565.799 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-05-16T21:03:01.345Z,1558040581.345 [DataOverHttps](INFO): Sending 628 bytes from file Logs/20190516T194307/Express0017.lzma
2019-05-16T21:03:01.895Z,1558040581.895 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:03:01.896Z,1558040581.896 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:03:02.150Z,1558040582.150 [DataOverHttps](INFO): Moved sent file to Logs/20190516T194307/Express0017.lzma.bak
2019-05-16T21:03:02.150Z,1558040582.150 [DataOverHttps](INFO): SBD MOMSN=11085246
2019-05-16T21:03:04.363Z,1558040584.363 [Startup:StartupSatComms:B](INFO): Timed out from 2019-05-16T21:02:04.1Z
2019-05-16T21:03:04.363Z,1558040584.363 [Startup:StartupSatComms:B] Stopped
2019-05-16T21:03:04.363Z,1558040584.363 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-05-16T21:03:04.363Z,1558040584.363 [Startup:StartupSatComms] Stopped
2019-05-16T21:03:04.364Z,1558040584.364 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-05-16T21:03:04.364Z,1558040584.364 [Startup](INFO): Completed Startup
2019-05-16T21:03:04.364Z,1558040584.364 [MissionManager](INFO): Startup is completed.
2019-05-16T21:03:04.369Z,1558040584.369 [MissionManager](INFO): Uninitializing Mission Startup
2019-05-16T21:03:04.369Z,1558040584.369 [Startup] Stopped
2019-05-16T21:03:04.369Z,1558040584.369 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-05-16T21:03:04.369Z,1558040584.369 [Startup:A.GoToSurface] Stopped
2019-05-16T21:03:04.369Z,1558040584.369 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:03:04.750Z,1558040584.750 [MissionManager](IMPORTANT): Started mission Default
2019-05-16T21:03:04.750Z,1558040584.750 [Default] Running Loop=1
2019-05-16T21:03:04.751Z,1558040584.751 [Default](DEBUG): Aggregate::initialize Default
2019-05-16T21:03:04.751Z,1558040584.751 [Default:B.GoToSurface] Running Loop=1
2019-05-16T21:03:04.751Z,1558040584.751 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:03:04.751Z,1558040584.751 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:03:04.751Z,1558040584.751 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:03:04.752Z,1558040584.752 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:03:04.752Z,1558040584.752 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:03:04.752Z,1558040584.752 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:03:04.752Z,1558040584.752 [Default:A.Wait] Running Loop=1
2019-05-16T21:03:04.757Z,1558040584.757 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:03:18.076Z,1558040598.076 [Default:A.Wait](INFO): Done Waiting.
2019-05-16T21:03:18.076Z,1558040598.076 [Default:A.Wait] Stopped
2019-05-16T21:03:18.076Z,1558040598.076 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:03:18.487Z,1558040598.487 [Default:CheckIn] Running Loop=1
2019-05-16T21:03:18.487Z,1558040598.487 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:03:18.487Z,1558040598.487 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:03:18.884Z,1558040598.884 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-05-16T21:03:35.428Z,1558040615.428 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:03:35.429Z,1558040615.429 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:03:41.050Z,1558040621.050 [DataOverHttps](INFO): Sending 827 bytes from file Logs/20190516T205934/Express0001.lzma
2019-05-16T21:03:41.854Z,1558040621.854 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Express0001.lzma.bak
2019-05-16T21:03:41.854Z,1558040621.854 [DataOverHttps](INFO): SBD MOMSN=11085269
2019-05-16T21:04:05.728Z,1558040645.728 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:04:05.728Z,1558040645.728 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:05:26.926Z,1558040726.926 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-16T21:05:27.745Z,1558040727.745 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:05:28.162Z,1558040728.162 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205849.00,A,3648.16179,N,12147.28658,W,0.428,207.89,160519,,,A*7F
2019-05-16T21:05:28.166Z,1558040728.166 [NAL9602](INFO): GPS fix at 20190516T205849: (36.802697, -121.788110)
2019-05-16T21:05:28.208Z,1558040728.208 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:05:28.208Z,1558040728.208 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-05-16T21:05:28.600Z,1558040728.600 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-05-16T21:05:37.252Z,1558040737.252 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20190516T205934/Courier0004.lzma
2019-05-16T21:05:38.058Z,1558040738.058 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Courier0004.lzma.bak
2019-05-16T21:05:38.059Z,1558040738.059 [DataOverHttps](INFO): SBD MOMSN=11085294
2019-05-16T21:05:55.364Z,1558040755.364 [DataOverHttps](INFO): Sending 301 bytes from file Logs/20190516T205934/Express0005.lzma
2019-05-16T21:05:56.170Z,1558040756.170 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Express0005.lzma.bak
2019-05-16T21:05:56.171Z,1558040756.171 [DataOverHttps](INFO): SBD MOMSN=11085297
2019-05-16T21:05:59.784Z,1558040759.784 [Default:CheckIn:Read_Iridium] Stopped
2019-05-16T21:05:59.784Z,1558040759.784 [Default:CheckIn:C.Wait] Running Loop=1
2019-05-16T21:05:59.784Z,1558040759.784 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:06:00.153Z,1558040760.153 [NAL9602](INFO): Powering down
2019-05-16T21:06:34.144Z,1558040794.144 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-05-16T21:06:34.147Z,1558040794.147 [BPC1](INFO): Received data from all battery sticks.
2019-05-16T21:06:37.350Z,1558040797.350 [CommandLine](IMPORTANT): got command get latitude
2019-05-16T21:06:37.351Z,1558040797.351 [CommandLine](IMPORTANT): latitude 36.802697 arcdeg
2019-05-16T21:06:46.346Z,1558040806.346 [CommandLine](IMPORTANT): got command run ./Missions/test.xml
2019-05-16T21:06:46.347Z,1558040806.347 [MissionManager](INFO): Loading Mission: ./Missions/test.xml
2019-05-16T21:06:46.475Z,1558040806.475 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2019-05-16T21:06:46.478Z,1558040806.478 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2019-05-16T21:06:46.482Z,1558040806.482 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2019-05-16T21:06:46.485Z,1558040806.485 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2019-05-16T21:06:46.488Z,1558040806.488 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = 0.000000 m
2019-05-16T21:06:46.491Z,1558040806.491 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2019-05-16T21:06:46.494Z,1558040806.494 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2019-05-16T21:06:46.497Z,1558040806.497 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2019-05-16T21:06:46.499Z,1558040806.499 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2019-05-16T21:06:46.502Z,1558040806.502 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 20.000000 s
2019-05-16T21:06:46.505Z,1558040806.505 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2019-05-16T21:06:46.508Z,1558040806.508 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2019-05-16T21:06:46.513Z,1558040806.513 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2019-05-16T21:06:46.516Z,1558040806.516 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2019-05-16T21:06:46.564Z,1558040806.564 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2019-05-16T21:06:46.567Z,1558040806.567 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2019-05-16T21:06:46.570Z,1558040806.570 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2019-05-16T21:06:46.581Z,1558040806.581 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2019-05-16T21:06:46.584Z,1558040806.584 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 0.000000 m/s
2019-05-16T21:06:46.587Z,1558040806.587 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2019-05-16T21:06:46.590Z,1558040806.590 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2019-05-16T21:06:46.621Z,1558040806.621 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2019-05-16T21:06:46.647Z,1558040806.647 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2019-05-16T21:06:46.891Z,1558040806.891 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-16T21:06:46.990Z,1558040806.990 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2019-05-16T21:06:46.993Z,1558040806.993 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-16T21:06:46.996Z,1558040806.996 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-16T21:06:47.046Z,1558040807.046 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2019-05-16T21:06:47.054Z,1558040807.054 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-16T21:06:47.065Z,1558040807.065 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2019-05-16T21:06:47.068Z,1558040807.068 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2019-05-16T21:06:47.105Z,1558040807.105 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T21:06:47.137Z,1558040807.137 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-16T21:06:47.172Z,1558040807.172 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-16T21:06:47.183Z,1558040807.183 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-16T21:06:47.187Z,1558040807.187 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-16T21:06:47.197Z,1558040807.197 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:06:47.214Z,1558040807.214 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:06:47.233Z,1558040807.233 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-16T21:06:47.257Z,1558040807.257 [circle_acoustic_contact:I.Pitch](DEBUG): Construct.
2019-05-16T21:06:47.273Z,1558040807.273 [circle_acoustic_contact:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-16T21:06:47.276Z,1558040807.276 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-05-16T21:06:47.671Z,1558040807.671 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2019-05-16T21:06:47.695Z,1558040807.695 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-05-16T21:06:47.699Z,1558040807.699 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-05-16T21:06:47.702Z,1558040807.702 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2019-05-16T21:06:47.705Z,1558040807.705 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2019-05-16T21:06:47.723Z,1558040807.723 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2019-05-16T21:06:47.726Z,1558040807.726 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2019-05-16T21:06:47.729Z,1558040807.729 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2019-05-16T21:06:47.732Z,1558040807.732 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2019-05-16T21:06:47.736Z,1558040807.736 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2019-05-16T21:06:47.738Z,1558040807.738 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2019-05-16T21:06:47.766Z,1558040807.766 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2019-05-16T21:06:47.769Z,1558040807.769 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2019-05-16T21:06:47.772Z,1558040807.772 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-05-16T21:06:47.777Z,1558040807.777 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2019-05-16T21:06:47.781Z,1558040807.781 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2019-05-16T21:06:47.784Z,1558040807.784 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool
2019-05-16T21:06:47.856Z,1558040807.856 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-05-16T21:06:47.883Z,1558040807.883 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-05-16T21:06:47.896Z,1558040807.896 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-05-16T21:06:47.904Z,1558040807.904 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-05-16T21:06:47.912Z,1558040807.912 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2019-05-16T21:06:47.919Z,1558040807.919 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2019-05-16T21:06:47.923Z,1558040807.923 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2019-05-16T21:06:47.935Z,1558040807.935 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2019-05-16T21:06:47.942Z,1558040807.942 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2019-05-16T21:06:47.949Z,1558040807.949 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2019-05-16T21:06:47.952Z,1558040807.952 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2019-05-16T21:06:47.959Z,1558040807.959 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2019-05-16T21:06:47.963Z,1558040807.963 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2019-05-16T21:06:47.974Z,1558040807.974 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2019-05-16T21:06:47.981Z,1558040807.981 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2019-05-16T21:06:47.989Z,1558040807.989 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2019-05-16T21:06:47.998Z,1558040807.998 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2019-05-16T21:06:48.009Z,1558040808.009 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2019-05-16T21:06:48.017Z,1558040808.017 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2019-05-16T21:06:48.025Z,1558040808.025 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2019-05-16T21:06:48.028Z,1558040808.028 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2019-05-16T21:06:48.035Z,1558040808.035 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2019-05-16T21:06:48.039Z,1558040808.039 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2019-05-16T21:06:48.042Z,1558040808.042 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2019-05-16T21:06:48.065Z,1558040808.065 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2019-05-16T21:06:48.068Z,1558040808.068 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2019-05-16T21:06:48.072Z,1558040808.072 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2019-05-16T21:06:48.075Z,1558040808.075 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2019-05-16T21:06:48.078Z,1558040808.078 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2019-05-16T21:06:48.082Z,1558040808.082 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2019-05-16T21:06:48.085Z,1558040808.085 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2019-05-16T21:06:48.088Z,1558040808.088 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2019-05-16T21:06:48.115Z,1558040808.115 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2019-05-16T21:06:48.119Z,1558040808.119 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2019-05-16T21:06:48.170Z,1558040808.170 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:06:48.193Z,1558040808.193 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-05-16T21:06:48.271Z,1558040808.271 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:06:48.308Z,1558040808.308 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:06:48.343Z,1558040808.343 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:06:48.379Z,1558040808.379 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2019-05-16T21:06:48.385Z,1558040808.385 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2019-05-16T21:06:48.388Z,1558040808.388 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2019-05-16T21:06:48.403Z,1558040808.403 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2019-05-16T21:06:48.409Z,1558040808.409 [circle_acoustic_contact:L.SetSpeed](DEBUG): Construct.
2019-05-16T21:06:48.422Z,1558040808.422 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:06:48.433Z,1558040808.433 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:06:48.446Z,1558040808.446 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2019-05-16T21:06:48.476Z,1558040808.476 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2019-05-16T21:06:48.511Z,1558040808.511 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2019-05-16T21:06:48.594Z,1558040808.594 [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>0</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>20</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>0</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>

    </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>


2019-05-16T21:06:48.598Z,1558040808.598 [CommandLine](IMPORTANT): Running ./Missions/test.xml
2019-05-16T21:06:48.703Z,1558040808.703 [Default] Stopped
2019-05-16T21:06:48.703Z,1558040808.703 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-16T21:06:48.703Z,1558040808.703 [Default:B.GoToSurface] Stopped
2019-05-16T21:06:48.703Z,1558040808.703 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:06:48.703Z,1558040808.703 [Default:CheckIn] Stopped
2019-05-16T21:06:48.703Z,1558040808.703 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:06:48.703Z,1558040808.703 [Default:CheckIn:C.Wait] Stopped
2019-05-16T21:06:48.703Z,1558040808.703 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:06:48.704Z,1558040808.704 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2019-05-16T21:06:48.704Z,1558040808.704 [circle_acoustic_contact] Running Loop=1
2019-05-16T21:06:48.704Z,1558040808.704 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2019-05-16T21:06:48.704Z,1558040808.704 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:06:48.704Z,1558040808.704 [circle_acoustic_contact:A.](INFO): Initializing Tracking.
2019-05-16T21:06:48.705Z,1558040808.705 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:06:48.706Z,1558040808.706 [circle_acoustic_contact:I.Pitch](DEBUG): Initialize.
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:B] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:E] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:F] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:06:48.707Z,1558040808.707 [circle_acoustic_contact:Science:H] Running Loop=1
2019-05-16T21:06:48.708Z,1558040808.708 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2019-05-16T21:06:48.708Z,1558040808.708 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:06:48.708Z,1558040808.708 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:06:48.708Z,1558040808.708 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:06:48.708Z,1558040808.708 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:06:48.710Z,1558040808.710 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2019-05-16T21:06:48.710Z,1558040808.710 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:06:48.710Z,1558040808.710 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-05-16T21:06:48.710Z,1558040808.710 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-05-16T21:06:48.721Z,1558040808.721 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2019-05-16T21:06:48.721Z,1558040808.721 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:06:48.721Z,1558040808.721 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:06:48.721Z,1558040808.721 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:06:48.723Z,1558040808.723 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2019-05-16T21:06:48.723Z,1558040808.723 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:06:48.724Z,1558040808.724 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:06:48.724Z,1558040808.724 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:06:48.725Z,1558040808.725 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2019-05-16T21:06:48.726Z,1558040808.726 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:06:48.726Z,1558040808.726 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:06:48.726Z,1558040808.726 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:L.SetSpeed](DEBUG): Initialize.
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:06:48.728Z,1558040808.728 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:06:48.729Z,1558040808.729 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:06:48.729Z,1558040808.729 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2019-05-16T21:06:48.729Z,1558040808.729 [circle_acoustic_contact:D] Running Loop=1
2019-05-16T21:06:48.730Z,1558040808.730 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:06:48.730Z,1558040808.730 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:06:48.731Z,1558040808.731 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:06:48.731Z,1558040808.731 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:06:48.732Z,1558040808.732 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:06:48.733Z,1558040808.733 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:06:48.734Z,1558040808.734 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:06:48.735Z,1558040808.735 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:Read_Oil] Stopped
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:H] Stopped
2019-05-16T21:06:48.736Z,1558040808.736 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:06:48.737Z,1558040808.737 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-05-16T21:06:48.737Z,1558040808.737 [circle_acoustic_contact:Science:F] Stopped
2019-05-16T21:06:48.737Z,1558040808.737 [circle_acoustic_contact:Science:E] Stopped
2019-05-16T21:06:48.737Z,1558040808.737 [circle_acoustic_contact:Science:D] Stopped
2019-05-16T21:06:48.738Z,1558040808.738 [circle_acoustic_contact:Science:C] Stopped
2019-05-16T21:06:48.738Z,1558040808.738 [circle_acoustic_contact:Science:B] Stopped
2019-05-16T21:06:48.738Z,1558040808.738 [circle_acoustic_contact:Science:A] Stopped
2019-05-16T21:06:48.738Z,1558040808.738 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:06:48.741Z,1558040808.741 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:06:48.741Z,1558040808.741 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:06:48.742Z,1558040808.742 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:06:48.753Z,1558040808.753 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:06:48.754Z,1558040808.754 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:06:48.754Z,1558040808.754 [circle_acoustic_contact:D] Stopped
2019-05-16T21:06:48.754Z,1558040808.754 [circle_acoustic_contact:F] Running Loop=1
2019-05-16T21:06:48.754Z,1558040808.754 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:06:48.755Z,1558040808.755 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:49.084Z,1558040809.084 [circle_acoustic_contact:F] Stopped
2019-05-16T21:06:49.084Z,1558040809.084 [circle_acoustic_contact:G] Running Loop=1
2019-05-16T21:06:49.106Z,1558040809.106 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:49.210Z,1558040809.210 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-05-16T21:06:49.210Z,1558040809.210 [WetLabsBB2FL](INFO): Powering up
2019-05-16T21:06:49.484Z,1558040809.484 [circle_acoustic_contact:G] Stopped
2019-05-16T21:06:49.484Z,1558040809.484 [circle_acoustic_contact:H] Running Loop=1
2019-05-16T21:06:49.500Z,1558040809.500 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:49.938Z,1558040809.938 [circle_acoustic_contact:H] Stopped
2019-05-16T21:06:49.938Z,1558040809.938 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2019-05-16T21:06:49.938Z,1558040809.938 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:06:49.962Z,1558040809.962 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:50.277Z,1558040810.277 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2019-05-16T21:06:50.278Z,1558040810.278 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:06:50.278Z,1558040810.278 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:06:50.278Z,1558040810.278 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2019-05-16T21:06:50.278Z,1558040810.278 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2019-05-16T21:06:50.280Z,1558040810.280 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:06:50.282Z,1558040810.282 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:06:50.292Z,1558040810.292 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:06:50.292Z,1558040810.292 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:50.712Z,1558040810.712 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:51.238Z,1558040811.238 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:51.524Z,1558040811.524 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:51.904Z,1558040811.904 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:52.308Z,1558040812.308 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:52.729Z,1558040812.729 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:53.112Z,1558040813.112 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:53.524Z,1558040813.524 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:53.927Z,1558040813.927 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:54.338Z,1558040814.338 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:54.747Z,1558040814.747 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:55.152Z,1558040815.152 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:55.539Z,1558040815.539 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:55.944Z,1558040815.944 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:56.348Z,1558040816.348 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:56.754Z,1558040816.754 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:57.158Z,1558040817.158 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:57.568Z,1558040817.568 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:57.974Z,1558040817.974 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:58.380Z,1558040818.380 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:58.772Z,1558040818.772 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:59.182Z,1558040819.182 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:59.579Z,1558040819.579 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:06:59.986Z,1558040819.986 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:07:00.393Z,1558040820.393 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:07:00.795Z,1558040820.795 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:07:00.882Z,1558040820.882 [CommandLine](IMPORTANT): got command stop
2019-05-16T21:07:00.883Z,1558040820.883 [CommandLine](IMPORTANT): Scheduling is paused
2019-05-16T21:07:00.883Z,1558040820.883 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-05-16T21:07:01.216Z,1558040821.216 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:07:01.216Z,1558040821.216 [MissionManager](INFO): MissionManager is completed.
2019-05-16T21:07:01.217Z,1558040821.217 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact] Stopped
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact:A.] Stopped
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact:A.](DEBUG): Uninitializing Tracking.
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact:StandardEnvelopes] Stopped
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:07:01.217Z,1558040821.217 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:I.Pitch] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:J.Buoyancy] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:Science] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:Science:G] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:07:01.218Z,1558040821.218 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:L.SetSpeed] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:L.SetSpeed](DEBUG): Uninitialize.
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:CircleWrapper] Stopped
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:07:01.219Z,1558040821.219 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2019-05-16T21:07:01.220Z,1558040821.220 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:07:01.220Z,1558040821.220 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2019-05-16T21:07:01.220Z,1558040821.220 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2019-05-16T21:07:01.220Z,1558040821.220 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2019-05-16T21:07:01.405Z,1558040821.405 [WetLabsBB2FL](INFO): Powering down
2019-05-16T21:07:01.599Z,1558040821.599 [MissionManager](IMPORTANT): Started mission Default
2019-05-16T21:07:01.599Z,1558040821.599 [Default] Running Loop=1
2019-05-16T21:07:01.599Z,1558040821.599 [Default](DEBUG): Aggregate::initialize Default
2019-05-16T21:07:01.599Z,1558040821.599 [Default:B.GoToSurface] Running Loop=1
2019-05-16T21:07:01.600Z,1558040821.600 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:07:01.600Z,1558040821.600 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:07:01.600Z,1558040821.600 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:07:01.600Z,1558040821.600 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:07:01.601Z,1558040821.601 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:07:01.601Z,1558040821.601 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:07:01.602Z,1558040821.602 [Default:A.Wait] Running Loop=1
2019-05-16T21:07:01.602Z,1558040821.602 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:07:14.952Z,1558040834.952 [Default:A.Wait](INFO): Done Waiting.
2019-05-16T21:07:14.961Z,1558040834.961 [Default:A.Wait] Stopped
2019-05-16T21:07:14.961Z,1558040834.961 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:07:15.363Z,1558040835.363 [Default:CheckIn] Running Loop=1
2019-05-16T21:07:15.363Z,1558040835.363 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:07:15.363Z,1558040835.363 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:07:16.121Z,1558040836.121 [NAL9602](INFO): Powering up
2019-05-16T21:07:24.326Z,1558040844.326 [CommandLine](IMPORTANT): got command configSet DAT.ignoreElevationAngle 1.000000 bool persist
2019-05-16T21:07:27.023Z,1558040847.023 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:07:27.889Z,1558040847.889 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:08:19.330Z,1558040899.330 [CommandLine](IMPORTANT): got command failComponent hardware DAT
2019-05-16T21:08:19.330Z,1558040899.330 [DAT] Hardware Fault, FailCount= 1
2019-05-16T21:08:19.330Z,1558040899.330 [DAT](ERROR): Hardware Fault
2019-05-16T21:08:19.330Z,1558040899.330 [CommandLine](IMPORTANT): DAT failureMode is Hardware Fault
2019-05-16T21:08:19.570Z,1558040899.570 [DAT](INFO): Powering down
2019-05-16T21:08:19.717Z,1558040899.717 [CBIT](ERROR): Hardware Fault in component: DAT
2019-05-16T21:08:20.391Z,1558040900.391 [CBIT](INFO): Clearing failed state for component DAT
2019-05-16T21:08:20.391Z,1558040900.391 [DAT] No Fault, FailCount= 1
2019-05-16T21:08:22.800Z,1558040902.800 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2019-05-16T21:08:22.800Z,1558040902.800 [DAT](INFO): Powering up
2019-05-16T21:08:22.800Z,1558040902.800 [DAT](DEBUG): Initializing DAT.
2019-05-16T21:08:22.835Z,1558040902.835 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2019-05-16T21:08:23.207Z,1558040903.207 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:23.616Z,1558040903.616 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:24.011Z,1558040904.011 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:24.422Z,1558040904.422 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:24.832Z,1558040904.832 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:25.242Z,1558040905.242 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:25.655Z,1558040905.655 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:26.038Z,1558040906.038 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:26.438Z,1558040906.438 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:26.846Z,1558040906.846 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:27.253Z,1558040907.253 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:27.646Z,1558040907.646 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:28.060Z,1558040908.060 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:28.471Z,1558040908.471 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:28.858Z,1558040908.858 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:29.276Z,1558040909.276 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:29.687Z,1558040909.687 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:30.108Z,1558040910.108 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:30.484Z,1558040910.484 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:30.888Z,1558040910.888 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:31.288Z,1558040911.288 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:31.696Z,1558040911.696 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:32.106Z,1558040912.106 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:32.518Z,1558040912.518 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:32.919Z,1558040912.919 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:33.312Z,1558040913.312 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:33.728Z,1558040913.728 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:34.120Z,1558040914.120 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:34.534Z,1558040914.534 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:34.922Z,1558040914.922 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:35.336Z,1558040915.336 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:35.734Z,1558040915.734 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:36.134Z,1558040916.134 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:36.555Z,1558040916.555 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:36.948Z,1558040916.948 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:37.353Z,1558040917.353 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:37.762Z,1558040917.762 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:37.762Z,1558040917.762 [DAT](INFO): setting local address to 3
2019-05-16T21:08:38.160Z,1558040918.160 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:08:38.161Z,1558040918.161 [DAT](INFO): set local address to 3
2019-05-16T21:08:47.843Z,1558040927.843 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:08:47.843Z,1558040927.843 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:09:00.459Z,1558040940.459 [CommandLine](IMPORTANT): got command run ./Missions/test.xml
2019-05-16T21:09:00.460Z,1558040940.460 [MissionManager](INFO): Loading Mission: ./Missions/test.xml
2019-05-16T21:09:00.608Z,1558040940.608 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2019-05-16T21:09:00.610Z,1558040940.610 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2019-05-16T21:09:00.612Z,1558040940.612 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2019-05-16T21:09:00.614Z,1558040940.614 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2019-05-16T21:09:00.616Z,1558040940.616 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = 0.000000 m
2019-05-16T21:09:00.619Z,1558040940.619 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2019-05-16T21:09:00.621Z,1558040940.621 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2019-05-16T21:09:00.623Z,1558040940.623 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2019-05-16T21:09:00.626Z,1558040940.626 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2019-05-16T21:09:00.628Z,1558040940.628 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 20.000000 s
2019-05-16T21:09:00.630Z,1558040940.630 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2019-05-16T21:09:00.632Z,1558040940.632 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2019-05-16T21:09:00.635Z,1558040940.635 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2019-05-16T21:09:00.636Z,1558040940.636 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2019-05-16T21:09:00.639Z,1558040940.639 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2019-05-16T21:09:00.641Z,1558040940.641 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2019-05-16T21:09:00.643Z,1558040940.643 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2019-05-16T21:09:00.646Z,1558040940.646 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2019-05-16T21:09:00.648Z,1558040940.648 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 0.000000 m/s
2019-05-16T21:09:00.650Z,1558040940.650 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2019-05-16T21:09:00.652Z,1558040940.652 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2019-05-16T21:09:00.654Z,1558040940.654 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2019-05-16T21:09:00.657Z,1558040940.657 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2019-05-16T21:09:00.713Z,1558040940.713 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-16T21:09:00.903Z,1558040940.903 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2019-05-16T21:09:00.914Z,1558040940.914 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-16T21:09:00.916Z,1558040940.916 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-16T21:09:00.923Z,1558040940.923 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2019-05-16T21:09:00.929Z,1558040940.929 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-16T21:09:00.931Z,1558040940.931 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2019-05-16T21:09:00.938Z,1558040940.938 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2019-05-16T21:09:00.947Z,1558040940.947 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T21:09:00.999Z,1558040940.999 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-16T21:09:01.034Z,1558040941.034 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-16T21:09:01.036Z,1558040941.036 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-16T21:09:01.062Z,1558040941.062 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-16T21:09:01.063Z,1558040941.063 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:09:01.077Z,1558040941.077 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:09:01.087Z,1558040941.087 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-16T21:09:01.109Z,1558040941.109 [circle_acoustic_contact:I.Pitch](DEBUG): Construct.
2019-05-16T21:09:01.116Z,1558040941.116 [circle_acoustic_contact:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-16T21:09:01.119Z,1558040941.119 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-05-16T21:09:01.396Z,1558040941.396 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2019-05-16T21:09:01.398Z,1558040941.398 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-05-16T21:09:01.400Z,1558040941.400 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-05-16T21:09:01.402Z,1558040941.402 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2019-05-16T21:09:01.404Z,1558040941.404 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2019-05-16T21:09:01.406Z,1558040941.406 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2019-05-16T21:09:01.408Z,1558040941.408 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2019-05-16T21:09:01.410Z,1558040941.410 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2019-05-16T21:09:01.412Z,1558040941.412 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2019-05-16T21:09:01.414Z,1558040941.414 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2019-05-16T21:09:01.416Z,1558040941.416 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2019-05-16T21:09:01.418Z,1558040941.418 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2019-05-16T21:09:01.420Z,1558040941.420 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2019-05-16T21:09:01.421Z,1558040941.421 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-05-16T21:09:01.424Z,1558040941.424 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2019-05-16T21:09:01.426Z,1558040941.426 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2019-05-16T21:09:01.429Z,1558040941.429 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool
2019-05-16T21:09:01.431Z,1558040941.431 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-05-16T21:09:01.433Z,1558040941.433 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-05-16T21:09:01.436Z,1558040941.436 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-05-16T21:09:01.438Z,1558040941.438 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-05-16T21:09:01.440Z,1558040941.440 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2019-05-16T21:09:01.443Z,1558040941.443 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2019-05-16T21:09:01.445Z,1558040941.445 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2019-05-16T21:09:01.447Z,1558040941.447 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2019-05-16T21:09:01.449Z,1558040941.449 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2019-05-16T21:09:01.451Z,1558040941.451 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2019-05-16T21:09:01.453Z,1558040941.453 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2019-05-16T21:09:01.455Z,1558040941.455 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2019-05-16T21:09:01.457Z,1558040941.457 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2019-05-16T21:09:01.459Z,1558040941.459 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2019-05-16T21:09:01.462Z,1558040941.462 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2019-05-16T21:09:01.464Z,1558040941.464 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2019-05-16T21:09:01.466Z,1558040941.466 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2019-05-16T21:09:01.468Z,1558040941.468 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2019-05-16T21:09:01.471Z,1558040941.471 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2019-05-16T21:09:01.473Z,1558040941.473 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2019-05-16T21:09:01.475Z,1558040941.475 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2019-05-16T21:09:01.477Z,1558040941.477 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2019-05-16T21:09:01.479Z,1558040941.479 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2019-05-16T21:09:01.482Z,1558040941.482 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2019-05-16T21:09:01.484Z,1558040941.484 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2019-05-16T21:09:01.486Z,1558040941.486 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2019-05-16T21:09:01.488Z,1558040941.488 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2019-05-16T21:09:01.490Z,1558040941.490 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2019-05-16T21:09:01.493Z,1558040941.493 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2019-05-16T21:09:01.495Z,1558040941.495 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2019-05-16T21:09:01.531Z,1558040941.531 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2019-05-16T21:09:01.533Z,1558040941.533 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2019-05-16T21:09:01.535Z,1558040941.535 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2019-05-16T21:09:01.538Z,1558040941.538 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2019-05-16T21:09:01.629Z,1558040941.629 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:09:01.661Z,1558040941.661 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-05-16T21:09:01.687Z,1558040941.687 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:09:01.705Z,1558040941.705 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:09:01.763Z,1558040941.763 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:09:01.805Z,1558040941.805 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2019-05-16T21:09:01.807Z,1558040941.807 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2019-05-16T21:09:01.813Z,1558040941.813 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2019-05-16T21:09:01.815Z,1558040941.815 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2019-05-16T21:09:01.816Z,1558040941.816 [circle_acoustic_contact:L.SetSpeed](DEBUG): Construct.
2019-05-16T21:09:01.823Z,1558040941.823 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:09:01.839Z,1558040941.839 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:09:01.853Z,1558040941.853 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2019-05-16T21:09:01.872Z,1558040941.872 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2019-05-16T21:09:01.893Z,1558040941.893 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2019-05-16T21:09:01.940Z,1558040941.940 [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>0</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>20</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>0</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>

    </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>


2019-05-16T21:09:01.943Z,1558040941.943 [CommandLine](IMPORTANT): Running ./Missions/test.xml
2019-05-16T21:09:02.005Z,1558040942.005 [Default] Stopped
2019-05-16T21:09:02.005Z,1558040942.005 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-16T21:09:02.005Z,1558040942.005 [Default:B.GoToSurface] Stopped
2019-05-16T21:09:02.005Z,1558040942.005 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:09:02.005Z,1558040942.005 [Default:CheckIn] Stopped
2019-05-16T21:09:02.005Z,1558040942.005 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:09:02.005Z,1558040942.005 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:09:02.006Z,1558040942.006 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2019-05-16T21:09:02.006Z,1558040942.006 [circle_acoustic_contact] Running Loop=1
2019-05-16T21:09:02.006Z,1558040942.006 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2019-05-16T21:09:02.006Z,1558040942.006 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:09:02.006Z,1558040942.006 [circle_acoustic_contact:A.](INFO): Initializing Tracking.
2019-05-16T21:09:02.006Z,1558040942.006 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:09:02.006Z,1558040942.006 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:I.Pitch](DEBUG): Initialize.
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:09:02.007Z,1558040942.007 [circle_acoustic_contact:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:B] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:E] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:F] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:H] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:09:02.008Z,1558040942.008 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:09:02.009Z,1558040942.009 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:09:02.009Z,1558040942.009 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:09:02.010Z,1558040942.010 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2019-05-16T21:09:02.010Z,1558040942.010 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:09:02.010Z,1558040942.010 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-05-16T21:09:02.010Z,1558040942.010 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-05-16T21:09:02.011Z,1558040942.011 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2019-05-16T21:09:02.011Z,1558040942.011 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:09:02.011Z,1558040942.011 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:09:02.011Z,1558040942.011 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:09:02.012Z,1558040942.012 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2019-05-16T21:09:02.012Z,1558040942.012 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:09:02.012Z,1558040942.012 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:09:02.012Z,1558040942.012 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:09:02.014Z,1558040942.014 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2019-05-16T21:09:02.014Z,1558040942.014 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:09:02.014Z,1558040942.014 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:09:02.014Z,1558040942.014 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:09:02.015Z,1558040942.015 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:09:02.015Z,1558040942.015 [circle_acoustic_contact:L.SetSpeed](DEBUG): Initialize.
2019-05-16T21:09:02.015Z,1558040942.015 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:09:02.015Z,1558040942.015 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2019-05-16T21:09:02.015Z,1558040942.015 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:09:02.016Z,1558040942.016 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:09:02.016Z,1558040942.016 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:09:02.016Z,1558040942.016 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:09:02.016Z,1558040942.016 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:09:02.016Z,1558040942.016 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2019-05-16T21:09:02.016Z,1558040942.016 [circle_acoustic_contact:D] Running Loop=1
2019-05-16T21:09:02.017Z,1558040942.017 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:09:02.017Z,1558040942.017 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:09:02.018Z,1558040942.018 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:09:02.018Z,1558040942.018 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:09:02.019Z,1558040942.019 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:09:02.019Z,1558040942.019 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:09:02.022Z,1558040942.022 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:Read_Oil] Stopped
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:H] Stopped
2019-05-16T21:09:02.023Z,1558040942.023 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:F] Stopped
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:E] Stopped
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:D] Stopped
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:C] Stopped
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:B] Stopped
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:Science:A] Stopped
2019-05-16T21:09:02.024Z,1558040942.024 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:09:02.025Z,1558040942.025 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:09:02.025Z,1558040942.025 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:09:02.025Z,1558040942.025 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:09:02.033Z,1558040942.033 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:09:02.033Z,1558040942.033 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:09:02.034Z,1558040942.034 [circle_acoustic_contact:D] Stopped
2019-05-16T21:09:02.034Z,1558040942.034 [circle_acoustic_contact:F] Running Loop=1
2019-05-16T21:09:02.034Z,1558040942.034 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:09:02.034Z,1558040942.034 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:02.370Z,1558040942.370 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-05-16T21:09:02.370Z,1558040942.370 [WetLabsBB2FL](INFO): Powering up
2019-05-16T21:09:02.454Z,1558040942.454 [circle_acoustic_contact:F] Stopped
2019-05-16T21:09:02.454Z,1558040942.454 [circle_acoustic_contact:G] Running Loop=1
2019-05-16T21:09:02.474Z,1558040942.474 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:02.835Z,1558040942.835 [circle_acoustic_contact:G] Stopped
2019-05-16T21:09:02.835Z,1558040942.835 [circle_acoustic_contact:H] Running Loop=1
2019-05-16T21:09:02.844Z,1558040942.844 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:03.252Z,1558040943.252 [circle_acoustic_contact:H] Stopped
2019-05-16T21:09:03.252Z,1558040943.252 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2019-05-16T21:09:03.252Z,1558040943.252 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:09:03.268Z,1558040943.268 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:03.626Z,1558040943.626 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2019-05-16T21:09:03.627Z,1558040943.627 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:09:03.627Z,1558040943.627 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:09:03.627Z,1558040943.627 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2019-05-16T21:09:03.627Z,1558040943.627 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2019-05-16T21:09:03.629Z,1558040943.629 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:09:03.630Z,1558040943.630 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:09:03.642Z,1558040943.642 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:09:03.642Z,1558040943.642 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:04.041Z,1558040944.041 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:04.451Z,1558040944.451 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:04.858Z,1558040944.858 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:05.271Z,1558040945.271 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:05.671Z,1558040945.671 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:06.069Z,1558040946.069 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:06.487Z,1558040946.487 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:06.903Z,1558040946.903 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:07.264Z,1558040947.264 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:07.678Z,1558040947.678 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:08.076Z,1558040948.076 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:08.518Z,1558040948.518 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:08.892Z,1558040948.892 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:09.310Z,1558040949.310 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:09.720Z,1558040949.720 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:10.130Z,1558040950.130 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:10.500Z,1558040950.500 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:10.910Z,1558040950.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:11.308Z,1558040951.308 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:11.718Z,1558040951.718 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:12.118Z,1558040952.118 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:12.530Z,1558040952.530 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:12.932Z,1558040952.932 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:13.360Z,1558040953.360 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:13.732Z,1558040953.732 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:14.135Z,1558040954.135 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:14.562Z,1558040954.562 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:14.971Z,1558040954.971 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:15.379Z,1558040955.379 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:15.778Z,1558040955.778 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:16.189Z,1558040956.189 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:16.597Z,1558040956.597 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:17.013Z,1558040957.013 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:17.422Z,1558040957.422 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:17.814Z,1558040957.814 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:18.234Z,1558040958.234 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:18.598Z,1558040958.598 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:18.990Z,1558040958.990 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:19.397Z,1558040959.397 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:19.843Z,1558040959.843 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:20.224Z,1558040960.224 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:20.628Z,1558040960.628 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:21.010Z,1558040961.010 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:21.407Z,1558040961.407 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:21.815Z,1558040961.815 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:22.222Z,1558040962.222 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:22.223Z,1558040962.223 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:09:22.223Z,1558040962.223 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:09:22.623Z,1558040962.623 [DAT](INFO): ****** ping requested ******
2019-05-16T21:09:22.654Z,1558040962.654 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:23.056Z,1558040963.056 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:23.457Z,1558040963.457 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:23.842Z,1558040963.842 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:24.236Z,1558040964.236 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:24.646Z,1558040964.646 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:25.080Z,1558040965.080 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:25.458Z,1558040965.458 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:25.869Z,1558040965.869 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:26.272Z,1558040966.272 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:26.676Z,1558040966.676 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:27.070Z,1558040967.070 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:27.468Z,1558040967.468 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:27.882Z,1558040967.882 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:28.273Z,1558040968.273 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:28.685Z,1558040968.685 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:29.099Z,1558040969.099 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:29.502Z,1558040969.502 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:29.908Z,1558040969.908 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:30.322Z,1558040970.322 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:30.706Z,1558040970.706 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:31.125Z,1558040971.125 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:31.514Z,1558040971.514 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:31.914Z,1558040971.914 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:32.341Z,1558040972.341 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:32.738Z,1558040972.738 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:33.150Z,1558040973.150 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:33.554Z,1558040973.554 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:33.933Z,1558040973.933 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:34.351Z,1558040974.351 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:34.740Z,1558040974.740 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:35.155Z,1558040975.155 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:35.555Z,1558040975.555 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:35.970Z,1558040975.970 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:36.413Z,1558040976.413 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:36.778Z,1558040976.778 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:37.163Z,1558040977.163 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:37.574Z,1558040977.574 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:37.977Z,1558040977.977 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:38.375Z,1558040978.375 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:38.794Z,1558040978.794 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:39.195Z,1558040979.195 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:39.598Z,1558040979.598 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:40.020Z,1558040980.020 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:40.396Z,1558040980.396 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:40.809Z,1558040980.809 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:41.226Z,1558040981.226 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:41.678Z,1558040981.678 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:42.042Z,1558040982.042 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:42.450Z,1558040982.450 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:42.450Z,1558040982.450 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:09:42.450Z,1558040982.450 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:09:42.870Z,1558040982.870 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:43.266Z,1558040983.266 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:43.677Z,1558040983.677 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:44.090Z,1558040984.090 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:44.490Z,1558040984.490 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:44.898Z,1558040984.898 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:45.233Z,1558040985.233 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:09:45.233Z,1558040985.233 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:09:45.275Z,1558040985.275 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:45.678Z,1558040985.678 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:46.067Z,1558040986.067 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:46.462Z,1558040986.462 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:46.860Z,1558040986.860 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:47.276Z,1558040987.276 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:47.668Z,1558040987.668 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:48.078Z,1558040988.078 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:48.490Z,1558040988.490 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:48.898Z,1558040988.898 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:49.320Z,1558040989.320 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:49.738Z,1558040989.738 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:50.132Z,1558040990.132 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:50.502Z,1558040990.502 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:50.906Z,1558040990.906 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:51.323Z,1558040991.323 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:51.722Z,1558040991.722 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:52.126Z,1558040992.126 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:52.545Z,1558040992.546 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:52.985Z,1558040992.985 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:53.379Z,1558040993.379 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:53.734Z,1558040993.734 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:54.131Z,1558040994.131 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:54.542Z,1558040994.542 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:54.954Z,1558040994.954 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:55.370Z,1558040995.370 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:55.783Z,1558040995.783 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:56.186Z,1558040996.186 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:56.601Z,1558040996.601 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:56.966Z,1558040996.966 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:57.371Z,1558040997.371 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:57.781Z,1558040997.781 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:58.206Z,1558040998.206 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:58.594Z,1558040998.594 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:58.991Z,1558040998.991 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:59.405Z,1558040999.405 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:09:59.818Z,1558040999.818 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:00.196Z,1558041000.196 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:00.598Z,1558041000.598 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:01.019Z,1558041001.019 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:01.434Z,1558041001.434 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:01.838Z,1558041001.838 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:02.226Z,1558041002.226 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:02.635Z,1558041002.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:02.635Z,1558041002.635 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:10:02.635Z,1558041002.635 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:10:03.001Z,1558041003.001 [DAT](INFO): ****** ping requested ******
2019-05-16T21:10:03.050Z,1558041003.050 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:03.433Z,1558041003.433 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:03.827Z,1558041003.827 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:04.242Z,1558041004.242 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:04.634Z,1558041004.634 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:05.054Z,1558041005.054 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:05.462Z,1558041005.462 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:05.874Z,1558041005.874 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:06.249Z,1558041006.249 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:06.662Z,1558041006.662 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:07.060Z,1558041007.060 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:07.466Z,1558041007.466 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:07.875Z,1558041007.875 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:08.289Z,1558041008.289 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:08.683Z,1558041008.683 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:09.100Z,1558041009.100 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:09.550Z,1558041009.550 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:09.926Z,1558041009.926 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:10.315Z,1558041010.315 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:10.702Z,1558041010.702 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:11.100Z,1558041011.100 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:11.529Z,1558041011.529 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:11.908Z,1558041011.908 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:12.339Z,1558041012.339 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:12.756Z,1558041012.756 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:13.191Z,1558041013.191 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:13.566Z,1558041013.566 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:13.950Z,1558041013.950 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:14.362Z,1558041014.362 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:14.841Z,1558041014.841 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:15.166Z,1558041015.166 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:15.602Z,1558041015.602 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:15.982Z,1558041015.982 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:16.402Z,1558041016.402 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:16.787Z,1558041016.787 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:17.160Z,1558041017.160 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:17.563Z,1558041017.563 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:17.970Z,1558041017.970 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:18.373Z,1558041018.373 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:18.788Z,1558041018.788 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:19.193Z,1558041019.193 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:19.622Z,1558041019.622 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:20.019Z,1558041020.019 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:20.392Z,1558041020.392 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:20.798Z,1558041020.798 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:21.206Z,1558041021.206 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:21.605Z,1558041021.605 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:22.071Z,1558041022.071 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:22.428Z,1558041022.428 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:22.846Z,1558041022.846 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:22.847Z,1558041022.847 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:10:22.847Z,1558041022.847 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:10:23.219Z,1558041023.219 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:23.629Z,1558041023.629 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:24.024Z,1558041024.024 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:24.432Z,1558041024.432 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:24.836Z,1558041024.836 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:25.287Z,1558041025.287 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:25.674Z,1558041025.674 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:26.011Z,1558041026.011 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:10:26.011Z,1558041026.011 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:10:26.147Z,1558041026.147 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:26.517Z,1558041026.517 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:26.902Z,1558041026.902 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:27.314Z,1558041027.314 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:27.690Z,1558041027.690 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:28.111Z,1558041028.111 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:28.498Z,1558041028.498 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:28.909Z,1558041028.909 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:29.338Z,1558041029.338 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:29.743Z,1558041029.743 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:30.174Z,1558041030.174 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:30.554Z,1558041030.554 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:30.922Z,1558041030.922 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:31.326Z,1558041031.326 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:31.758Z,1558041031.758 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:31.870Z,1558041031.870 [CommandLine](IMPORTANT): got command report touch Tracking.contact_latitude
2019-05-16T21:10:31.872Z,1558041031.872 [CommandLine](IMPORTANT): got command report touch Tracking.contact_longitude
2019-05-16T21:10:31.877Z,1558041031.877 [CommandLine](IMPORTANT): got command report touch Tracking.range_to_contact
2019-05-16T21:10:31.878Z,1558041031.878 [CommandLine](IMPORTANT): got command report touch DAT.rotatedAzimuth
2019-05-16T21:10:31.879Z,1558041031.879 [CommandLine](IMPORTANT): got command report touch DAT.rotatedElevation
2019-05-16T21:10:31.880Z,1558041031.880 [CommandLine](IMPORTANT): got command report touch DAT.range
2019-05-16T21:10:32.130Z,1558041032.130 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:32.530Z,1558041032.530 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:32.936Z,1558041032.936 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:33.346Z,1558041033.346 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:33.689Z,1558041033.689 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:10:33.689Z,1558041033.689 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:10:33.770Z,1558041033.770 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:34.149Z,1558041034.149 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:34.538Z,1558041034.538 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:34.935Z,1558041034.935 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:35.347Z,1558041035.347 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:35.772Z,1558041035.772 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:36.169Z,1558041036.169 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:36.574Z,1558041036.574 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:37.013Z,1558041037.013 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:37.386Z,1558041037.386 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:37.832Z,1558041037.832 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:38.198Z,1558041038.198 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:38.574Z,1558041038.574 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:38.947Z,1558041038.947 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:10:38.947Z,1558041038.947 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:10:39.027Z,1558041039.027 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:39.203Z,1558041039.203 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 0.000000 revolution_per_minute
2019-05-16T21:10:39.205Z,1558041039.205 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2019-05-16T21:10:39.406Z,1558041039.406 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:39.447Z,1558041039.447 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_SpeedControl.propOmegaAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T21:10:39.780Z,1558041039.780 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:40.190Z,1558041040.190 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:40.598Z,1558041040.598 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:40.998Z,1558041040.998 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:41.398Z,1558041041.398 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:41.815Z,1558041041.815 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:42.232Z,1558041042.232 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:42.657Z,1558041042.657 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:43.116Z,1558041043.116 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:43.116Z,1558041043.116 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:10:43.116Z,1558041043.116 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:10:43.408Z,1558041043.408 [DAT](INFO): ****** ping requested ******
2019-05-16T21:10:43.520Z,1558041043.520 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:43.866Z,1558041043.866 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:44.292Z,1558041044.292 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:44.591Z,1558041044.591 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:10:44.591Z,1558041044.591 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:10:44.662Z,1558041044.662 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:45.073Z,1558041045.073 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:45.478Z,1558041045.478 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:45.882Z,1558041045.882 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:46.291Z,1558041046.291 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:46.670Z,1558041046.670 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:47.058Z,1558041047.058 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:47.456Z,1558041047.456 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:47.863Z,1558041047.863 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:48.269Z,1558041048.269 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:48.692Z,1558041048.692 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:49.087Z,1558041049.087 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:49.516Z,1558041049.516 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:49.883Z,1558041049.883 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:50.294Z,1558041050.294 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:50.690Z,1558041050.690 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:51.102Z,1558041051.102 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:51.502Z,1558041051.502 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:51.918Z,1558041051.918 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:52.321Z,1558041052.321 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:52.740Z,1558041052.740 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:53.077Z,1558041053.077 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:10:53.077Z,1558041053.077 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:10:53.147Z,1558041053.147 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:53.558Z,1558041053.558 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:53.921Z,1558041053.921 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:54.338Z,1558041054.338 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:54.746Z,1558041054.746 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:55.148Z,1558041055.148 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:55.564Z,1558041055.564 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:55.964Z,1558041055.964 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:56.331Z,1558041056.331 [DAT](ERROR): No response from remote modem.
2019-05-16T21:10:56.381Z,1558041056.381 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:56.762Z,1558041056.762 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:57.162Z,1558041057.162 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:57.594Z,1558041057.594 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:57.984Z,1558041057.984 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:58.378Z,1558041058.378 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:58.790Z,1558041058.790 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:59.200Z,1558041059.200 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:10:59.611Z,1558041059.611 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:00.019Z,1558041060.019 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:00.387Z,1558041060.387 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:00.792Z,1558041060.792 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:01.207Z,1558041061.207 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:01.570Z,1558041061.570 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:11:01.570Z,1558041061.570 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:11:01.607Z,1558041061.607 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:02.026Z,1558041062.026 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:02.424Z,1558041062.424 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:02.820Z,1558041062.820 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:03.246Z,1558041063.246 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:03.246Z,1558041063.246 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:11:03.246Z,1558041063.246 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:11:03.622Z,1558041063.622 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:04.026Z,1558041064.026 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:04.446Z,1558041064.446 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:04.857Z,1558041064.857 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:05.254Z,1558041065.254 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:05.658Z,1558041065.658 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:06.056Z,1558041066.056 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:06.454Z,1558041066.454 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:06.851Z,1558041066.851 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:07.257Z,1558041067.257 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:07.671Z,1558041067.671 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:08.084Z,1558041068.084 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:08.492Z,1558041068.492 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:08.900Z,1558041068.900 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:09.271Z,1558041069.271 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:09.692Z,1558041069.692 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:10.086Z,1558041070.086 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:10.492Z,1558041070.492 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:10.900Z,1558041070.900 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:11.254Z,1558041071.254 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:11:11.254Z,1558041071.254 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:11:11.324Z,1558041071.324 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:11.722Z,1558041071.722 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:12.162Z,1558041072.162 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:12.557Z,1558041072.557 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:12.953Z,1558041072.953 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:13.339Z,1558041073.339 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:13.750Z,1558041073.750 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:14.159Z,1558041074.159 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:14.562Z,1558041074.562 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:14.966Z,1558041074.966 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:15.382Z,1558041075.382 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:15.874Z,1558041075.874 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:16.142Z,1558041076.142 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:16.548Z,1558041076.548 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:16.958Z,1558041076.958 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:17.374Z,1558041077.374 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:17.768Z,1558041077.768 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:18.181Z,1558041078.181 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:18.598Z,1558041078.598 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:18.933Z,1558041078.933 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:11:18.933Z,1558041078.933 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:11:19.007Z,1558041079.007 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:19.420Z,1558041079.420 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:19.780Z,1558041079.780 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:20.194Z,1558041080.194 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:20.594Z,1558041080.594 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:21.004Z,1558041081.004 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:21.405Z,1558041081.405 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:21.834Z,1558041081.834 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:22.210Z,1558041082.210 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:22.614Z,1558041082.614 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:23.020Z,1558041083.020 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:23.430Z,1558041083.430 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:23.430Z,1558041083.430 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:11:23.430Z,1558041083.430 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:11:23.816Z,1558041083.816 [DAT](INFO): ****** ping requested ******
2019-05-16T21:11:23.846Z,1558041083.846 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:24.239Z,1558041084.239 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:24.655Z,1558041084.655 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:25.061Z,1558041085.061 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:25.431Z,1558041085.431 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:25.842Z,1558041085.842 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:26.243Z,1558041086.243 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:26.661Z,1558041086.661 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:27.059Z,1558041087.059 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:27.464Z,1558041087.464 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:27.890Z,1558041087.890 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:28.286Z,1558041088.286 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:28.701Z,1558041088.701 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:29.076Z,1558041089.076 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:29.472Z,1558041089.472 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:29.880Z,1558041089.880 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:30.285Z,1558041090.285 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:30.698Z,1558041090.698 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:31.112Z,1558041091.112 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:31.523Z,1558041091.523 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:31.896Z,1558041091.896 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:32.312Z,1558041092.312 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:32.714Z,1558041092.714 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:33.117Z,1558041093.117 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:33.517Z,1558041093.517 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:33.934Z,1558041093.934 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:34.329Z,1558041094.329 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:34.746Z,1558041094.746 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:35.165Z,1558041095.165 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:35.532Z,1558041095.532 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:35.940Z,1558041095.940 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:36.349Z,1558041096.349 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:36.731Z,1558041096.731 [DAT](ERROR): No response from remote modem.
2019-05-16T21:11:36.758Z,1558041096.758 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:37.169Z,1558041097.169 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:37.563Z,1558041097.563 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:37.979Z,1558041097.979 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:38.364Z,1558041098.364 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:38.770Z,1558041098.770 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:39.175Z,1558041099.175 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:39.582Z,1558041099.582 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:39.988Z,1558041099.988 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:40.387Z,1558041100.387 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:40.808Z,1558041100.808 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:41.218Z,1558041101.218 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:41.650Z,1558041101.650 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:42.042Z,1558041102.042 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:42.455Z,1558041102.455 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:42.830Z,1558041102.830 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:43.238Z,1558041103.238 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:43.643Z,1558041103.643 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:43.644Z,1558041103.644 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:11:43.644Z,1558041103.644 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:11:44.046Z,1558041104.046 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:44.450Z,1558041104.450 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:44.866Z,1558041104.866 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:45.297Z,1558041105.297 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:45.644Z,1558041105.644 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:46.009Z,1558041106.009 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:11:46.010Z,1558041106.010 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:11:46.046Z,1558041106.046 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:46.474Z,1558041106.474 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:46.848Z,1558041106.848 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:47.257Z,1558041107.257 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:47.667Z,1558041107.667 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:48.074Z,1558041108.074 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:48.495Z,1558041108.495 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:48.868Z,1558041108.868 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:49.274Z,1558041109.274 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:49.681Z,1558041109.681 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:50.078Z,1558041110.078 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:50.546Z,1558041110.546 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:50.933Z,1558041110.933 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:51.341Z,1558041111.341 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:51.772Z,1558041111.772 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:52.139Z,1558041112.139 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:52.510Z,1558041112.510 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:52.598Z,1558041112.598 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 0.000000 revolution_per_minute
2019-05-16T21:11:52.912Z,1558041112.912 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:53.323Z,1558041113.323 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:53.726Z,1558041113.726 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:54.143Z,1558041114.143 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:54.543Z,1558041114.543 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:54.962Z,1558041114.962 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:55.342Z,1558041115.342 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:55.760Z,1558041115.760 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:56.162Z,1558041116.162 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:56.570Z,1558041116.570 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:56.873Z,1558041116.873 [CommandLine](IMPORTANT): got command stop
2019-05-16T21:11:56.874Z,1558041116.874 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-05-16T21:11:56.994Z,1558041116.994 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:11:56.994Z,1558041116.994 [MissionManager](INFO): MissionManager is completed.
2019-05-16T21:11:56.995Z,1558041116.995 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact] Stopped
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:A.] Stopped
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:A.](DEBUG): Uninitializing Tracking.
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes] Stopped
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-16T21:11:56.995Z,1558041116.995 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:I.Pitch] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:J.Buoyancy] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science:G] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:L.SetSpeed] Stopped
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:L.SetSpeed](DEBUG): Uninitialize.
2019-05-16T21:11:56.996Z,1558041116.996 [circle_acoustic_contact:YoYos] Stopped
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:CircleWrapper] Stopped
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:11:56.997Z,1558041116.997 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2019-05-16T21:11:56.998Z,1558041116.998 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:11:56.998Z,1558041116.998 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2019-05-16T21:11:56.998Z,1558041116.998 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2019-05-16T21:11:56.998Z,1558041116.998 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2019-05-16T21:11:57.352Z,1558041117.352 [MissionManager](IMPORTANT): Started mission Default
2019-05-16T21:11:57.352Z,1558041117.352 [Default] Running Loop=1
2019-05-16T21:11:57.352Z,1558041117.352 [Default](DEBUG): Aggregate::initialize Default
2019-05-16T21:11:57.352Z,1558041117.352 [Default:B.GoToSurface] Running Loop=1
2019-05-16T21:11:57.352Z,1558041117.352 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:11:57.352Z,1558041117.352 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:11:57.353Z,1558041117.353 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:11:57.353Z,1558041117.353 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:11:57.354Z,1558041117.353 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:11:57.354Z,1558041117.354 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:11:57.354Z,1558041117.354 [Default:A.Wait] Running Loop=1
2019-05-16T21:11:57.354Z,1558041117.354 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:11:57.397Z,1558041117.397 [WetLabsBB2FL](INFO): Powering down
2019-05-16T21:11:57.825Z,1558041117.825 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2019-05-16T21:11:57.825Z,1558041117.825 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2019-05-16T21:11:57.825Z,1558041117.825 [BuoyancyServo] Hardware Fault, FailCount= 1
2019-05-16T21:11:57.825Z,1558041117.825 [BuoyancyServo](ERROR): Hardware Fault
2019-05-16T21:11:57.832Z,1558041117.832 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2019-05-16T21:11:59.769Z,1558041119.769 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-05-16T21:11:59.769Z,1558041119.769 [BuoyancyServo](INFO): Powering down
2019-05-16T21:12:00.649Z,1558041120.649 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-05-16T21:12:00.649Z,1558041120.649 [BuoyancyServo] No Fault, FailCount= 1
2019-05-16T21:12:01.001Z,1558041121.001 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-05-16T21:12:01.002Z,1558041121.002 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-05-16T21:12:10.681Z,1558041130.681 [Default:A.Wait](INFO): Done Waiting.
2019-05-16T21:12:10.681Z,1558041130.681 [Default:A.Wait] Stopped
2019-05-16T21:12:10.681Z,1558041130.681 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:12:11.093Z,1558041131.093 [Default:CheckIn] Running Loop=1
2019-05-16T21:12:11.093Z,1558041131.093 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:12:11.093Z,1558041131.093 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:12:19.953Z,1558041139.953 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:12:19.953Z,1558041139.953 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:12:44.991Z,1558041164.991 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:12:44.991Z,1558041164.991 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:12:45.394Z,1558041165.394 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-16T21:12:46.213Z,1558041166.213 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:12:46.605Z,1558041166.605 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,210607.00,A,3648.16208,N,12147.27786,W,0.194,33.24,160519,,,A*47
2019-05-16T21:12:46.608Z,1558041166.608 [NAL9602](INFO): GPS fix at 20190516T210607: (36.802701, -121.787964)
2019-05-16T21:12:46.631Z,1558041166.631 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:12:46.631Z,1558041166.631 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-05-16T21:13:18.927Z,1558041198.927 [NAL9602](INFO): Powering down
2019-05-16T21:13:24.860Z,1558041204.860 [DataOverHttps](INFO): Sending 223 bytes from file Logs/20190516T205934/Courier0007.lzma
2019-05-16T21:13:25.666Z,1558041205.666 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Courier0007.lzma.bak
2019-05-16T21:13:25.666Z,1558041205.666 [DataOverHttps](INFO): SBD MOMSN=11085337
2019-05-16T21:13:44.358Z,1558041224.358 [DataOverHttps](INFO): Sending 932 bytes from file Logs/20190516T205934/Express0008.lzma
2019-05-16T21:13:45.162Z,1558041225.162 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Express0008.lzma.bak
2019-05-16T21:13:45.162Z,1558041225.162 [DataOverHttps](INFO): SBD MOMSN=11085378
2019-05-16T21:13:48.499Z,1558041228.499 [Default:CheckIn:Read_Iridium] Stopped
2019-05-16T21:13:48.500Z,1558041228.500 [Default:CheckIn:C.Wait] Running Loop=1
2019-05-16T21:13:48.500Z,1558041228.500 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:18:26.402Z,1558041506.402 [DAT](ERROR): No response from remote modem.
2019-05-16T21:18:49.037Z,1558041529.037 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-05-16T21:18:49.037Z,1558041529.037 [Default:CheckIn:C.Wait] Stopped
2019-05-16T21:18:49.038Z,1558041529.038 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:18:49.038Z,1558041529.038 [Default:CheckIn:D] Running Loop=1
2019-05-16T21:18:49.440Z,1558041529.440 [Default:CheckIn:D] Stopped
2019-05-16T21:18:49.440Z,1558041529.440 [Default:CheckIn:E] Running Loop=1
2019-05-16T21:18:49.850Z,1558041529.850 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 6.868138 min 
2019-05-16T21:18:49.850Z,1558041529.850 [Default:CheckIn:E] Stopped
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn] Stopped
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn](INFO): Running loop #2
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn] Running Loop=2
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:18:49.851Z,1558041529.851 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:18:50.629Z,1558041530.629 [NAL9602](INFO): Powering up
2019-05-16T21:18:53.595Z,1558041533.595 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massDefault 3.000000 centimeter
2019-05-16T21:18:53.596Z,1558041533.596 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massDefault" handled in the control thread.
2019-05-16T21:18:53.901Z,1558041533.901 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_SpeedControl.propOmegaAction,Maintain_VerticalControl.massDefault,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T21:19:01.571Z,1558041541.571 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:19:02.393Z,1558041542.393 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:20:20.591Z,1558041620.591 [CommandLine](IMPORTANT): got command get DAT.ignoreElevationAngle
2019-05-16T21:20:20.591Z,1558041620.591 [CommandLine](IMPORTANT): DAT.ignoreElevationAngle 1 bool
2019-05-16T21:20:25.607Z,1558041625.607 [CommandLine](IMPORTANT): got command run ./Missions/test.xml
2019-05-16T21:20:25.607Z,1558041625.607 [MissionManager](INFO): Loading Mission: ./Missions/test.xml
2019-05-16T21:20:25.799Z,1558041625.799 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2019-05-16T21:20:25.801Z,1558041625.801 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2019-05-16T21:20:25.803Z,1558041625.803 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2019-05-16T21:20:25.807Z,1558041625.807 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2019-05-16T21:20:25.809Z,1558041625.809 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = 0.000000 m
2019-05-16T21:20:25.811Z,1558041625.811 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2019-05-16T21:20:25.813Z,1558041625.813 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2019-05-16T21:20:25.815Z,1558041625.815 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2019-05-16T21:20:25.818Z,1558041625.818 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2019-05-16T21:20:25.820Z,1558041625.820 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 20.000000 s
2019-05-16T21:20:25.822Z,1558041625.822 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2019-05-16T21:20:25.824Z,1558041625.824 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2019-05-16T21:20:25.826Z,1558041625.826 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2019-05-16T21:20:25.828Z,1558041625.828 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2019-05-16T21:20:25.830Z,1558041625.830 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2019-05-16T21:20:25.832Z,1558041625.832 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2019-05-16T21:20:25.834Z,1558041625.834 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2019-05-16T21:20:25.836Z,1558041625.836 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2019-05-16T21:20:25.838Z,1558041625.838 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 0.000000 m/s
2019-05-16T21:20:25.841Z,1558041625.841 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2019-05-16T21:20:25.843Z,1558041625.843 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2019-05-16T21:20:25.845Z,1558041625.845 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2019-05-16T21:20:25.847Z,1558041625.847 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2019-05-16T21:20:25.862Z,1558041625.862 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-16T21:20:25.955Z,1558041625.955 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2019-05-16T21:20:25.957Z,1558041625.957 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-16T21:20:25.959Z,1558041625.959 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-16T21:20:25.962Z,1558041625.962 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2019-05-16T21:20:25.964Z,1558041625.964 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-16T21:20:25.978Z,1558041625.978 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2019-05-16T21:20:25.980Z,1558041625.980 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2019-05-16T21:20:26.049Z,1558041626.049 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T21:20:26.094Z,1558041626.094 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-16T21:20:26.130Z,1558041626.130 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-16T21:20:26.133Z,1558041626.133 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-16T21:20:26.135Z,1558041626.135 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-16T21:20:26.136Z,1558041626.136 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:20:26.154Z,1558041626.154 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:20:26.164Z,1558041626.164 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-16T21:20:26.212Z,1558041626.212 [circle_acoustic_contact:I.Pitch](DEBUG): Construct.
2019-05-16T21:20:26.216Z,1558041626.216 [circle_acoustic_contact:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-16T21:20:26.234Z,1558041626.234 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-05-16T21:20:26.562Z,1558041626.562 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2019-05-16T21:20:26.565Z,1558041626.565 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-05-16T21:20:26.567Z,1558041626.567 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-05-16T21:20:26.570Z,1558041626.570 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2019-05-16T21:20:26.572Z,1558041626.572 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2019-05-16T21:20:26.574Z,1558041626.574 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2019-05-16T21:20:26.576Z,1558041626.576 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2019-05-16T21:20:26.578Z,1558041626.578 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2019-05-16T21:20:26.580Z,1558041626.580 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2019-05-16T21:20:26.583Z,1558041626.583 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2019-05-16T21:20:26.585Z,1558041626.585 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2019-05-16T21:20:26.587Z,1558041626.587 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2019-05-16T21:20:26.588Z,1558041626.588 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2019-05-16T21:20:26.590Z,1558041626.590 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-05-16T21:20:26.593Z,1558041626.593 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2019-05-16T21:20:26.595Z,1558041626.595 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2019-05-16T21:20:26.598Z,1558041626.598 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool
2019-05-16T21:20:26.600Z,1558041626.600 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-05-16T21:20:26.603Z,1558041626.603 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-05-16T21:20:26.606Z,1558041626.606 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-05-16T21:20:26.608Z,1558041626.608 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-05-16T21:20:26.610Z,1558041626.610 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2019-05-16T21:20:26.622Z,1558041626.622 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2019-05-16T21:20:26.624Z,1558041626.624 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2019-05-16T21:20:26.626Z,1558041626.626 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2019-05-16T21:20:26.628Z,1558041626.628 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2019-05-16T21:20:26.631Z,1558041626.631 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2019-05-16T21:20:26.633Z,1558041626.633 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2019-05-16T21:20:26.635Z,1558041626.635 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2019-05-16T21:20:26.637Z,1558041626.637 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2019-05-16T21:20:26.640Z,1558041626.640 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2019-05-16T21:20:26.642Z,1558041626.642 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2019-05-16T21:20:26.644Z,1558041626.644 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2019-05-16T21:20:26.647Z,1558041626.647 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2019-05-16T21:20:26.649Z,1558041626.649 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2019-05-16T21:20:26.651Z,1558041626.651 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2019-05-16T21:20:26.654Z,1558041626.654 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2019-05-16T21:20:26.656Z,1558041626.656 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2019-05-16T21:20:26.658Z,1558041626.658 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2019-05-16T21:20:26.660Z,1558041626.660 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2019-05-16T21:20:26.663Z,1558041626.663 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2019-05-16T21:20:26.681Z,1558041626.681 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2019-05-16T21:20:26.683Z,1558041626.683 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2019-05-16T21:20:26.687Z,1558041626.687 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2019-05-16T21:20:26.698Z,1558041626.698 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2019-05-16T21:20:26.700Z,1558041626.700 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2019-05-16T21:20:26.707Z,1558041626.707 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2019-05-16T21:20:26.713Z,1558041626.713 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2019-05-16T21:20:26.715Z,1558041626.715 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2019-05-16T21:20:26.722Z,1558041626.722 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2019-05-16T21:20:26.724Z,1558041626.724 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2019-05-16T21:20:26.757Z,1558041626.757 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:20:26.778Z,1558041626.778 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-05-16T21:20:26.851Z,1558041626.851 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:20:26.878Z,1558041626.878 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:20:26.910Z,1558041626.910 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:20:26.940Z,1558041626.940 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2019-05-16T21:20:26.941Z,1558041626.941 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2019-05-16T21:20:26.943Z,1558041626.943 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2019-05-16T21:20:26.961Z,1558041626.961 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2019-05-16T21:20:26.962Z,1558041626.962 [circle_acoustic_contact:L.SetSpeed](DEBUG): Construct.
2019-05-16T21:20:26.965Z,1558041626.965 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:20:26.984Z,1558041626.984 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:20:27.005Z,1558041627.005 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2019-05-16T21:20:27.038Z,1558041627.038 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2019-05-16T21:20:27.055Z,1558041627.055 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2019-05-16T21:20:27.117Z,1558041627.117 [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>0</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>20</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>0</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>

    </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>


2019-05-16T21:20:27.119Z,1558041627.119 [CommandLine](IMPORTANT): Running ./Missions/test.xml
2019-05-16T21:20:27.245Z,1558041627.245 [Default] Stopped
2019-05-16T21:20:27.245Z,1558041627.245 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-16T21:20:27.246Z,1558041627.246 [Default:B.GoToSurface] Stopped
2019-05-16T21:20:27.246Z,1558041627.246 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:20:27.246Z,1558041627.246 [Default:CheckIn] Stopped
2019-05-16T21:20:27.246Z,1558041627.246 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:20:27.246Z,1558041627.246 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:20:27.246Z,1558041627.246 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2019-05-16T21:20:27.246Z,1558041627.246 [circle_acoustic_contact] Running Loop=1
2019-05-16T21:20:27.246Z,1558041627.246 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2019-05-16T21:20:27.246Z,1558041627.246 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:A.](INFO): Initializing Tracking.
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:20:27.247Z,1558041627.247 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:I.Pitch](DEBUG): Initialize.
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:B] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:E] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:F] Running Loop=1
2019-05-16T21:20:27.248Z,1558041627.248 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:20:27.249Z,1558041627.249 [circle_acoustic_contact:Science:H] Running Loop=1
2019-05-16T21:20:27.249Z,1558041627.249 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2019-05-16T21:20:27.249Z,1558041627.249 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:20:27.249Z,1558041627.249 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:20:27.249Z,1558041627.249 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:20:27.249Z,1558041627.249 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:20:27.250Z,1558041627.250 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2019-05-16T21:20:27.250Z,1558041627.250 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:20:27.251Z,1558041627.251 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-05-16T21:20:27.251Z,1558041627.251 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-05-16T21:20:27.251Z,1558041627.251 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2019-05-16T21:20:27.251Z,1558041627.251 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:20:27.251Z,1558041627.251 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:20:27.251Z,1558041627.251 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:20:27.252Z,1558041627.252 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2019-05-16T21:20:27.253Z,1558041627.253 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:20:27.253Z,1558041627.253 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:20:27.253Z,1558041627.253 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:20:27.254Z,1558041627.254 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2019-05-16T21:20:27.254Z,1558041627.254 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:20:27.254Z,1558041627.254 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:20:27.254Z,1558041627.254 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:20:27.256Z,1558041627.256 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:20:27.256Z,1558041627.256 [circle_acoustic_contact:L.SetSpeed](DEBUG): Initialize.
2019-05-16T21:20:27.256Z,1558041627.256 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:20:27.256Z,1558041627.256 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2019-05-16T21:20:27.257Z,1558041627.257 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:20:27.257Z,1558041627.257 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:20:27.257Z,1558041627.257 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:20:27.257Z,1558041627.257 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:20:27.257Z,1558041627.257 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:20:27.257Z,1558041627.257 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2019-05-16T21:20:27.258Z,1558041627.258 [circle_acoustic_contact:D] Running Loop=1
2019-05-16T21:20:27.258Z,1558041627.258 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:20:27.258Z,1558041627.258 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:20:27.259Z,1558041627.259 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:20:27.259Z,1558041627.259 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:20:27.260Z,1558041627.260 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:20:27.260Z,1558041627.260 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:20:27.262Z,1558041627.262 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:Read_Oil] Stopped
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:H] Stopped
2019-05-16T21:20:27.263Z,1558041627.263 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:F] Stopped
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:E] Stopped
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:D] Stopped
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:C] Stopped
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:B] Stopped
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:Science:A] Stopped
2019-05-16T21:20:27.264Z,1558041627.264 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:20:27.265Z,1558041627.265 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:20:27.265Z,1558041627.265 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:20:27.265Z,1558041627.265 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:20:27.273Z,1558041627.273 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:20:27.274Z,1558041627.274 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:20:27.274Z,1558041627.274 [circle_acoustic_contact:D] Stopped
2019-05-16T21:20:27.274Z,1558041627.274 [circle_acoustic_contact:F] Running Loop=1
2019-05-16T21:20:27.274Z,1558041627.274 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:20:27.275Z,1558041627.275 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:27.514Z,1558041627.514 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-05-16T21:20:27.514Z,1558041627.514 [WetLabsBB2FL](INFO): Powering up
2019-05-16T21:20:27.676Z,1558041627.676 [circle_acoustic_contact:F] Stopped
2019-05-16T21:20:27.676Z,1558041627.676 [circle_acoustic_contact:G] Running Loop=1
2019-05-16T21:20:27.697Z,1558041627.697 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:28.064Z,1558041628.064 [circle_acoustic_contact:G] Stopped
2019-05-16T21:20:28.064Z,1558041628.064 [circle_acoustic_contact:H] Running Loop=1
2019-05-16T21:20:28.074Z,1558041628.074 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:28.460Z,1558041628.460 [circle_acoustic_contact:H] Stopped
2019-05-16T21:20:28.460Z,1558041628.460 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2019-05-16T21:20:28.460Z,1558041628.460 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:20:28.469Z,1558041628.469 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:28.862Z,1558041628.862 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2019-05-16T21:20:28.862Z,1558041628.862 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:20:28.862Z,1558041628.862 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:20:28.862Z,1558041628.862 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2019-05-16T21:20:28.862Z,1558041628.862 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2019-05-16T21:20:28.864Z,1558041628.864 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:20:28.865Z,1558041628.865 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:20:28.876Z,1558041628.876 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:20:28.876Z,1558041628.876 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:29.284Z,1558041629.284 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:29.710Z,1558041629.710 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:30.118Z,1558041630.118 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:30.526Z,1558041630.526 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:30.930Z,1558041630.930 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:31.303Z,1558041631.303 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:31.700Z,1558041631.700 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:32.114Z,1558041632.114 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:32.519Z,1558041632.519 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:32.922Z,1558041632.922 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:33.330Z,1558041633.330 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:33.742Z,1558041633.742 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:34.124Z,1558041634.124 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:34.546Z,1558041634.546 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:34.951Z,1558041634.951 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:35.343Z,1558041635.343 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:35.742Z,1558041635.742 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:36.156Z,1558041636.156 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:36.566Z,1558041636.566 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:36.975Z,1558041636.975 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:37.353Z,1558041637.353 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:37.770Z,1558041637.770 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:38.163Z,1558041638.163 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:38.586Z,1558041638.586 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:39.029Z,1558041639.029 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:39.415Z,1558041639.415 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:39.826Z,1558041639.826 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:40.258Z,1558041640.258 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:40.644Z,1558041640.644 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:41.038Z,1558041641.038 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:41.442Z,1558041641.442 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:41.823Z,1558041641.823 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:42.238Z,1558041642.238 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:42.646Z,1558041642.646 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:43.050Z,1558041643.050 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:43.442Z,1558041643.442 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:43.851Z,1558041643.851 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:44.262Z,1558041644.262 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:44.646Z,1558041644.646 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:45.035Z,1558041645.035 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:45.438Z,1558041645.438 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:45.854Z,1558041645.854 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:46.258Z,1558041646.258 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:46.677Z,1558041646.677 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:47.070Z,1558041647.070 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:47.467Z,1558041647.467 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:47.468Z,1558041647.468 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:20:47.468Z,1558041647.468 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:20:47.836Z,1558041647.836 [DAT](INFO): ****** ping requested ******
2019-05-16T21:20:47.866Z,1558041647.866 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:48.286Z,1558041648.286 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:48.686Z,1558041648.686 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:49.086Z,1558041649.086 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:49.506Z,1558041649.506 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:49.900Z,1558041649.900 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:50.310Z,1558041650.310 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:50.694Z,1558041650.694 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:51.098Z,1558041651.098 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:51.503Z,1558041651.503 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:51.905Z,1558041651.905 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:52.316Z,1558041652.316 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:52.726Z,1558041652.726 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:53.146Z,1558041653.146 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:53.547Z,1558041653.547 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:53.922Z,1558041653.922 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:54.323Z,1558041654.323 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:54.734Z,1558041654.734 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:55.134Z,1558041655.134 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:55.544Z,1558041655.544 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:55.974Z,1558041655.974 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:56.374Z,1558041656.374 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:56.748Z,1558041656.748 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:57.158Z,1558041657.158 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:57.566Z,1558041657.566 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:57.973Z,1558041657.973 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:58.363Z,1558041658.363 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:58.772Z,1558041658.772 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:59.186Z,1558041659.186 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:20:59.594Z,1558041659.594 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:00.003Z,1558041660.003 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:00.386Z,1558041660.386 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:00.794Z,1558041660.794 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:01.202Z,1558041661.202 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:01.596Z,1558041661.596 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:02.010Z,1558041662.010 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:02.413Z,1558041662.413 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:02.822Z,1558041662.822 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:03.242Z,1558041663.242 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:03.642Z,1558041663.642 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:04.020Z,1558041664.020 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:04.432Z,1558041664.432 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:04.834Z,1558041664.834 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:05.238Z,1558041665.238 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:05.644Z,1558041665.644 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:06.058Z,1558041666.058 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:06.476Z,1558041666.476 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:06.874Z,1558041666.874 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:07.258Z,1558041667.258 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:07.662Z,1558041667.662 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:07.663Z,1558041667.663 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:21:07.663Z,1558041667.663 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:21:08.044Z,1558041668.044 [DAT](INFO): ****** ping requested ******
2019-05-16T21:21:08.074Z,1558041668.074 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:08.478Z,1558041668.478 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:08.875Z,1558041668.875 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:09.306Z,1558041669.306 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:09.711Z,1558041669.711 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:10.123Z,1558041670.123 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:10.555Z,1558041670.555 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:10.910Z,1558041670.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:11.318Z,1558041671.318 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:11.726Z,1558041671.726 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:12.127Z,1558041672.127 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:12.558Z,1558041672.558 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:12.964Z,1558041672.964 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:13.345Z,1558041673.345 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:13.712Z,1558041673.712 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:14.117Z,1558041674.117 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:14.527Z,1558041674.527 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:14.940Z,1558041674.940 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:15.334Z,1558041675.334 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:15.745Z,1558041675.745 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:16.150Z,1558041676.150 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:16.584Z,1558041676.584 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:16.915Z,1558041676.915 [NAL9602](INFO): SBD MO Status=2, MOMSN=25313, MT Status=2, MTMSN=0
2019-05-16T21:21:16.915Z,1558041676.915 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-05-16T21:21:17.002Z,1558041677.002 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:17.383Z,1558041677.383 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:17.757Z,1558041677.757 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:18.161Z,1558041678.161 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:18.573Z,1558041678.573 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:18.991Z,1558041678.991 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:19.395Z,1558041679.395 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:19.806Z,1558041679.806 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:20.205Z,1558041680.205 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:20.595Z,1558041680.595 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:20.993Z,1558041680.993 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:21.414Z,1558041681.414 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:21.835Z,1558041681.835 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:22.208Z,1558041682.208 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:22.628Z,1558041682.628 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:23.027Z,1558041683.027 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:23.418Z,1558041683.418 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:23.835Z,1558041683.835 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:24.231Z,1558041684.231 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:24.654Z,1558041684.654 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:25.062Z,1558041685.062 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:25.472Z,1558041685.472 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:25.874Z,1558041685.874 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:26.243Z,1558041686.243 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:26.658Z,1558041686.658 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:27.058Z,1558041687.058 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:27.465Z,1558041687.465 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:27.874Z,1558041687.874 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:27.875Z,1558041687.875 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:21:27.875Z,1558041687.875 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:21:28.243Z,1558041688.243 [DAT](INFO): ****** ping requested ******
2019-05-16T21:21:28.300Z,1558041688.300 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:28.493Z,1558041688.493 [CommandLine](IMPORTANT): got command stop
2019-05-16T21:21:28.494Z,1558041688.494 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-05-16T21:21:28.722Z,1558041688.722 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:21:28.723Z,1558041688.723 [MissionManager](INFO): MissionManager is completed.
2019-05-16T21:21:28.723Z,1558041688.723 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact] Stopped
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact:A.] Stopped
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact:A.](DEBUG): Uninitializing Tracking.
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact:StandardEnvelopes] Stopped
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-16T21:21:28.723Z,1558041688.723 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:I.Pitch] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:J.Buoyancy] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:Science] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:Science:G] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:21:28.724Z,1558041688.724 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:L.SetSpeed] Stopped
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:L.SetSpeed](DEBUG): Uninitialize.
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos] Stopped
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-05-16T21:21:28.729Z,1558041688.729 [circle_acoustic_contact:CircleWrapper] Stopped
2019-05-16T21:21:28.730Z,1558041688.730 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:21:28.730Z,1558041688.730 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2019-05-16T21:21:28.730Z,1558041688.730 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:21:28.730Z,1558041688.730 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2019-05-16T21:21:28.730Z,1558041688.730 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2019-05-16T21:21:28.730Z,1558041688.730 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2019-05-16T21:21:29.056Z,1558041689.056 [MissionManager](IMPORTANT): Started mission Default
2019-05-16T21:21:29.056Z,1558041689.056 [Default] Running Loop=1
2019-05-16T21:21:29.056Z,1558041689.056 [Default](DEBUG): Aggregate::initialize Default
2019-05-16T21:21:29.056Z,1558041689.056 [Default:B.GoToSurface] Running Loop=1
2019-05-16T21:21:29.056Z,1558041689.056 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:21:29.057Z,1558041689.057 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:21:29.057Z,1558041689.057 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:21:29.058Z,1558041689.058 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:21:29.058Z,1558041689.058 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:21:29.058Z,1558041689.058 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:21:29.059Z,1558041689.059 [Default:A.Wait] Running Loop=1
2019-05-16T21:21:29.059Z,1558041689.059 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:21:29.221Z,1558041689.221 [WetLabsBB2FL](INFO): Powering down
2019-05-16T21:21:42.396Z,1558041702.396 [Default:A.Wait](INFO): Done Waiting.
2019-05-16T21:21:42.396Z,1558041702.396 [Default:A.Wait] Stopped
2019-05-16T21:21:42.396Z,1558041702.396 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:21:42.804Z,1558041702.804 [Default:CheckIn] Running Loop=1
2019-05-16T21:21:42.804Z,1558041702.804 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:21:42.804Z,1558041702.804 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:24:05.394Z,1558041845.394 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-16T21:24:06.213Z,1558041846.213 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:24:11.057Z,1558041851.057 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:24:11.458Z,1558041851.458 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,211732.00,A,3648.16366,N,12147.28182,W,0.175,0.00,160519,,,A*7C
2019-05-16T21:24:11.460Z,1558041851.460 [NAL9602](INFO): GPS fix at 20190516T211732: (36.802728, -121.788030)
2019-05-16T21:24:11.490Z,1558041851.490 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:24:11.491Z,1558041851.491 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-05-16T21:24:17.844Z,1558041857.844 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20190516T205934/Courier0010.lzma
2019-05-16T21:24:18.650Z,1558041858.650 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Courier0010.lzma.bak
2019-05-16T21:24:18.650Z,1558041858.651 [DataOverHttps](INFO): SBD MOMSN=11085479
2019-05-16T21:24:39.918Z,1558041879.918 [DataOverHttps](INFO): Sending 431 bytes from file Logs/20190516T205934/Express0011.lzma
2019-05-16T21:24:40.744Z,1558041880.744 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Express0011.lzma.bak
2019-05-16T21:24:40.744Z,1558041880.744 [DataOverHttps](INFO): SBD MOMSN=11085482
2019-05-16T21:24:43.850Z,1558041883.850 [NAL9602](INFO): Powering down
2019-05-16T21:24:44.310Z,1558041884.310 [Default:CheckIn:Read_Iridium] Stopped
2019-05-16T21:24:44.311Z,1558041884.311 [Default:CheckIn:C.Wait] Running Loop=1
2019-05-16T21:24:44.311Z,1558041884.311 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:24:54.879Z,1558041894.879 [CommandLine](IMPORTANT): got command maintain clear
2019-05-16T21:24:55.197Z,1558041895.197 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T21:25:03.151Z,1558041903.151 [CommandLine](IMPORTANT): got command maintain control SpeedControl.propOmegaAction 0.000000 revolution_per_minute
2019-05-16T21:25:03.152Z,1558041903.152 [ComponentRegistry](DEBUG): SyncComponent "Maintain_SpeedControl.propOmegaAction" handled in the control thread.
2019-05-16T21:25:03.379Z,1558041903.379 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_SpeedControl.propOmegaAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T21:29:44.882Z,1558042184.882 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-05-16T21:29:44.883Z,1558042184.883 [Default:CheckIn:C.Wait] Stopped
2019-05-16T21:29:44.883Z,1558042184.883 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:29:44.883Z,1558042184.883 [Default:CheckIn:D] Running Loop=1
2019-05-16T21:29:45.307Z,1558042185.307 [Default:CheckIn:D] Stopped
2019-05-16T21:29:45.307Z,1558042185.307 [Default:CheckIn:E] Running Loop=1
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 8.270839 min 
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn:E] Stopped
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn] Stopped
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn](INFO): Running loop #2
2019-05-16T21:29:45.697Z,1558042185.697 [Default:CheckIn] Running Loop=2
2019-05-16T21:29:45.698Z,1558042185.698 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:29:45.698Z,1558042185.698 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:29:46.475Z,1558042186.475 [NAL9602](INFO): Powering up
2019-05-16T21:29:57.375Z,1558042197.375 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:29:58.209Z,1558042198.209 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:30:29.296Z,1558042229.296 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-05-16T21:30:29.369Z,1558042229.369 [NAL9602](FAULT): received: 
+CSQ:0

OK313, 2, 0, 0, 0

OK
2019-05-16T21:30:29.369Z,1558042229.369 [NAL9602] Data Fault, FailCount= 1
2019-05-16T21:30:29.369Z,1558042229.369 [NAL9602](ERROR): Data Fault
2019-05-16T21:30:29.470Z,1558042229.470 [CBIT](ERROR): Data Fault in component: NAL9602
2019-05-16T21:30:29.705Z,1558042229.705 [NAL9602](INFO): Powering down
2019-05-16T21:30:30.546Z,1558042230.546 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-16T21:30:30.546Z,1558042230.546 [NAL9602] No Fault, FailCount= 1
2019-05-16T21:31:00.004Z,1558042260.004 [NAL9602](INFO): Powering up NAL9602
2019-05-16T21:31:10.914Z,1558042270.914 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:31:11.725Z,1558042271.725 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:31:27.221Z,1558042287.221 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:31:57.925Z,1558042317.925 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:32:01.403Z,1558042321.403 [CommandLine](INFO): End of History
2019-05-16T21:32:02.418Z,1558042322.418 [CommandLine](INFO): End of History
2019-05-16T21:32:03.509Z,1558042323.509 [CommandLine](INFO): End of History
2019-05-16T21:32:28.629Z,1558042348.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:34:45.868Z,1558042485.868 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-05-16T21:29:45.7Z
2019-05-16T21:34:45.869Z,1558042485.869 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:34:45.869Z,1558042485.869 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-05-16T21:35:00.399Z,1558042500.399 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-16T21:35:12.087Z,1558042512.087 [CommandLine](IMPORTANT): got command report mod platform_buoyancy_position
2019-05-16T21:35:12.155Z,1558042512.155 [Reporter](INFO): platform_buoyancy_position 952.177002 cc
2019-05-16T21:35:18.691Z,1558042518.691 [CommandLine](IMPORTANT): got command run ./Missions/test.xml
2019-05-16T21:35:18.691Z,1558042518.691 [MissionManager](INFO): Loading Mission: ./Missions/test.xml
2019-05-16T21:35:18.930Z,1558042518.930 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2019-05-16T21:35:18.937Z,1558042518.937 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2019-05-16T21:35:18.939Z,1558042518.939 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2019-05-16T21:35:18.945Z,1558042518.945 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2019-05-16T21:35:18.947Z,1558042518.947 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = 0.000000 m
2019-05-16T21:35:18.954Z,1558042518.954 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2019-05-16T21:35:18.956Z,1558042518.956 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2019-05-16T21:35:18.962Z,1558042518.962 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2019-05-16T21:35:18.964Z,1558042518.964 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2019-05-16T21:35:19.010Z,1558042519.010 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 20.000000 s
2019-05-16T21:35:19.012Z,1558042519.012 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2019-05-16T21:35:19.047Z,1558042519.047 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2019-05-16T21:35:19.062Z,1558042519.062 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2019-05-16T21:35:19.064Z,1558042519.064 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2019-05-16T21:35:19.082Z,1558042519.082 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2019-05-16T21:35:19.110Z,1558042519.110 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2019-05-16T21:35:19.115Z,1558042519.115 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2019-05-16T21:35:19.135Z,1558042519.135 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2019-05-16T21:35:19.149Z,1558042519.149 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 0.000000 m/s
2019-05-16T21:35:19.152Z,1558042519.152 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2019-05-16T21:35:19.170Z,1558042519.170 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2019-05-16T21:35:19.172Z,1558042519.172 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2019-05-16T21:35:19.174Z,1558042519.174 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2019-05-16T21:35:19.243Z,1558042519.243 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-16T21:35:19.427Z,1558042519.427 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2019-05-16T21:35:19.449Z,1558042519.449 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-16T21:35:19.451Z,1558042519.451 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-16T21:35:19.473Z,1558042519.473 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2019-05-16T21:35:19.475Z,1558042519.475 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-16T21:35:19.511Z,1558042519.511 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2019-05-16T21:35:19.513Z,1558042519.513 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2019-05-16T21:35:19.550Z,1558042519.550 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T21:35:19.579Z,1558042519.579 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-16T21:35:19.627Z,1558042519.627 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-16T21:35:19.645Z,1558042519.645 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-16T21:35:19.647Z,1558042519.647 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-16T21:35:19.648Z,1558042519.648 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:35:19.674Z,1558042519.674 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:35:19.702Z,1558042519.702 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-16T21:35:19.730Z,1558042519.730 [circle_acoustic_contact:I.Pitch](DEBUG): Construct.
2019-05-16T21:35:19.763Z,1558042519.763 [circle_acoustic_contact:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-16T21:35:19.765Z,1558042519.765 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-05-16T21:35:20.175Z,1558042520.175 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2019-05-16T21:35:20.220Z,1558042520.220 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-05-16T21:35:20.226Z,1558042520.226 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-05-16T21:35:20.228Z,1558042520.228 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2019-05-16T21:35:20.238Z,1558042520.238 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2019-05-16T21:35:20.240Z,1558042520.240 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2019-05-16T21:35:20.246Z,1558042520.246 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2019-05-16T21:35:20.248Z,1558042520.248 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2019-05-16T21:35:20.256Z,1558042520.256 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2019-05-16T21:35:20.271Z,1558042520.271 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2019-05-16T21:35:20.278Z,1558042520.278 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2019-05-16T21:35:20.280Z,1558042520.280 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2019-05-16T21:35:20.314Z,1558042520.314 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2019-05-16T21:35:20.316Z,1558042520.316 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-05-16T21:35:20.332Z,1558042520.332 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2019-05-16T21:35:20.348Z,1558042520.348 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2019-05-16T21:35:20.362Z,1558042520.362 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool
2019-05-16T21:35:20.381Z,1558042520.381 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-05-16T21:35:20.398Z,1558042520.398 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-05-16T21:35:20.400Z,1558042520.400 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-05-16T21:35:20.402Z,1558042520.402 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-05-16T21:35:20.409Z,1558042520.409 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2019-05-16T21:35:20.411Z,1558042520.411 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2019-05-16T21:35:20.413Z,1558042520.413 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2019-05-16T21:35:20.415Z,1558042520.415 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2019-05-16T21:35:20.437Z,1558042520.437 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2019-05-16T21:35:20.440Z,1558042520.440 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2019-05-16T21:35:20.442Z,1558042520.442 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2019-05-16T21:35:20.444Z,1558042520.444 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2019-05-16T21:35:20.462Z,1558042520.462 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2019-05-16T21:35:20.464Z,1558042520.464 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2019-05-16T21:35:20.467Z,1558042520.467 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2019-05-16T21:35:20.497Z,1558042520.497 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2019-05-16T21:35:20.499Z,1558042520.499 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2019-05-16T21:35:20.502Z,1558042520.502 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2019-05-16T21:35:20.504Z,1558042520.504 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2019-05-16T21:35:20.538Z,1558042520.538 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2019-05-16T21:35:20.540Z,1558042520.540 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2019-05-16T21:35:20.543Z,1558042520.543 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2019-05-16T21:35:20.561Z,1558042520.561 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2019-05-16T21:35:20.563Z,1558042520.563 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2019-05-16T21:35:20.565Z,1558042520.565 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2019-05-16T21:35:20.568Z,1558042520.568 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2019-05-16T21:35:20.606Z,1558042520.606 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2019-05-16T21:35:20.608Z,1558042520.608 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2019-05-16T21:35:20.624Z,1558042520.624 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2019-05-16T21:35:20.626Z,1558042520.626 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2019-05-16T21:35:20.628Z,1558042520.628 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2019-05-16T21:35:20.654Z,1558042520.654 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2019-05-16T21:35:20.656Z,1558042520.656 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2019-05-16T21:35:20.658Z,1558042520.658 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2019-05-16T21:35:20.750Z,1558042520.750 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:35:20.768Z,1558042520.768 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-05-16T21:35:20.839Z,1558042520.839 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:35:20.889Z,1558042520.889 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:35:20.915Z,1558042520.915 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:35:20.940Z,1558042520.940 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2019-05-16T21:35:20.942Z,1558042520.942 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2019-05-16T21:35:20.944Z,1558042520.944 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2019-05-16T21:35:20.963Z,1558042520.963 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2019-05-16T21:35:20.973Z,1558042520.973 [circle_acoustic_contact:L.SetSpeed](DEBUG): Construct.
2019-05-16T21:35:20.976Z,1558042520.976 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:35:21.011Z,1558042521.011 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:35:21.039Z,1558042521.039 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2019-05-16T21:35:21.109Z,1558042521.109 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2019-05-16T21:35:21.134Z,1558042521.134 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2019-05-16T21:35:21.231Z,1558042521.231 [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>0</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>20</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>0</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>

    </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>


2019-05-16T21:35:21.238Z,1558042521.238 [CommandLine](IMPORTANT): Running ./Missions/test.xml
2019-05-16T21:35:21.480Z,1558042521.480 [Default] Stopped
2019-05-16T21:35:21.480Z,1558042521.480 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-16T21:35:21.480Z,1558042521.480 [Default:B.GoToSurface] Stopped
2019-05-16T21:35:21.480Z,1558042521.480 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:35:21.480Z,1558042521.480 [Default:CheckIn] Stopped
2019-05-16T21:35:21.480Z,1558042521.480 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:35:21.480Z,1558042521.480 [Default:CheckIn:Read_Iridium] Stopped
2019-05-16T21:35:21.489Z,1558042521.489 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2019-05-16T21:35:21.489Z,1558042521.489 [circle_acoustic_contact] Running Loop=1
2019-05-16T21:35:21.489Z,1558042521.489 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2019-05-16T21:35:21.489Z,1558042521.489 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:A.](INFO): Initializing Tracking.
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:35:21.490Z,1558042521.490 [circle_acoustic_contact:I.Pitch](DEBUG): Initialize.
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:B] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:E] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:F] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:35:21.491Z,1558042521.491 [circle_acoustic_contact:Science:H] Running Loop=1
2019-05-16T21:35:21.492Z,1558042521.492 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2019-05-16T21:35:21.492Z,1558042521.492 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:35:21.492Z,1558042521.492 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:35:21.492Z,1558042521.492 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:35:21.492Z,1558042521.492 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:35:21.505Z,1558042521.505 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2019-05-16T21:35:21.506Z,1558042521.506 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:35:21.506Z,1558042521.506 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-05-16T21:35:21.506Z,1558042521.506 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-05-16T21:35:21.506Z,1558042521.506 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2019-05-16T21:35:21.506Z,1558042521.506 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:35:21.506Z,1558042521.506 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:35:21.507Z,1558042521.507 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:35:21.508Z,1558042521.508 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2019-05-16T21:35:21.508Z,1558042521.508 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:35:21.508Z,1558042521.508 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:35:21.508Z,1558042521.508 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:35:21.518Z,1558042521.518 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2019-05-16T21:35:21.518Z,1558042521.518 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:35:21.518Z,1558042521.518 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:35:21.518Z,1558042521.518 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:35:21.519Z,1558042521.519 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:35:21.519Z,1558042521.519 [circle_acoustic_contact:L.SetSpeed](DEBUG): Initialize.
2019-05-16T21:35:21.519Z,1558042521.519 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:35:21.519Z,1558042521.519 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2019-05-16T21:35:21.519Z,1558042521.519 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:35:21.519Z,1558042521.519 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:35:21.520Z,1558042521.520 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:35:21.520Z,1558042521.520 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:35:21.520Z,1558042521.520 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:35:21.520Z,1558042521.520 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2019-05-16T21:35:21.520Z,1558042521.520 [circle_acoustic_contact:D] Running Loop=1
2019-05-16T21:35:21.537Z,1558042521.537 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:35:21.537Z,1558042521.537 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:35:21.538Z,1558042521.538 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:35:21.538Z,1558042521.538 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:35:21.539Z,1558042521.539 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:35:21.539Z,1558042521.539 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:35:21.540Z,1558042521.540 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2019-05-16T21:35:21.540Z,1558042521.540 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2019-05-16T21:35:21.553Z,1558042521.553 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:Read_Oil] Stopped
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:H] Stopped
2019-05-16T21:35:21.554Z,1558042521.554 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:F] Stopped
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:E] Stopped
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:D] Stopped
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:C] Stopped
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:B] Stopped
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:Science:A] Stopped
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:35:21.555Z,1558042521.555 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:35:21.556Z,1558042521.556 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:35:21.556Z,1558042521.556 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:35:21.580Z,1558042521.580 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:35:21.580Z,1558042521.580 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:35:21.581Z,1558042521.581 [circle_acoustic_contact:D] Stopped
2019-05-16T21:35:21.581Z,1558042521.581 [circle_acoustic_contact:F] Running Loop=1
2019-05-16T21:35:21.581Z,1558042521.581 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:35:21.581Z,1558042521.581 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:21.616Z,1558042521.616 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-05-16T21:35:21.616Z,1558042521.616 [WetLabsBB2FL](INFO): Powering up
2019-05-16T21:35:21.850Z,1558042521.850 [circle_acoustic_contact:F] Stopped
2019-05-16T21:35:21.850Z,1558042521.850 [circle_acoustic_contact:G] Running Loop=1
2019-05-16T21:35:21.875Z,1558042521.875 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:22.256Z,1558042522.256 [circle_acoustic_contact:G] Stopped
2019-05-16T21:35:22.256Z,1558042522.256 [circle_acoustic_contact:H] Running Loop=1
2019-05-16T21:35:22.298Z,1558042522.298 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:22.349Z,1558042522.349 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2019-05-16T21:35:22.349Z,1558042522.349 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2019-05-16T21:35:22.349Z,1558042522.349 [BuoyancyServo] Hardware Fault, FailCount= 1
2019-05-16T21:35:22.350Z,1558042522.350 [BuoyancyServo](ERROR): Hardware Fault
2019-05-16T21:35:22.357Z,1558042522.357 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2019-05-16T21:35:22.678Z,1558042522.678 [circle_acoustic_contact:H] Stopped
2019-05-16T21:35:22.678Z,1558042522.678 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2019-05-16T21:35:22.678Z,1558042522.678 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:35:22.711Z,1558042522.711 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:23.064Z,1558042523.064 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2019-05-16T21:35:23.064Z,1558042523.064 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:35:23.064Z,1558042523.064 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:35:23.065Z,1558042523.065 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2019-05-16T21:35:23.065Z,1558042523.065 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2019-05-16T21:35:23.066Z,1558042523.066 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:35:23.071Z,1558042523.071 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:35:23.143Z,1558042523.143 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:35:23.143Z,1558042523.143 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:23.499Z,1558042523.499 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:23.907Z,1558042523.907 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:24.308Z,1558042524.308 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:24.322Z,1558042524.322 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-05-16T21:35:24.322Z,1558042524.322 [BuoyancyServo](INFO): Powering down
2019-05-16T21:35:24.711Z,1558042524.711 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:24.972Z,1558042524.972 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190516T205934/Courier0013.lzma
2019-05-16T21:35:25.117Z,1558042525.117 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:25.165Z,1558042525.165 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-05-16T21:35:25.165Z,1558042525.165 [BuoyancyServo] No Fault, FailCount= 1
2019-05-16T21:35:25.487Z,1558042525.487 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:25.492Z,1558042525.492 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-05-16T21:35:25.493Z,1558042525.493 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-05-16T21:35:25.778Z,1558042525.778 [DataOverHttps](INFO): Moved sent file to Logs/20190516T205934/Courier0013.lzma.bak
2019-05-16T21:35:25.778Z,1558042525.778 [DataOverHttps](INFO): SBD MOMSN=11085567
2019-05-16T21:35:25.898Z,1558042525.898 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:26.299Z,1558042526.299 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:26.709Z,1558042526.709 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:27.130Z,1558042527.130 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:27.523Z,1558042527.523 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:27.921Z,1558042527.921 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:28.359Z,1558042528.359 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:28.766Z,1558042528.766 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:29.180Z,1558042529.180 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:29.561Z,1558042529.561 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:29.970Z,1558042529.970 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:30.374Z,1558042530.374 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:30.782Z,1558042530.782 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:31.119Z,1558042531.119 [NAL9602](INFO): Powering down
2019-05-16T21:35:31.204Z,1558042531.204 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:31.597Z,1558042531.597 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:32.004Z,1558042532.004 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:32.359Z,1558042532.359 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:32.431Z,1558042532.431 [Reporter](INFO): platform_buoyancy_position 958.757690 cc
2019-05-16T21:35:32.762Z,1558042532.762 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:33.162Z,1558042533.162 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:33.199Z,1558042533.199 [Reporter](INFO): platform_buoyancy_position 958.354736 cc
2019-05-16T21:35:33.571Z,1558042533.571 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:33.611Z,1558042533.611 [Reporter](INFO): platform_buoyancy_position 956.205933 cc
2019-05-16T21:35:33.979Z,1558042533.979 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:34.092Z,1558042534.092 [Reporter](INFO): platform_buoyancy_position 945.730591 cc
2019-05-16T21:35:34.384Z,1558042534.384 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:34.451Z,1558042534.451 [Reporter](INFO): platform_buoyancy_position 941.567261 cc
2019-05-16T21:35:34.801Z,1558042534.801 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:34.959Z,1558042534.959 [Reporter](INFO): platform_buoyancy_position 939.149902 cc
2019-05-16T21:35:35.182Z,1558042535.182 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:35.239Z,1558042535.239 [Reporter](INFO): platform_buoyancy_position 934.986572 cc
2019-05-16T21:35:35.596Z,1558042535.596 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:35.651Z,1558042535.651 [Reporter](INFO): platform_buoyancy_position 928.540161 cc
2019-05-16T21:35:35.987Z,1558042535.987 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:36.039Z,1558042536.039 [Reporter](INFO): platform_buoyancy_position 924.376831 cc
2019-05-16T21:35:36.396Z,1558042536.396 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:36.447Z,1558042536.447 [Reporter](INFO): platform_buoyancy_position 919.944946 cc
2019-05-16T21:35:36.804Z,1558042536.804 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:36.843Z,1558042536.843 [Reporter](INFO): platform_buoyancy_position 914.438660 cc
2019-05-16T21:35:37.206Z,1558042537.206 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:37.243Z,1558042537.243 [Reporter](INFO): platform_buoyancy_position 909.200928 cc
2019-05-16T21:35:37.626Z,1558042537.626 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:37.730Z,1558042537.730 [Reporter](INFO): platform_buoyancy_position 904.903320 cc
2019-05-16T21:35:38.035Z,1558042538.035 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:38.111Z,1558042538.111 [Reporter](INFO): platform_buoyancy_position 898.725525 cc
2019-05-16T21:35:38.446Z,1558042538.446 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:38.555Z,1558042538.555 [Reporter](INFO): platform_buoyancy_position 894.159363 cc
2019-05-16T21:35:38.827Z,1558042538.827 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:39.014Z,1558042539.014 [Reporter](INFO): platform_buoyancy_position 887.712952 cc
2019-05-16T21:35:39.223Z,1558042539.223 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:39.263Z,1558042539.263 [Reporter](INFO): platform_buoyancy_position 883.415344 cc
2019-05-16T21:35:39.630Z,1558042539.630 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:39.675Z,1558042539.675 [Reporter](INFO): platform_buoyancy_position 877.103271 cc
2019-05-16T21:35:40.036Z,1558042540.036 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:40.093Z,1558042540.093 [Reporter](INFO): platform_buoyancy_position 872.805664 cc
2019-05-16T21:35:40.442Z,1558042540.442 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:40.479Z,1558042540.479 [Reporter](INFO): platform_buoyancy_position 868.373718 cc
2019-05-16T21:35:40.849Z,1558042540.849 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:40.955Z,1558042540.955 [Reporter](INFO): platform_buoyancy_position 864.076172 cc
2019-05-16T21:35:41.258Z,1558042541.258 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:41.323Z,1558042541.323 [Reporter](INFO): platform_buoyancy_position 857.764038 cc
2019-05-16T21:35:41.667Z,1558042541.667 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:41.668Z,1558042541.668 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:35:41.668Z,1558042541.668 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:35:41.775Z,1558042541.775 [Reporter](INFO): platform_buoyancy_position 851.317627 cc
2019-05-16T21:35:42.027Z,1558042542.027 [DAT](INFO): ****** ping requested ******
2019-05-16T21:35:42.052Z,1558042542.052 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:42.243Z,1558042542.243 [Reporter](INFO): platform_buoyancy_position 846.885742 cc
2019-05-16T21:35:42.430Z,1558042542.430 [DAT](FAULT): unknown deviceResponse_: si

2019-05-16T21:35:42.430Z,1558042542.430 [DAT] Communications Fault, FailCount= 1
2019-05-16T21:35:42.430Z,1558042542.430 [DAT](ERROR): Communications Fault
2019-05-16T21:35:42.452Z,1558042542.452 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:42.496Z,1558042542.496 [CBIT](ERROR): Communications Fault in component: DAT
2019-05-16T21:35:42.508Z,1558042542.508 [Reporter](INFO): platform_buoyancy_position 840.573669 cc
2019-05-16T21:35:42.840Z,1558042542.840 [DAT](INFO): Powering down
2019-05-16T21:35:43.005Z,1558042543.005 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:43.047Z,1558042543.047 [Reporter](INFO): platform_buoyancy_position 833.992920 cc
2019-05-16T21:35:43.280Z,1558042543.280 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:43.323Z,1558042543.323 [Reporter](INFO): platform_buoyancy_position 829.695312 cc
2019-05-16T21:35:43.689Z,1558042543.689 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:43.738Z,1558042543.738 [CBIT](INFO): Clearing failed state for component DAT
2019-05-16T21:35:43.738Z,1558042543.738 [DAT] No Fault, FailCount= 1
2019-05-16T21:35:43.739Z,1558042543.739 [Reporter](INFO): platform_buoyancy_position 825.397766 cc
2019-05-16T21:35:44.077Z,1558042544.077 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:44.187Z,1558042544.187 [Reporter](INFO): platform_buoyancy_position 819.085632 cc
2019-05-16T21:35:44.486Z,1558042544.486 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:44.568Z,1558042544.568 [Reporter](INFO): platform_buoyancy_position 814.653748 cc
2019-05-16T21:35:44.891Z,1558042544.891 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:45.042Z,1558042545.042 [Reporter](INFO): platform_buoyancy_position 809.147461 cc
2019-05-16T21:35:45.305Z,1558042545.305 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:45.343Z,1558042545.343 [Reporter](INFO): platform_buoyancy_position 804.044067 cc
2019-05-16T21:35:45.683Z,1558042545.683 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:45.735Z,1558042545.735 [Reporter](INFO): platform_buoyancy_position 798.537720 cc
2019-05-16T21:35:46.072Z,1558042546.072 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2019-05-16T21:35:46.072Z,1558042546.072 [DAT](INFO): Powering up
2019-05-16T21:35:46.073Z,1558042546.073 [DAT](DEBUG): Initializing DAT.
2019-05-16T21:35:46.150Z,1558042546.150 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:46.153Z,1558042546.153 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2019-05-16T21:35:46.225Z,1558042546.225 [Reporter](INFO): platform_buoyancy_position 792.762817 cc
2019-05-16T21:35:46.474Z,1558042546.474 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:46.504Z,1558042546.504 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:46.547Z,1558042546.547 [Reporter](INFO): platform_buoyancy_position 786.853638 cc
2019-05-16T21:35:46.880Z,1558042546.880 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:46.903Z,1558042546.903 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:46.962Z,1558042546.962 [Reporter](INFO): platform_buoyancy_position 782.556030 cc
2019-05-16T21:35:47.279Z,1558042547.279 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:47.305Z,1558042547.305 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:47.432Z,1558042547.432 [Reporter](INFO): platform_buoyancy_position 778.124146 cc
2019-05-16T21:35:47.692Z,1558042547.692 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:47.715Z,1558042547.715 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:47.795Z,1558042547.795 [Reporter](INFO): platform_buoyancy_position 771.677734 cc
2019-05-16T21:35:48.102Z,1558042548.102 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:48.124Z,1558042548.124 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:48.283Z,1558042548.283 [Reporter](INFO): platform_buoyancy_position 767.380127 cc
2019-05-16T21:35:48.513Z,1558042548.513 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:48.535Z,1558042548.535 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:48.573Z,1558042548.573 [Reporter](INFO): platform_buoyancy_position 760.933716 cc
2019-05-16T21:35:48.898Z,1558042548.898 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:48.940Z,1558042548.940 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:48.983Z,1558042548.983 [Reporter](INFO): platform_buoyancy_position 756.636108 cc
2019-05-16T21:35:49.305Z,1558042549.305 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:49.327Z,1558042549.327 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:49.395Z,1558042549.395 [Reporter](INFO): platform_buoyancy_position 750.189758 cc
2019-05-16T21:35:49.706Z,1558042549.706 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:49.728Z,1558042549.728 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:49.774Z,1558042549.774 [Reporter](INFO): platform_buoyancy_position 745.892151 cc
2019-05-16T21:35:50.105Z,1558042550.105 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:50.134Z,1558042550.134 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:50.187Z,1558042550.187 [Reporter](INFO): platform_buoyancy_position 739.580017 cc
2019-05-16T21:35:50.514Z,1558042550.514 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:50.536Z,1558042550.536 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:50.640Z,1558042550.640 [Reporter](INFO): platform_buoyancy_position 735.282410 cc
2019-05-16T21:35:50.924Z,1558042550.924 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:50.945Z,1558042550.945 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:51.023Z,1558042551.023 [Reporter](INFO): platform_buoyancy_position 730.850525 cc
2019-05-16T21:35:51.324Z,1558042551.324 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:51.347Z,1558042551.347 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:51.503Z,1558042551.503 [Reporter](INFO): platform_buoyancy_position 724.807007 cc
2019-05-16T21:35:51.729Z,1558042551.729 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:51.769Z,1558042551.769 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:51.807Z,1558042551.807 [Reporter](INFO): platform_buoyancy_position 720.106506 cc
2019-05-16T21:35:52.130Z,1558042552.130 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:52.175Z,1558042552.175 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:52.211Z,1558042552.211 [Reporter](INFO): platform_buoyancy_position 713.928711 cc
2019-05-16T21:35:52.530Z,1558042552.530 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:52.598Z,1558042552.598 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:52.643Z,1558042552.643 [Reporter](INFO): platform_buoyancy_position 708.959656 cc
2019-05-16T21:35:52.934Z,1558042552.934 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:52.956Z,1558042552.956 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:53.006Z,1558042553.006 [Reporter](INFO): platform_buoyancy_position 702.916138 cc
2019-05-16T21:35:53.344Z,1558042553.344 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:53.365Z,1558042553.365 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:53.411Z,1558042553.411 [Reporter](INFO): platform_buoyancy_position 698.618530 cc
2019-05-16T21:35:53.742Z,1558042553.742 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:53.763Z,1558042553.763 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:53.867Z,1558042553.867 [Reporter](INFO): platform_buoyancy_position 692.575012 cc
2019-05-16T21:35:54.149Z,1558042554.149 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:54.170Z,1558042554.170 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:54.235Z,1558042554.235 [Reporter](INFO): platform_buoyancy_position 688.008850 cc
2019-05-16T21:35:54.561Z,1558042554.561 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:54.590Z,1558042554.590 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:54.747Z,1558042554.747 [Reporter](INFO): platform_buoyancy_position 681.696716 cc
2019-05-16T21:35:54.967Z,1558042554.967 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:54.994Z,1558042554.994 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:55.031Z,1558042555.031 [Reporter](INFO): platform_buoyancy_position 677.264832 cc
2019-05-16T21:35:55.370Z,1558042555.370 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:55.391Z,1558042555.391 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:55.431Z,1558042555.431 [Reporter](INFO): platform_buoyancy_position 670.952759 cc
2019-05-16T21:35:55.766Z,1558042555.766 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:55.814Z,1558042555.814 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:55.851Z,1558042555.851 [Reporter](INFO): platform_buoyancy_position 666.386536 cc
2019-05-16T21:35:56.166Z,1558042556.166 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:56.188Z,1558042556.188 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:56.248Z,1558042556.248 [Reporter](INFO): platform_buoyancy_position 660.343018 cc
2019-05-16T21:35:56.578Z,1558042556.578 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:56.600Z,1558042556.600 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:56.639Z,1558042556.639 [Reporter](INFO): platform_buoyancy_position 655.642517 cc
2019-05-16T21:35:56.986Z,1558042556.986 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:57.008Z,1558042557.008 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:57.122Z,1558042557.122 [Reporter](INFO): platform_buoyancy_position 651.210632 cc
2019-05-16T21:35:57.398Z,1558042557.398 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:57.462Z,1558042557.462 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:57.537Z,1558042557.537 [Reporter](INFO): platform_buoyancy_position 644.898499 cc
2019-05-16T21:35:57.784Z,1558042557.784 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:57.830Z,1558042557.830 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:58.007Z,1558042558.007 [Reporter](INFO): platform_buoyancy_position 639.526550 cc
2019-05-16T21:35:58.194Z,1558042558.194 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:58.252Z,1558042558.252 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:58.303Z,1558042558.303 [Reporter](INFO): platform_buoyancy_position 634.020203 cc
2019-05-16T21:35:58.599Z,1558042558.599 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:58.650Z,1558042558.650 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:58.715Z,1558042558.715 [Reporter](INFO): platform_buoyancy_position 629.588318 cc
2019-05-16T21:35:58.996Z,1558042558.996 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:59.068Z,1558042559.068 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:59.128Z,1558042559.128 [Reporter](INFO): platform_buoyancy_position 623.544800 cc
2019-05-16T21:35:59.411Z,1558042559.411 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:59.490Z,1558042559.490 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:59.547Z,1558042559.547 [Reporter](INFO): platform_buoyancy_position 617.232727 cc
2019-05-16T21:35:59.804Z,1558042559.804 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:35:59.878Z,1558042559.878 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:35:59.988Z,1558042559.988 [Reporter](INFO): platform_buoyancy_position 612.800842 cc
2019-05-16T21:36:00.219Z,1558042560.219 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:36:00.313Z,1558042560.313 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:00.388Z,1558042560.388 [Reporter](INFO): platform_buoyancy_position 606.354431 cc
2019-05-16T21:36:00.612Z,1558042560.612 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:36:00.733Z,1558042560.733 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:00.911Z,1558042560.911 [Reporter](INFO): platform_buoyancy_position 599.908020 cc
2019-05-16T21:36:01.024Z,1558042561.024 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:36:01.024Z,1558042561.024 [DAT](INFO): setting local address to 3
2019-05-16T21:36:01.122Z,1558042561.122 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:01.164Z,1558042561.164 [Reporter](INFO): platform_buoyancy_position 595.476135 cc
2019-05-16T21:36:01.440Z,1558042561.440 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:36:01.441Z,1558042561.441 [DAT](INFO): set local address to 3
2019-05-16T21:36:01.490Z,1558042561.490 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:01.569Z,1558042561.569 [Reporter](INFO): platform_buoyancy_position 591.178528 cc
2019-05-16T21:36:01.882Z,1558042561.882 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:01.883Z,1558042561.883 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:36:01.883Z,1558042561.883 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:36:01.935Z,1558042561.935 [Reporter](INFO): platform_buoyancy_position 585.269348 cc
2019-05-16T21:36:02.243Z,1558042562.243 [DAT](INFO): ****** ping requested ******
2019-05-16T21:36:02.268Z,1558042562.268 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:02.385Z,1558042562.385 [Reporter](INFO): platform_buoyancy_position 580.434509 cc
2019-05-16T21:36:02.682Z,1558042562.682 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:02.747Z,1558042562.747 [Reporter](INFO): platform_buoyancy_position 573.988098 cc
2019-05-16T21:36:03.091Z,1558042563.091 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:03.243Z,1558042563.243 [Reporter](INFO): platform_buoyancy_position 569.421936 cc
2019-05-16T21:36:03.470Z,1558042563.470 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:03.511Z,1558042563.511 [Reporter](INFO): platform_buoyancy_position 563.378418 cc
2019-05-16T21:36:03.876Z,1558042563.876 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:03.923Z,1558042563.923 [Reporter](INFO): platform_buoyancy_position 558.812195 cc
2019-05-16T21:36:04.282Z,1558042564.282 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:04.331Z,1558042564.331 [Reporter](INFO): platform_buoyancy_position 552.768738 cc
2019-05-16T21:36:04.688Z,1558042564.688 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:04.799Z,1558042564.799 [Reporter](INFO): platform_buoyancy_position 548.202515 cc
2019-05-16T21:36:05.101Z,1558042565.101 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:05.167Z,1558042565.167 [Reporter](INFO): platform_buoyancy_position 541.890442 cc
2019-05-16T21:36:05.504Z,1558042565.504 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:05.663Z,1558042565.663 [Reporter](INFO): platform_buoyancy_position 537.458496 cc
2019-05-16T21:36:05.910Z,1558042565.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:05.951Z,1558042565.951 [Reporter](INFO): platform_buoyancy_position 531.280701 cc
2019-05-16T21:36:06.318Z,1558042566.318 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:06.355Z,1558042566.355 [Reporter](INFO): platform_buoyancy_position 526.848816 cc
2019-05-16T21:36:06.704Z,1558042566.704 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:06.763Z,1558042566.763 [Reporter](INFO): platform_buoyancy_position 522.416931 cc
2019-05-16T21:36:07.104Z,1558042567.104 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:07.207Z,1558042567.207 [Reporter](INFO): platform_buoyancy_position 516.104797 cc
2019-05-16T21:36:07.513Z,1558042567.513 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:07.587Z,1558042567.587 [Reporter](INFO): platform_buoyancy_position 511.672943 cc
2019-05-16T21:36:07.925Z,1558042567.925 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:08.042Z,1558042568.042 [Reporter](INFO): platform_buoyancy_position 506.569580 cc
2019-05-16T21:36:08.326Z,1558042568.326 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:08.431Z,1558042568.431 [Reporter](INFO): platform_buoyancy_position 501.466156 cc
2019-05-16T21:36:08.727Z,1558042568.727 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:08.809Z,1558042568.809 [Reporter](INFO): platform_buoyancy_position 496.899933 cc
2019-05-16T21:36:09.139Z,1558042569.139 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:09.291Z,1558042569.291 [Reporter](INFO): platform_buoyancy_position 492.333771 cc
2019-05-16T21:36:09.556Z,1558042569.556 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:09.595Z,1558042569.595 [Reporter](INFO): platform_buoyancy_position 486.021637 cc
2019-05-16T21:36:09.931Z,1558042569.931 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:09.987Z,1558042569.987 [Reporter](INFO): platform_buoyancy_position 481.321136 cc
2019-05-16T21:36:10.342Z,1558042570.342 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:10.383Z,1558042570.383 [Reporter](INFO): platform_buoyancy_position 475.277618 cc
2019-05-16T21:36:10.743Z,1558042570.743 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:10.791Z,1558042570.791 [Reporter](INFO): platform_buoyancy_position 468.696930 cc
2019-05-16T21:36:11.147Z,1558042571.147 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:11.203Z,1558042571.203 [Reporter](INFO): platform_buoyancy_position 464.533661 cc
2019-05-16T21:36:11.565Z,1558042571.565 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:11.663Z,1558042571.663 [Reporter](INFO): platform_buoyancy_position 460.101715 cc
2019-05-16T21:36:11.960Z,1558042571.960 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:12.045Z,1558042572.045 [Reporter](INFO): platform_buoyancy_position 455.266937 cc
2019-05-16T21:36:12.372Z,1558042572.372 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:12.528Z,1558042572.528 [Reporter](INFO): platform_buoyancy_position 449.626373 cc
2019-05-16T21:36:12.790Z,1558042572.790 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:12.835Z,1558042572.835 [Reporter](INFO): platform_buoyancy_position 445.060150 cc
2019-05-16T21:36:13.163Z,1558042573.163 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:13.206Z,1558042573.206 [Reporter](INFO): platform_buoyancy_position 438.613739 cc
2019-05-16T21:36:13.614Z,1558042573.614 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:13.655Z,1558042573.655 [Reporter](INFO): platform_buoyancy_position 432.301666 cc
2019-05-16T21:36:13.989Z,1558042573.989 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:14.091Z,1558042574.091 [Reporter](INFO): platform_buoyancy_position 428.004059 cc
2019-05-16T21:36:14.394Z,1558042574.394 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:14.467Z,1558042574.467 [Reporter](INFO): platform_buoyancy_position 423.572113 cc
2019-05-16T21:36:14.806Z,1558042574.806 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:14.911Z,1558042574.911 [Reporter](INFO): platform_buoyancy_position 417.125763 cc
2019-05-16T21:36:15.202Z,1558042575.202 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:15.279Z,1558042575.279 [Reporter](INFO): platform_buoyancy_position 412.693848 cc
2019-05-16T21:36:15.613Z,1558042575.613 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:15.771Z,1558042575.771 [Reporter](INFO): platform_buoyancy_position 406.381744 cc
2019-05-16T21:36:16.026Z,1558042576.026 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:16.078Z,1558042576.078 [Reporter](INFO): platform_buoyancy_position 400.069641 cc
2019-05-16T21:36:16.428Z,1558042576.428 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:16.475Z,1558042576.475 [Reporter](INFO): platform_buoyancy_position 395.906342 cc
2019-05-16T21:36:16.816Z,1558042576.816 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:16.883Z,1558042576.883 [Reporter](INFO): platform_buoyancy_position 389.325653 cc
2019-05-16T21:36:17.207Z,1558042577.207 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:17.319Z,1558042577.319 [Reporter](INFO): platform_buoyancy_position 384.893738 cc
2019-05-16T21:36:17.613Z,1558042577.613 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:17.683Z,1558042577.683 [Reporter](INFO): platform_buoyancy_position 378.715942 cc
2019-05-16T21:36:18.051Z,1558042578.051 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:18.222Z,1558042578.222 [Reporter](INFO): platform_buoyancy_position 374.149750 cc
2019-05-16T21:36:18.441Z,1558042578.441 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:18.479Z,1558042578.479 [Reporter](INFO): platform_buoyancy_position 369.583527 cc
2019-05-16T21:36:18.849Z,1558042578.849 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:18.887Z,1558042578.887 [Reporter](INFO): platform_buoyancy_position 363.540039 cc
2019-05-16T21:36:19.256Z,1558042579.256 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:19.303Z,1558042579.303 [Reporter](INFO): platform_buoyancy_position 358.973846 cc
2019-05-16T21:36:19.670Z,1558042579.670 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:19.707Z,1558042579.707 [Reporter](INFO): platform_buoyancy_position 352.796051 cc
2019-05-16T21:36:20.073Z,1558042580.073 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:20.115Z,1558042580.115 [Reporter](INFO): platform_buoyancy_position 348.364136 cc
2019-05-16T21:36:20.450Z,1558042580.450 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:20.491Z,1558042580.491 [Reporter](INFO): platform_buoyancy_position 343.797943 cc
2019-05-16T21:36:20.858Z,1558042580.858 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:20.918Z,1558042580.918 [Reporter](INFO): platform_buoyancy_position 337.620148 cc
2019-05-16T21:36:21.261Z,1558042581.261 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:21.299Z,1558042581.299 [Reporter](INFO): platform_buoyancy_position 332.382446 cc
2019-05-16T21:36:21.665Z,1558042581.665 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:21.703Z,1558042581.703 [Reporter](INFO): platform_buoyancy_position 326.876129 cc
2019-05-16T21:36:22.070Z,1558042582.070 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:22.071Z,1558042582.071 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:36:22.071Z,1558042582.071 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:36:22.107Z,1558042582.107 [Reporter](INFO): platform_buoyancy_position 322.578522 cc
2019-05-16T21:36:22.479Z,1558042582.479 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:22.517Z,1558042582.517 [Reporter](INFO): platform_buoyancy_position 315.997833 cc
2019-05-16T21:36:22.884Z,1558042582.884 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:22.927Z,1558042582.927 [Reporter](INFO): platform_buoyancy_position 311.834534 cc
2019-05-16T21:36:23.267Z,1558042583.267 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:23.303Z,1558042583.303 [Reporter](INFO): platform_buoyancy_position 307.402649 cc
2019-05-16T21:36:23.686Z,1558042583.686 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:23.728Z,1558042583.728 [Reporter](INFO): platform_buoyancy_position 301.224823 cc
2019-05-16T21:36:24.090Z,1558042584.090 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:24.131Z,1558042584.131 [Reporter](INFO): platform_buoyancy_position 296.658630 cc
2019-05-16T21:36:24.485Z,1558042584.485 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:24.524Z,1558042584.524 [Reporter](INFO): platform_buoyancy_position 290.346527 cc
2019-05-16T21:36:24.902Z,1558042584.902 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:24.939Z,1558042584.939 [Reporter](INFO): platform_buoyancy_position 283.900146 cc
2019-05-16T21:36:25.305Z,1558042585.305 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:25.343Z,1558042585.343 [Reporter](INFO): platform_buoyancy_position 279.602539 cc
2019-05-16T21:36:25.717Z,1558042585.717 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:25.755Z,1558042585.755 [Reporter](INFO): platform_buoyancy_position 273.693329 cc
2019-05-16T21:36:26.100Z,1558042586.100 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:26.159Z,1558042586.159 [Reporter](INFO): platform_buoyancy_position 267.784119 cc
2019-05-16T21:36:26.512Z,1558042586.512 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:26.571Z,1558042586.571 [Reporter](INFO): platform_buoyancy_position 262.546417 cc
2019-05-16T21:36:26.910Z,1558042586.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:26.951Z,1558042586.951 [Reporter](INFO): platform_buoyancy_position 258.248840 cc
2019-05-16T21:36:27.308Z,1558042587.308 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:27.346Z,1558042587.346 [Reporter](INFO): platform_buoyancy_position 253.682602 cc
2019-05-16T21:36:27.719Z,1558042587.719 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:27.759Z,1558042587.759 [Reporter](INFO): platform_buoyancy_position 247.639145 cc
2019-05-16T21:36:28.127Z,1558042588.127 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:28.163Z,1558042588.163 [Reporter](INFO): platform_buoyancy_position 243.207214 cc
2019-05-16T21:36:28.537Z,1558042588.537 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:28.575Z,1558042588.575 [Reporter](INFO): platform_buoyancy_position 236.760834 cc
2019-05-16T21:36:28.956Z,1558042588.956 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:29.001Z,1558042589.001 [Reporter](INFO): platform_buoyancy_position 230.851624 cc
2019-05-16T21:36:29.323Z,1558042589.323 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:29.359Z,1558042589.359 [Reporter](INFO): platform_buoyancy_position 226.016815 cc
2019-05-16T21:36:29.734Z,1558042589.734 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:29.771Z,1558042589.771 [Reporter](INFO): platform_buoyancy_position 221.719238 cc
2019-05-16T21:36:30.137Z,1558042590.137 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:30.191Z,1558042590.191 [Reporter](INFO): platform_buoyancy_position 217.287323 cc
2019-05-16T21:36:30.557Z,1558042590.557 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:30.599Z,1558042590.599 [Reporter](INFO): platform_buoyancy_position 210.975220 cc
2019-05-16T21:36:30.945Z,1558042590.945 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:30.984Z,1558042590.984 [Reporter](INFO): platform_buoyancy_position 204.394531 cc
2019-05-16T21:36:31.356Z,1558042591.356 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:31.395Z,1558042591.395 [Reporter](INFO): platform_buoyancy_position 198.216736 cc
2019-05-16T21:36:31.780Z,1558042591.780 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:31.823Z,1558042591.823 [Reporter](INFO): platform_buoyancy_position 193.650513 cc
2019-05-16T21:36:32.171Z,1558042592.171 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:32.219Z,1558042592.219 [Reporter](INFO): platform_buoyancy_position 187.338440 cc
2019-05-16T21:36:32.586Z,1558042592.586 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:32.627Z,1558042592.627 [Reporter](INFO): platform_buoyancy_position 181.160614 cc
2019-05-16T21:36:33.011Z,1558042593.011 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:33.055Z,1558042593.055 [Reporter](INFO): platform_buoyancy_position 176.460114 cc
2019-05-16T21:36:33.352Z,1558042593.352 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position -1.00 mm (1 active estimators).
2019-05-16T21:36:33.370Z,1558042593.370 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:33.430Z,1558042593.430 [Reporter](INFO): platform_buoyancy_position 170.148010 cc
2019-05-16T21:36:33.774Z,1558042593.774 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:33.811Z,1558042593.811 [Reporter](INFO): platform_buoyancy_position 165.716125 cc
2019-05-16T21:36:34.177Z,1558042594.177 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:34.217Z,1558042594.217 [Reporter](INFO): platform_buoyancy_position 161.418518 cc
2019-05-16T21:36:34.588Z,1558042594.588 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:34.626Z,1558042594.626 [Reporter](INFO): platform_buoyancy_position 154.972107 cc
2019-05-16T21:36:35.022Z,1558042595.022 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:35.068Z,1558042595.068 [Reporter](INFO): platform_buoyancy_position 150.674530 cc
2019-05-16T21:36:35.409Z,1558042595.409 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:35.497Z,1558042595.497 [Reporter](INFO): platform_buoyancy_position 144.228119 cc
2019-05-16T21:36:35.788Z,1558042595.788 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:36.198Z,1558042596.198 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:36.601Z,1558042596.601 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:37.014Z,1558042597.014 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:37.410Z,1558042597.410 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:37.830Z,1558042597.830 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:38.253Z,1558042598.253 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:38.662Z,1558042598.662 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:39.066Z,1558042599.066 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:39.427Z,1558042599.427 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:39.831Z,1558042599.831 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:40.236Z,1558042600.236 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:40.640Z,1558042600.640 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:41.058Z,1558042601.058 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:41.454Z,1558042601.454 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:41.551Z,1558042601.551 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massDefault 3.000000 centimeter
2019-05-16T21:36:41.552Z,1558042601.552 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massDefault" handled in the control thread.
2019-05-16T21:36:41.874Z,1558042601.874 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:41.890Z,1558042601.890 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_SpeedControl.propOmegaAction,Maintain_VerticalControl.massDefault,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T21:36:42.285Z,1558042602.285 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:42.285Z,1558042602.285 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:36:42.286Z,1558042602.286 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:36:42.655Z,1558042602.655 [DAT](INFO): ****** ping requested ******
2019-05-16T21:36:42.705Z,1558042602.705 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:43.054Z,1558042603.054 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch -20.00 deg, mass-position 30.00 mm (2 active estimators).
2019-05-16T21:36:43.071Z,1558042603.071 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:43.489Z,1558042603.489 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:43.890Z,1558042603.890 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:44.290Z,1558042604.290 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:44.782Z,1558042604.782 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:45.162Z,1558042605.162 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:45.561Z,1558042605.561 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:46.039Z,1558042606.039 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:46.388Z,1558042606.388 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:46.777Z,1558042606.777 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:47.185Z,1558042607.185 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:47.606Z,1558042607.606 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:48.012Z,1558042608.012 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:48.398Z,1558042608.398 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:48.779Z,1558042608.779 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:49.196Z,1558042609.196 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:49.605Z,1558042609.605 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:50.021Z,1558042610.021 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:50.429Z,1558042610.429 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:50.818Z,1558042610.818 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:51.226Z,1558042611.226 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:51.618Z,1558042611.618 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:52.026Z,1558042612.026 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:52.426Z,1558042612.426 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:52.841Z,1558042612.841 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:53.251Z,1558042613.251 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:53.628Z,1558042613.628 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:54.073Z,1558042614.073 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:54.436Z,1558042614.436 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:54.841Z,1558042614.841 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:55.251Z,1558042615.251 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:55.655Z,1558042615.655 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:56.076Z,1558042616.076 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:56.494Z,1558042616.494 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:56.859Z,1558042616.859 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:57.025Z,1558042617.025 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:36:57.260Z,1558042617.260 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:57.665Z,1558042617.665 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:58.076Z,1558042618.076 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:58.496Z,1558042618.496 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:58.890Z,1558042618.890 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:59.306Z,1558042619.306 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:36:59.688Z,1558042619.688 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:00.091Z,1558042620.091 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:00.500Z,1558042620.500 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:00.901Z,1558042620.901 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:01.306Z,1558042621.306 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:01.710Z,1558042621.710 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:02.120Z,1558042622.120 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:02.534Z,1558042622.534 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:02.534Z,1558042622.534 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:37:02.534Z,1558042622.534 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:37:02.936Z,1558042622.936 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:03.324Z,1558042623.324 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:03.726Z,1558042623.726 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:04.136Z,1558042624.136 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:04.539Z,1558042624.539 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:04.951Z,1558042624.951 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:05.354Z,1558042625.354 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:05.758Z,1558042625.758 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:06.187Z,1558042626.187 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:06.554Z,1558042626.554 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:06.968Z,1558042626.968 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:07.363Z,1558042627.363 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:07.774Z,1558042627.774 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:08.173Z,1558042628.173 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:08.592Z,1558042628.592 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:09.008Z,1558042629.008 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:09.410Z,1558042629.410 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:09.818Z,1558042629.818 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:10.239Z,1558042630.239 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:10.616Z,1558042630.616 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:11.014Z,1558042631.014 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:11.425Z,1558042631.425 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:11.833Z,1558042631.833 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:12.237Z,1558042632.237 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:12.637Z,1558042632.637 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:13.049Z,1558042633.049 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:13.463Z,1558042633.463 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:13.834Z,1558042633.834 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:14.250Z,1558042634.250 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:14.642Z,1558042634.642 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:15.062Z,1558042635.062 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:15.474Z,1558042635.474 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:15.871Z,1558042635.871 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:16.282Z,1558042636.282 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:16.698Z,1558042636.698 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:17.069Z,1558042637.069 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:17.486Z,1558042637.486 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:17.890Z,1558042637.890 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:18.280Z,1558042638.280 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:18.687Z,1558042638.687 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:19.104Z,1558042639.104 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:19.482Z,1558042639.482 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:19.884Z,1558042639.884 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:20.291Z,1558042640.291 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:20.698Z,1558042640.698 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:21.100Z,1558042641.100 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:21.512Z,1558042641.512 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:21.921Z,1558042641.921 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:22.330Z,1558042642.330 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:22.714Z,1558042642.714 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:22.715Z,1558042642.715 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:37:22.715Z,1558042642.715 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:37:23.098Z,1558042643.098 [DAT](INFO): ****** ping requested ******
2019-05-16T21:37:23.122Z,1558042643.122 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:23.523Z,1558042643.523 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:23.941Z,1558042643.941 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:24.335Z,1558042644.335 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:24.746Z,1558042644.746 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:25.151Z,1558042645.151 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:25.572Z,1558042645.572 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:25.974Z,1558042645.974 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:26.415Z,1558042646.415 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:26.733Z,1558042646.733 [DAT](FAULT): unknown deviceResponse_: quisition stats SNR:28.4 MPD:18.2 SPD:+00.1

2019-05-16T21:37:26.733Z,1558042646.733 [DAT] Communications Fault, FailCount= 1
2019-05-16T21:37:26.733Z,1558042646.733 [DAT](ERROR): Communications Fault
2019-05-16T21:37:26.735Z,1558042646.735 [DAT](FAULT): unknown deviceResponse_: Header stats CRC:Fail PSNR:03.7 CCERR:005 Mod:MFSK

2019-05-16T21:37:26.757Z,1558042646.757 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:26.767Z,1558042646.767 [CBIT](ERROR): Communications Fault in component: DAT
2019-05-16T21:37:27.140Z,1558042647.140 [DAT](INFO): Powering down
2019-05-16T21:37:27.293Z,1558042647.293 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:27.563Z,1558042647.563 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:27.729Z,1558042647.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:37:27.979Z,1558042647.979 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:27.989Z,1558042647.989 [CBIT](INFO): Clearing failed state for component DAT
2019-05-16T21:37:27.989Z,1558042647.989 [DAT] No Fault, FailCount= 1
2019-05-16T21:37:28.374Z,1558042648.374 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:28.788Z,1558042648.788 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:29.202Z,1558042649.202 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:29.585Z,1558042649.585 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:29.988Z,1558042649.988 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:30.386Z,1558042650.386 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2019-05-16T21:37:30.386Z,1558042650.386 [DAT](INFO): Powering up
2019-05-16T21:37:30.386Z,1558042650.386 [DAT](DEBUG): Initializing DAT.
2019-05-16T21:37:30.423Z,1558042650.423 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2019-05-16T21:37:30.519Z,1558042650.519 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:30.780Z,1558042650.780 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:30.804Z,1558042650.804 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:31.188Z,1558042651.188 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:31.210Z,1558042651.210 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:31.584Z,1558042651.584 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:31.621Z,1558042651.621 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:31.996Z,1558042651.996 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:32.034Z,1558042652.034 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:32.397Z,1558042652.397 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:32.452Z,1558042652.452 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:32.794Z,1558042652.794 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:32.816Z,1558042652.816 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:33.212Z,1558042653.212 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:33.234Z,1558042653.234 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:33.598Z,1558042653.598 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:33.626Z,1558042653.626 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:34.006Z,1558042654.006 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:34.028Z,1558042654.028 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:34.416Z,1558042654.416 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:34.452Z,1558042654.452 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:34.825Z,1558042654.825 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:34.846Z,1558042654.846 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:35.220Z,1558042655.220 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:35.268Z,1558042655.268 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:35.618Z,1558042655.618 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:35.640Z,1558042655.640 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:36.028Z,1558042656.028 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:36.049Z,1558042656.049 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:36.429Z,1558042656.429 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:36.458Z,1558042656.458 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:36.833Z,1558042656.833 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:36.862Z,1558042656.862 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:37.239Z,1558042657.239 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:37.261Z,1558042657.261 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:37.649Z,1558042657.649 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:37.670Z,1558042657.670 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:38.042Z,1558042658.042 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:38.088Z,1558042658.088 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:38.446Z,1558042658.446 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:38.488Z,1558042658.488 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:38.858Z,1558042658.858 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:38.880Z,1558042658.880 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:39.254Z,1558042659.254 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:39.276Z,1558042659.276 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:39.661Z,1558042659.661 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:39.683Z,1558042659.683 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:40.068Z,1558042660.068 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:40.089Z,1558042660.089 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:40.470Z,1558042660.470 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:40.492Z,1558042660.492 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:40.887Z,1558042660.887 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:40.919Z,1558042660.919 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:41.276Z,1558042661.276 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:41.317Z,1558042661.317 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:41.684Z,1558042661.684 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:41.734Z,1558042661.734 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:42.087Z,1558042662.087 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:42.108Z,1558042662.108 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:42.494Z,1558042662.494 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:42.520Z,1558042662.520 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:42.895Z,1558042662.895 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:42.924Z,1558042662.924 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:42.925Z,1558042662.925 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:37:42.925Z,1558042662.925 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:37:43.296Z,1558042663.296 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:43.326Z,1558042663.326 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:43.703Z,1558042663.703 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:43.743Z,1558042663.743 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:44.113Z,1558042664.113 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:44.135Z,1558042664.135 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:44.529Z,1558042664.529 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:44.551Z,1558042664.551 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:44.934Z,1558042664.934 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:44.957Z,1558042664.957 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:45.332Z,1558042665.332 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:45.332Z,1558042665.332 [DAT](INFO): setting local address to 3
2019-05-16T21:37:45.384Z,1558042665.384 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:45.740Z,1558042665.740 [DAT](INFO): Will construct direction to contact in vehicle frame with elevation angle set to 0.
2019-05-16T21:37:45.741Z,1558042665.741 [DAT](INFO): set local address to 3
2019-05-16T21:37:45.791Z,1558042665.791 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:46.153Z,1558042666.153 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:46.566Z,1558042666.566 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:46.982Z,1558042666.982 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:47.375Z,1558042667.375 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:47.786Z,1558042667.786 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:48.190Z,1558042668.190 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:48.595Z,1558042668.595 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:48.978Z,1558042668.978 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:49.417Z,1558042669.417 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:49.779Z,1558042669.779 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:50.185Z,1558042670.185 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:50.594Z,1558042670.594 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:51.008Z,1558042671.008 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:51.428Z,1558042671.428 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:51.799Z,1558042671.799 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:52.209Z,1558042672.209 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:52.607Z,1558042672.607 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:53.022Z,1558042673.022 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:53.430Z,1558042673.430 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:53.828Z,1558042673.828 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:54.247Z,1558042674.247 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:54.658Z,1558042674.658 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:55.032Z,1558042675.032 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:55.440Z,1558042675.440 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:55.844Z,1558042675.844 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:56.244Z,1558042676.244 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:56.653Z,1558042676.653 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:57.065Z,1558042677.065 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:57.469Z,1558042677.469 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:57.900Z,1558042677.900 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:58.266Z,1558042678.266 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:58.437Z,1558042678.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:37:58.682Z,1558042678.682 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:59.075Z,1558042679.075 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:59.481Z,1558042679.481 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:37:59.891Z,1558042679.891 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:00.296Z,1558042680.296 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:00.700Z,1558042680.700 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:01.108Z,1558042681.108 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:01.495Z,1558042681.495 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:01.910Z,1558042681.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:02.306Z,1558042682.306 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:02.712Z,1558042682.712 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:03.124Z,1558042683.124 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:03.125Z,1558042683.125 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:38:03.125Z,1558042683.125 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:38:03.508Z,1558042683.508 [DAT](INFO): ****** ping requested ******
2019-05-16T21:38:03.532Z,1558042683.532 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:03.938Z,1558042683.938 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:04.355Z,1558042684.355 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:04.731Z,1558042684.731 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:05.132Z,1558042685.132 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:05.540Z,1558042685.540 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:05.946Z,1558042685.946 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:06.354Z,1558042686.354 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:06.766Z,1558042686.766 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:07.176Z,1558042687.176 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:07.581Z,1558042687.581 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:07.994Z,1558042687.994 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:08.375Z,1558042688.375 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:08.772Z,1558042688.772 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:09.182Z,1558042689.182 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:09.582Z,1558042689.582 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:09.991Z,1558042689.991 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:10.409Z,1558042690.409 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:10.815Z,1558042690.815 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:11.221Z,1558042691.221 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:11.607Z,1558042691.607 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:12.002Z,1558042692.002 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:12.425Z,1558042692.425 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:12.832Z,1558042692.832 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:13.242Z,1558042693.242 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:13.635Z,1558042693.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:14.041Z,1558042694.041 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:14.449Z,1558042694.449 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:14.833Z,1558042694.833 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:15.240Z,1558042695.240 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:15.656Z,1558042695.656 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:16.061Z,1558042696.061 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:16.461Z,1558042696.461 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:16.878Z,1558042696.878 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:17.281Z,1558042697.281 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:17.685Z,1558042697.685 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:18.098Z,1558042698.098 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:18.553Z,1558042698.553 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:18.886Z,1558042698.886 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:19.301Z,1558042699.301 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:19.700Z,1558042699.700 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:20.095Z,1558042700.095 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:20.506Z,1558042700.506 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:20.916Z,1558042700.916 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:21.335Z,1558042701.335 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:21.719Z,1558042701.719 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:22.118Z,1558042702.118 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:22.520Z,1558042702.520 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:22.930Z,1558042702.930 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:23.329Z,1558042703.329 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:23.330Z,1558042703.330 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:38:23.330Z,1558042703.330 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:38:23.742Z,1558042703.742 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:24.141Z,1558042704.141 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:24.555Z,1558042704.555 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:24.937Z,1558042704.937 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:25.301Z,1558042705.301 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:38:25.301Z,1558042705.301 [AHRS_M2] Data Fault, FailCount= 1
2019-05-16T21:38:25.301Z,1558042705.301 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:38:25.356Z,1558042705.356 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:25.390Z,1558042705.390 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:38:25.689Z,1558042705.689 [AHRS_M2](INFO): Powering down
2019-05-16T21:38:25.817Z,1558042705.817 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:26.140Z,1558042706.140 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:26.541Z,1558042706.541 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:26.633Z,1558042706.633 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:38:26.633Z,1558042706.633 [AHRS_M2] No Fault, FailCount= 1
2019-05-16T21:38:26.905Z,1558042706.905 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:38:26.956Z,1558042706.956 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:27.364Z,1558042707.364 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:27.746Z,1558042707.746 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:28.161Z,1558042708.161 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:28.556Z,1558042708.556 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:28.964Z,1558042708.964 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:29.141Z,1558042709.141 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:38:29.370Z,1558042709.370 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:29.770Z,1558042709.770 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:30.229Z,1558042710.229 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:30.300Z,1558042710.300 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:30.641Z,1558042710.641 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:30.700Z,1558042710.700 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:31.041Z,1558042711.041 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:31.084Z,1558042711.084 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:31.445Z,1558042711.445 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:31.481Z,1558042711.481 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:31.857Z,1558042711.857 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:31.901Z,1558042711.901 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:32.253Z,1558042712.253 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:32.298Z,1558042712.298 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:32.657Z,1558042712.657 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:32.694Z,1558042712.694 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:33.065Z,1558042713.065 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:33.115Z,1558042713.115 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:33.465Z,1558042713.465 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:33.518Z,1558042713.518 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:33.857Z,1558042713.857 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:33.921Z,1558042713.921 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:34.273Z,1558042714.273 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:34.348Z,1558042714.348 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:34.677Z,1558042714.677 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:34.712Z,1558042714.712 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:35.077Z,1558042715.077 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:35.122Z,1558042715.122 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:35.485Z,1558042715.485 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:35.526Z,1558042715.526 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:35.889Z,1558042715.889 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:35.933Z,1558042715.933 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:36.293Z,1558042716.293 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:36.354Z,1558042716.354 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:36.697Z,1558042716.697 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:36.749Z,1558042716.749 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:37.089Z,1558042717.089 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:37.151Z,1558042717.151 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:37.505Z,1558042717.505 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:37.542Z,1558042717.542 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:37.909Z,1558042717.909 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:38:37.953Z,1558042717.953 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:38.298Z,1558042718.298 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:38.678Z,1558042718.678 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:39.086Z,1558042719.086 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:39.489Z,1558042719.489 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:39.898Z,1558042719.898 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:40.311Z,1558042720.311 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:40.417Z,1558042720.417 [Radio_Surface](INFO): Powering down
2019-05-16T21:38:40.703Z,1558042720.703 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:41.109Z,1558042721.109 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:41.523Z,1558042721.523 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:41.938Z,1558042721.938 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:42.373Z,1558042722.373 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:42.790Z,1558042722.790 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:43.192Z,1558042723.192 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:43.582Z,1558042723.582 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:43.582Z,1558042723.582 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:38:43.582Z,1558042723.582 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:38:43.974Z,1558042723.974 [DAT](INFO): ****** ping requested ******
2019-05-16T21:38:43.998Z,1558042723.998 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:44.399Z,1558042724.399 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:44.797Z,1558042724.797 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:45.173Z,1558042725.173 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:45.545Z,1558042725.545 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:45.958Z,1558042725.958 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:46.362Z,1558042726.362 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:46.760Z,1558042726.760 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:47.169Z,1558042727.169 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:47.577Z,1558042727.577 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:47.999Z,1558042727.999 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:48.333Z,1558042728.333 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:38:48.333Z,1558042728.333 [AHRS_M2] Data Fault, FailCount= 2
2019-05-16T21:38:48.333Z,1558042728.333 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:38:48.376Z,1558042728.376 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:48.415Z,1558042728.415 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:38:48.717Z,1558042728.717 [AHRS_M2](INFO): Powering down
2019-05-16T21:38:48.843Z,1558042728.843 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:49.163Z,1558042729.163 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:49.569Z,1558042729.569 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:49.645Z,1558042729.645 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:38:49.645Z,1558042729.645 [AHRS_M2] No Fault, FailCount= 2
2019-05-16T21:38:49.933Z,1558042729.933 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:38:49.984Z,1558042729.984 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:50.380Z,1558042730.380 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:50.770Z,1558042730.770 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:51.182Z,1558042731.182 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:51.584Z,1558042731.584 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:51.990Z,1558042731.990 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:52.392Z,1558042732.392 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:52.797Z,1558042732.797 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:53.221Z,1558042733.221 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:53.629Z,1558042733.629 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:54.039Z,1558042734.039 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:54.510Z,1558042734.510 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:54.927Z,1558042734.927 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:55.315Z,1558042735.315 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:55.708Z,1558042735.708 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:56.120Z,1558042736.120 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:56.539Z,1558042736.539 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:56.946Z,1558042736.946 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:57.352Z,1558042737.352 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:57.722Z,1558042737.722 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:58.089Z,1558042738.089 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:58.496Z,1558042738.496 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:58.880Z,1558042738.880 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:59.284Z,1558042739.284 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:59.694Z,1558042739.694 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:38:59.857Z,1558042739.857 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:39:00.098Z,1558042740.098 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:00.261Z,1558042740.261 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-05-16T21:39:00.556Z,1558042740.556 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:00.906Z,1558042740.906 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:01.313Z,1558042741.313 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:01.722Z,1558042741.722 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:02.117Z,1558042742.117 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:02.512Z,1558042742.512 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:02.910Z,1558042742.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:03.281Z,1558042743.281 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:39:03.281Z,1558042743.281 [AHRS_M2] Data Fault, FailCount= 3
2019-05-16T21:39:03.281Z,1558042743.281 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:39:03.325Z,1558042743.325 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:03.335Z,1558042743.335 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:39:03.493Z,1558042743.493 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.199493
2019-05-16T21:39:03.665Z,1558042743.665 [AHRS_M2](INFO): Powering down
2019-05-16T21:39:03.784Z,1558042743.784 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:03.784Z,1558042743.784 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:39:03.785Z,1558042743.785 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:39:04.091Z,1558042744.091 [DAT](INFO): ****** ping requested ******
2019-05-16T21:39:04.138Z,1558042744.138 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:04.513Z,1558042744.513 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:04.585Z,1558042744.585 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:39:04.585Z,1558042744.585 [AHRS_M2] No Fault, FailCount= 3
2019-05-16T21:39:04.874Z,1558042744.874 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:39:04.917Z,1558042744.917 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:05.328Z,1558042745.328 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:05.724Z,1558042745.724 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:06.132Z,1558042746.132 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:06.546Z,1558042746.546 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:06.946Z,1558042746.946 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:07.360Z,1558042747.360 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:07.745Z,1558042747.745 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:08.194Z,1558042748.194 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:08.579Z,1558042748.579 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:08.978Z,1558042748.978 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:09.393Z,1558042749.393 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:09.791Z,1558042749.791 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:10.190Z,1558042750.190 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:10.612Z,1558042750.612 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:11.012Z,1558042751.012 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:11.194Z,1558042751.194 [CommandLine](IMPORTANT): got command stop
2019-05-16T21:39:11.195Z,1558042751.195 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-05-16T21:39:11.423Z,1558042751.423 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:39:11.424Z,1558042751.424 [MissionManager](INFO): MissionManager is completed.
2019-05-16T21:39:11.424Z,1558042751.424 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2019-05-16T21:39:11.424Z,1558042751.424 [circle_acoustic_contact] Stopped
2019-05-16T21:39:11.424Z,1558042751.424 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2019-05-16T21:39:11.424Z,1558042751.424 [circle_acoustic_contact:A.] Stopped
2019-05-16T21:39:11.424Z,1558042751.424 [circle_acoustic_contact:A.](DEBUG): Uninitializing Tracking.
2019-05-16T21:39:11.424Z,1558042751.424 [circle_acoustic_contact:StandardEnvelopes] Stopped
2019-05-16T21:39:11.424Z,1558042751.424 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:I.Pitch] Stopped
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:J.Buoyancy] Stopped
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-16T21:39:11.425Z,1558042751.425 [circle_acoustic_contact:Science] Stopped
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:Science:G] Stopped
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:L.SetSpeed] Stopped
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:L.SetSpeed](DEBUG): Uninitialize.
2019-05-16T21:39:11.426Z,1558042751.426 [circle_acoustic_contact:YoYos] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2019-05-16T21:39:11.427Z,1558042751.427 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2019-05-16T21:39:11.673Z,1558042751.673 [WetLabsBB2FL](INFO): Powering down
2019-05-16T21:39:11.795Z,1558042751.795 [MissionManager](IMPORTANT): Started mission Default
2019-05-16T21:39:11.795Z,1558042751.795 [Default] Running Loop=1
2019-05-16T21:39:11.795Z,1558042751.795 [Default](DEBUG): Aggregate::initialize Default
2019-05-16T21:39:11.795Z,1558042751.795 [Default:B.GoToSurface] Running Loop=1
2019-05-16T21:39:11.796Z,1558042751.796 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:39:11.796Z,1558042751.796 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:39:11.796Z,1558042751.796 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:39:11.796Z,1558042751.796 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:39:11.797Z,1558042751.797 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:39:11.798Z,1558042751.798 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:39:11.798Z,1558042751.798 [Default:A.Wait] Running Loop=1
2019-05-16T21:39:11.798Z,1558042751.798 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:39:12.197Z,1558042752.197 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -13.00 mm (3 active estimators).
2019-05-16T21:39:12.349Z,1558042752.349 [Radio_Surface](INFO): Powering up
2019-05-16T21:39:16.190Z,1558042756.190 [Reporter](INFO): platform_buoyancy_position 131.469604 cc
2019-05-16T21:39:16.602Z,1558042756.602 [Reporter](INFO): platform_buoyancy_position 131.335327 cc
2019-05-16T21:39:17.633Z,1558042757.633 [DataOverHttps](INFO): Radio surface powered ON.
2019-05-16T21:39:17.803Z,1558042757.803 [Reporter](INFO): platform_buoyancy_position 131.469604 cc
2019-05-16T21:39:18.190Z,1558042758.190 [Reporter](INFO): platform_buoyancy_position 131.335327 cc
2019-05-16T21:39:18.401Z,1558042758.401 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:39:18.401Z,1558042758.401 [AHRS_M2] Data Fault, FailCount= 4
2019-05-16T21:39:18.401Z,1558042758.401 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:39:18.621Z,1558042758.621 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:39:18.787Z,1558042758.787 [AHRS_M2](INFO): Powering down
2019-05-16T21:39:19.330Z,1558042759.330 [Reporter](INFO): platform_buoyancy_position 132.812622 cc
2019-05-16T21:39:19.702Z,1558042759.702 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:39:19.702Z,1558042759.702 [AHRS_M2] No Fault, FailCount= 4
2019-05-16T21:39:19.703Z,1558042759.703 [Reporter](INFO): platform_buoyancy_position 133.618408 cc
2019-05-16T21:39:19.997Z,1558042759.997 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:39:20.191Z,1558042760.191 [Reporter](INFO): platform_buoyancy_position 135.901520 cc
2019-05-16T21:39:20.535Z,1558042760.535 [Reporter](INFO): platform_buoyancy_position 137.781708 cc
2019-05-16T21:39:20.947Z,1558042760.947 [Reporter](INFO): platform_buoyancy_position 139.930511 cc
2019-05-16T21:39:21.347Z,1558042761.347 [Reporter](INFO): platform_buoyancy_position 142.079315 cc
2019-05-16T21:39:21.747Z,1558042761.747 [Reporter](INFO): platform_buoyancy_position 143.422302 cc
2019-05-16T21:39:22.151Z,1558042762.151 [Reporter](INFO): platform_buoyancy_position 144.228119 cc
2019-05-16T21:39:22.555Z,1558042762.555 [Reporter](INFO): platform_buoyancy_position 146.376923 cc
2019-05-16T21:39:23.047Z,1558042763.047 [Reporter](INFO): platform_buoyancy_position 147.317017 cc
2019-05-16T21:39:23.325Z,1558042763.325 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:39:23.455Z,1558042763.455 [Reporter](INFO): platform_buoyancy_position 148.660004 cc
2019-05-16T21:39:23.767Z,1558042763.767 [Reporter](INFO): platform_buoyancy_position 150.674530 cc
2019-05-16T21:39:24.187Z,1558042764.187 [Reporter](INFO): platform_buoyancy_position 152.823303 cc
2019-05-16T21:39:24.567Z,1558042764.567 [Reporter](INFO): platform_buoyancy_position 152.957611 cc
2019-05-16T21:39:24.906Z,1558042764.906 [Default:A.Wait](INFO): Done Waiting.
2019-05-16T21:39:24.906Z,1558042764.906 [Default:A.Wait] Stopped
2019-05-16T21:39:24.906Z,1558042764.906 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:39:25.043Z,1558042765.043 [Reporter](INFO): platform_buoyancy_position 154.972107 cc
2019-05-16T21:39:25.423Z,1558042765.423 [Reporter](INFO): platform_buoyancy_position 155.106415 cc
2019-05-16T21:39:25.819Z,1558042765.819 [Reporter](INFO): platform_buoyancy_position 157.255219 cc
2019-05-16T21:39:26.211Z,1558042766.211 [Reporter](INFO): platform_buoyancy_position 159.404022 cc
2019-05-16T21:39:26.639Z,1558042766.639 [Reporter](INFO): platform_buoyancy_position 160.344116 cc
2019-05-16T21:39:27.027Z,1558042767.027 [Reporter](INFO): platform_buoyancy_position 161.418518 cc
2019-05-16T21:39:27.483Z,1558042767.483 [Reporter](INFO): platform_buoyancy_position 163.567322 cc
2019-05-16T21:39:28.331Z,1558042768.331 [Reporter](INFO): platform_buoyancy_position 165.716125 cc
2019-05-16T21:39:28.611Z,1558042768.611 [Reporter](INFO): platform_buoyancy_position 165.984711 cc
2019-05-16T21:39:29.019Z,1558042769.019 [Reporter](INFO): platform_buoyancy_position 167.864929 cc
2019-05-16T21:39:29.431Z,1558042769.431 [Reporter](INFO): platform_buoyancy_position 170.148010 cc
2019-05-16T21:39:29.839Z,1558042769.839 [Reporter](INFO): platform_buoyancy_position 170.282318 cc
2019-05-16T21:39:30.255Z,1558042770.255 [Reporter](INFO): platform_buoyancy_position 172.162537 cc
2019-05-16T21:39:30.635Z,1558042770.635 [Reporter](INFO): platform_buoyancy_position 173.371216 cc
2019-05-16T21:39:31.181Z,1558042771.181 [Reporter](INFO): platform_buoyancy_position 174.445618 cc
2019-05-16T21:39:31.503Z,1558042771.503 [Reporter](INFO): platform_buoyancy_position 176.460114 cc
2019-05-16T21:39:31.979Z,1558042771.979 [Reporter](INFO): platform_buoyancy_position 178.608917 cc
2019-05-16T21:39:32.431Z,1558042772.431 [Reporter](INFO): platform_buoyancy_position 178.743225 cc
2019-05-16T21:39:32.731Z,1558042772.731 [Reporter](INFO): platform_buoyancy_position 180.892029 cc
2019-05-16T21:39:33.071Z,1558042773.071 [Reporter](INFO): platform_buoyancy_position 180.757721 cc
2019-05-16T21:39:33.463Z,1558042773.463 [Reporter](INFO): platform_buoyancy_position 182.906525 cc
2019-05-16T21:39:33.813Z,1558042773.813 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:39:33.813Z,1558042773.813 [AHRS_M2] Data Fault, FailCount= 5
2019-05-16T21:39:33.813Z,1558042773.813 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:39:33.985Z,1558042773.985 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:39:33.986Z,1558042773.986 [CBIT](CRITICAL): Data Fault in component: AHRS_M2
2019-05-16T21:39:33.987Z,1558042773.987 [Reporter](INFO): platform_buoyancy_position 185.055328 cc
2019-05-16T21:39:34.134Z,1558042774.134 [AHRS_M2](INFO): Powering down
2019-05-16T21:39:34.339Z,1558042774.339 [CommandLine](FAULT): Scheduling is paused
2019-05-16T21:39:34.340Z,1558042774.340 [CBIT](INFO): Critical error at 20190516T213933
2019-05-16T21:39:34.344Z,1558042774.344 [Reporter](INFO): platform_buoyancy_position 185.323914 cc
2019-05-16T21:39:34.683Z,1558042774.683 [Reporter](INFO): platform_buoyancy_position 187.069824 cc
2019-05-16T21:39:35.091Z,1558042775.091 [Reporter](INFO): platform_buoyancy_position 187.204132 cc
2019-05-16T21:39:35.491Z,1558042775.491 [Reporter](INFO): platform_buoyancy_position 189.352936 cc
2019-05-16T21:39:35.895Z,1558042775.895 [Reporter](INFO): platform_buoyancy_position 189.890137 cc
2019-05-16T21:39:36.359Z,1558042776.359 [Reporter](INFO): platform_buoyancy_position 191.636017 cc
2019-05-16T21:39:36.779Z,1558042776.779 [Reporter](INFO): platform_buoyancy_position 193.784821 cc
2019-05-16T21:39:37.079Z,1558042777.079 [Reporter](INFO): platform_buoyancy_position 193.650513 cc
2019-05-16T21:39:37.491Z,1558042777.491 [Reporter](INFO): platform_buoyancy_position 195.933624 cc
2019-05-16T21:39:37.871Z,1558042777.871 [Reporter](INFO): platform_buoyancy_position 196.202240 cc
2019-05-16T21:39:38.291Z,1558042778.291 [Reporter](INFO): platform_buoyancy_position 198.082428 cc
2019-05-16T21:39:38.708Z,1558042778.708 [Reporter](INFO): platform_buoyancy_position 199.962616 cc
2019-05-16T21:39:39.091Z,1558042779.091 [Reporter](INFO): platform_buoyancy_position 200.231232 cc
2019-05-16T21:39:39.499Z,1558042779.499 [Reporter](INFO): platform_buoyancy_position 202.380035 cc
2019-05-16T21:39:39.911Z,1558042779.911 [Reporter](INFO): platform_buoyancy_position 204.260223 cc
2019-05-16T21:39:40.303Z,1558042780.303 [Reporter](INFO): platform_buoyancy_position 204.528839 cc
2019-05-16T21:39:40.707Z,1558042780.707 [Reporter](INFO): platform_buoyancy_position 206.543335 cc
2019-05-16T21:39:41.135Z,1558042781.135 [Reporter](INFO): platform_buoyancy_position 206.946228 cc
2019-05-16T21:39:41.519Z,1558042781.519 [Reporter](INFO): platform_buoyancy_position 208.826416 cc
2019-05-16T21:39:41.923Z,1558042781.923 [Reporter](INFO): platform_buoyancy_position 210.572327 cc
2019-05-16T21:39:42.340Z,1558042782.340 [Reporter](INFO): platform_buoyancy_position 210.975220 cc
2019-05-16T21:39:42.727Z,1558042782.727 [Reporter](INFO): platform_buoyancy_position 212.989716 cc
2019-05-16T21:39:43.138Z,1558042783.138 [Reporter](INFO): platform_buoyancy_position 213.661224 cc
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2019-05-16T21:40:18.669Z,1558042818.669 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
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2019-05-16T21:40:49.374Z,1558042849.374 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
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2019-05-16T21:41:08.739Z,1558042868.739 [Reporter](INFO): platform_buoyancy_position 494.616852 cc
2019-05-16T21:41:09.147Z,1558042869.147 [Reporter](INFO): platform_buoyancy_position 496.631378 cc
2019-05-16T21:41:09.551Z,1558042869.551 [Reporter](INFO): platform_buoyancy_position 496.899933 cc
2019-05-16T21:41:09.951Z,1558042869.951 [Reporter](INFO): platform_buoyancy_position 498.780121 cc
2019-05-16T21:41:10.359Z,1558042870.359 [Reporter](INFO): platform_buoyancy_position 500.660400 cc
2019-05-16T21:41:10.786Z,1558042870.786 [Reporter](INFO): platform_buoyancy_position 501.063232 cc
2019-05-16T21:41:11.167Z,1558042871.167 [Reporter](INFO): platform_buoyancy_position 503.212036 cc
2019-05-16T21:41:11.571Z,1558042871.571 [Reporter](INFO): platform_buoyancy_position 503.480621 cc
2019-05-16T21:41:11.971Z,1558042871.971 [Reporter](INFO): platform_buoyancy_position 505.226562 cc
2019-05-16T21:41:12.379Z,1558042872.379 [Reporter](INFO): platform_buoyancy_position 507.241058 cc
2019-05-16T21:41:12.787Z,1558042872.787 [Reporter](INFO): platform_buoyancy_position 507.509674 cc
2019-05-16T21:41:13.199Z,1558042873.199 [Reporter](INFO): platform_buoyancy_position 509.658478 cc
2019-05-16T21:41:13.591Z,1558042873.591 [Reporter](INFO): platform_buoyancy_position 510.867157 cc
2019-05-16T21:41:13.994Z,1558042873.994 [Reporter](INFO): platform_buoyancy_position 511.672943 cc
2019-05-16T21:41:14.419Z,1558042874.419 [Reporter](INFO): platform_buoyancy_position 513.687439 cc
2019-05-16T21:41:14.799Z,1558042874.799 [Reporter](INFO): platform_buoyancy_position 514.358948 cc
2019-05-16T21:41:15.207Z,1558042875.207 [Reporter](INFO): platform_buoyancy_position 516.104797 cc
2019-05-16T21:41:15.607Z,1558042875.607 [Reporter](INFO): platform_buoyancy_position 518.253601 cc
2019-05-16T21:41:16.444Z,1558042876.444 [Reporter](INFO): platform_buoyancy_position 520.402405 cc
2019-05-16T21:41:16.823Z,1558042876.823 [Reporter](INFO): platform_buoyancy_position 520.268127 cc
2019-05-16T21:41:17.231Z,1558042877.231 [Reporter](INFO): platform_buoyancy_position 522.551208 cc
2019-05-16T21:41:17.647Z,1558042877.647 [Reporter](INFO): platform_buoyancy_position 524.565735 cc
2019-05-16T21:41:18.031Z,1558042878.031 [Reporter](INFO): platform_buoyancy_position 524.700012 cc
2019-05-16T21:41:18.427Z,1558042878.427 [Reporter](INFO): platform_buoyancy_position 526.714539 cc
2019-05-16T21:41:18.855Z,1558042878.855 [Reporter](INFO): platform_buoyancy_position 528.729004 cc
2019-05-16T21:41:19.251Z,1558042879.251 [Reporter](INFO): platform_buoyancy_position 528.997620 cc
2019-05-16T21:41:19.639Z,1558042879.639 [Reporter](INFO): platform_buoyancy_position 531.012146 cc
2019-05-16T21:41:20.055Z,1558042880.055 [Reporter](INFO): platform_buoyancy_position 531.415039 cc
2019-05-16T21:41:20.077Z,1558042880.077 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:41:20.466Z,1558042880.466 [Reporter](INFO): platform_buoyancy_position 533.295227 cc
2019-05-16T21:41:20.851Z,1558042880.851 [Reporter](INFO): platform_buoyancy_position 535.309692 cc
2019-05-16T21:41:21.292Z,1558042881.292 [Reporter](INFO): platform_buoyancy_position 535.578308 cc
2019-05-16T21:41:21.671Z,1558042881.671 [Reporter](INFO): platform_buoyancy_position 537.458496 cc
2019-05-16T21:41:22.487Z,1558042882.487 [Reporter](INFO): platform_buoyancy_position 539.741638 cc
2019-05-16T21:41:22.883Z,1558042882.883 [Reporter](INFO): platform_buoyancy_position 541.756104 cc
2019-05-16T21:41:23.283Z,1558042883.283 [Reporter](INFO): platform_buoyancy_position 541.890442 cc
2019-05-16T21:41:23.699Z,1558042883.699 [Reporter](INFO): platform_buoyancy_position 544.039246 cc
2019-05-16T21:41:24.112Z,1558042884.112 [Reporter](INFO): platform_buoyancy_position 544.173523 cc
2019-05-16T21:41:24.495Z,1558042884.495 [Reporter](INFO): platform_buoyancy_position 546.053711 cc
2019-05-16T21:41:24.903Z,1558042884.903 [Reporter](INFO): platform_buoyancy_position 548.202515 cc
2019-05-16T21:41:25.307Z,1558042885.307 [Reporter](INFO): platform_buoyancy_position 548.336792 cc
2019-05-16T21:41:25.711Z,1558042885.711 [Reporter](INFO): platform_buoyancy_position 550.485596 cc
2019-05-16T21:41:26.119Z,1558042886.119 [Reporter](INFO): platform_buoyancy_position 552.365845 cc
2019-05-16T21:41:26.523Z,1558042886.523 [Reporter](INFO): platform_buoyancy_position 552.500122 cc
2019-05-16T21:41:26.908Z,1558042886.908 [Reporter](INFO): platform_buoyancy_position 554.648926 cc
2019-05-16T21:41:27.343Z,1558042887.343 [Reporter](INFO): platform_buoyancy_position 554.783203 cc
2019-05-16T21:41:27.743Z,1558042887.743 [Reporter](INFO): platform_buoyancy_position 556.797729 cc
2019-05-16T21:41:28.123Z,1558042888.123 [Reporter](INFO): platform_buoyancy_position 558.946533 cc
2019-05-16T21:41:28.943Z,1558042888.943 [Reporter](INFO): platform_buoyancy_position 561.095337 cc
2019-05-16T21:41:29.339Z,1558042889.339 [Reporter](INFO): platform_buoyancy_position 561.363892 cc
2019-05-16T21:41:29.759Z,1558042889.759 [Reporter](INFO): platform_buoyancy_position 563.244141 cc
2019-05-16T21:41:30.151Z,1558042890.151 [Reporter](INFO): platform_buoyancy_position 565.392944 cc
2019-05-16T21:41:30.563Z,1558042890.563 [Reporter](INFO): platform_buoyancy_position 565.661499 cc
2019-05-16T21:41:30.975Z,1558042890.975 [Reporter](INFO): platform_buoyancy_position 567.541748 cc
2019-05-16T21:41:31.400Z,1558042891.400 [Reporter](INFO): platform_buoyancy_position 569.556213 cc
2019-05-16T21:41:31.761Z,1558042891.761 [Reporter](INFO): platform_buoyancy_position 569.824829 cc
2019-05-16T21:41:32.179Z,1558042892.179 [Reporter](INFO): platform_buoyancy_position 571.839294 cc
2019-05-16T21:41:32.615Z,1558042892.615 [Reporter](INFO): platform_buoyancy_position 572.107910 cc
2019-05-16T21:41:32.983Z,1558042892.983 [Reporter](INFO): platform_buoyancy_position 573.988098 cc
2019-05-16T21:41:33.412Z,1558042893.412 [Reporter](INFO): platform_buoyancy_position 576.136902 cc
2019-05-16T21:41:33.749Z,1558042893.749 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-05-16T21:41:33.749Z,1558042893.749 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-05-16T21:41:33.749Z,1558042893.749 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-16T21:41:33.795Z,1558042893.795 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-16T21:41:34.182Z,1558042894.182 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-16T21:41:34.182Z,1558042894.182 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 0
2019-05-16T21:41:34.184Z,1558042894.184 [Reporter](INFO): platform_buoyancy_position 578.285706 cc
2019-05-16T21:41:34.591Z,1558042894.591 [Reporter](INFO): platform_buoyancy_position 578.822937 cc
2019-05-16T21:41:34.999Z,1558042894.999 [Reporter](INFO): platform_buoyancy_position 580.568848 cc
2019-05-16T21:41:35.395Z,1558042895.395 [Reporter](INFO): platform_buoyancy_position 582.583313 cc
2019-05-16T21:41:36.219Z,1558042896.219 [Reporter](INFO): platform_buoyancy_position 584.732117 cc
2019-05-16T21:41:36.631Z,1558042896.631 [Reporter](INFO): platform_buoyancy_position 586.612305 cc
2019-05-16T21:41:37.027Z,1558042897.027 [Reporter](INFO): platform_buoyancy_position 586.880920 cc
2019-05-16T21:41:37.442Z,1558042897.442 [Reporter](INFO): platform_buoyancy_position 589.029724 cc
2019-05-16T21:41:37.819Z,1558042897.819 [Reporter](INFO): platform_buoyancy_position 589.164001 cc
2019-05-16T21:41:38.243Z,1558042898.243 [Reporter](INFO): platform_buoyancy_position 591.312805 cc
2019-05-16T21:41:38.641Z,1558042898.641 [Reporter](INFO): platform_buoyancy_position 592.387207 cc
2019-05-16T21:41:39.041Z,1558042899.041 [Reporter](INFO): platform_buoyancy_position 593.461609 cc
2019-05-16T21:41:39.451Z,1558042899.451 [Reporter](INFO): platform_buoyancy_position 595.476135 cc
2019-05-16T21:41:39.855Z,1558042899.855 [Reporter](INFO): platform_buoyancy_position 595.610413 cc
2019-05-16T21:41:40.247Z,1558042900.247 [Reporter](INFO): platform_buoyancy_position 597.759216 cc
2019-05-16T21:41:40.669Z,1558042900.669 [Reporter](INFO): platform_buoyancy_position 599.908020 cc
2019-05-16T21:41:41.082Z,1558042901.082 [Reporter](INFO): platform_buoyancy_position 599.773743 cc
2019-05-16T21:41:41.455Z,1558042901.455 [Reporter](INFO): platform_buoyancy_position 602.056824 cc
2019-05-16T21:41:41.869Z,1558042901.869 [Reporter](INFO): platform_buoyancy_position 603.534119 cc
2019-05-16T21:41:42.277Z,1558042902.277 [Reporter](INFO): platform_buoyancy_position 604.071350 cc
2019-05-16T21:41:42.681Z,1558042902.681 [Reporter](INFO): platform_buoyancy_position 606.220154 cc
2019-05-16T21:41:43.091Z,1558042903.091 [Reporter](INFO): platform_buoyancy_position 606.488708 cc
2019-05-16T21:41:43.444Z,1558042903.444 [Default:CheckIn] Running Loop=1
2019-05-16T21:41:43.444Z,1558042903.444 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:41:43.444Z,1558042903.444 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:41:43.479Z,1558042903.479 [Reporter](INFO): platform_buoyancy_position 608.368896 cc
2019-05-16T21:41:43.902Z,1558042903.902 [Reporter](INFO): platform_buoyancy_position 610.517700 cc
2019-05-16T21:41:44.229Z,1558042904.229 [NAL9602](INFO): Powering up
2019-05-16T21:41:44.738Z,1558042904.738 [Reporter](INFO): platform_buoyancy_position 612.666504 cc
2019-05-16T21:41:45.475Z,1558042905.475 [Reporter](INFO): platform_buoyancy_position 613.203735 cc
2019-05-16T21:41:45.591Z,1558042905.591 [Reporter](INFO): platform_buoyancy_position 614.815308 cc
2019-05-16T21:41:45.999Z,1558042905.999 [Reporter](INFO): platform_buoyancy_position 616.964111 cc
2019-05-16T21:41:46.387Z,1558042906.387 [Reporter](INFO): platform_buoyancy_position 617.098450 cc
2019-05-16T21:41:46.803Z,1558042906.803 [Reporter](INFO): platform_buoyancy_position 619.112915 cc
2019-05-16T21:41:47.223Z,1558042907.223 [Reporter](INFO): platform_buoyancy_position 621.127441 cc
2019-05-16T21:41:47.635Z,1558042907.635 [Reporter](INFO): platform_buoyancy_position 621.395996 cc
2019-05-16T21:41:48.015Z,1558042908.015 [Reporter](INFO): platform_buoyancy_position 623.544800 cc
2019-05-16T21:41:48.431Z,1558042908.431 [Reporter](INFO): platform_buoyancy_position 625.425049 cc
2019-05-16T21:41:48.823Z,1558042908.823 [Reporter](INFO): platform_buoyancy_position 625.693604 cc
2019-05-16T21:41:49.271Z,1558042909.271 [Reporter](INFO): platform_buoyancy_position 627.708130 cc
2019-05-16T21:41:49.642Z,1558042909.642 [Reporter](INFO): platform_buoyancy_position 627.842407 cc
2019-05-16T21:41:50.031Z,1558042910.031 [Reporter](INFO): platform_buoyancy_position 629.991211 cc
2019-05-16T21:41:50.454Z,1558042910.454 [Reporter](INFO): platform_buoyancy_position 631.602844 cc
2019-05-16T21:41:50.781Z,1558042910.781 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:41:50.835Z,1558042910.835 [Reporter](INFO): platform_buoyancy_position 632.140015 cc
2019-05-16T21:41:51.243Z,1558042911.243 [Reporter](INFO): platform_buoyancy_position 634.288818 cc
2019-05-16T21:41:52.055Z,1558042912.055 [Reporter](INFO): platform_buoyancy_position 636.437622 cc
2019-05-16T21:41:52.467Z,1558042912.467 [Reporter](INFO): platform_buoyancy_position 638.452148 cc
2019-05-16T21:41:52.871Z,1558042912.871 [Reporter](INFO): platform_buoyancy_position 638.586426 cc
2019-05-16T21:41:53.266Z,1558042913.266 [Reporter](INFO): platform_buoyancy_position 640.600952 cc
2019-05-16T21:41:54.067Z,1558042914.067 [Reporter](INFO): platform_buoyancy_position 642.884033 cc
2019-05-16T21:41:54.475Z,1558042914.475 [Reporter](INFO): platform_buoyancy_position 644.898499 cc
2019-05-16T21:41:54.891Z,1558042914.891 [Reporter](INFO): platform_buoyancy_position 645.032837 cc
2019-05-16T21:41:55.186Z,1558042915.186 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:41:55.283Z,1558042915.283 [Reporter](INFO): platform_buoyancy_position 646.913025 cc
2019-05-16T21:41:55.691Z,1558042915.691 [Reporter](INFO): platform_buoyancy_position 649.196106 cc
2019-05-16T21:41:55.987Z,1558042915.987 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-05-16T21:41:55.987Z,1558042915.987 [NAL9602] Data Fault, FailCount= 2
2019-05-16T21:41:55.987Z,1558042915.987 [NAL9602](ERROR): Data Fault
2019-05-16T21:41:56.098Z,1558042916.098 [CBIT](ERROR): Data Fault in component: NAL9602
2019-05-16T21:41:56.099Z,1558042916.099 [Reporter](INFO): platform_buoyancy_position 649.330444 cc
2019-05-16T21:41:56.402Z,1558042916.402 [NAL9602](INFO): Powering down
2019-05-16T21:41:56.499Z,1558042916.499 [Reporter](INFO): platform_buoyancy_position 651.344910 cc
2019-05-16T21:41:56.909Z,1558042916.909 [Reporter](INFO): platform_buoyancy_position 651.479248 cc
2019-05-16T21:41:57.293Z,1558042917.293 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-16T21:41:57.294Z,1558042917.294 [NAL9602] No Fault, FailCount= 2
2019-05-16T21:41:57.295Z,1558042917.295 [Reporter](INFO): platform_buoyancy_position 653.628052 cc
2019-05-16T21:41:57.711Z,1558042917.711 [Reporter](INFO): platform_buoyancy_position 655.776855 cc
2019-05-16T21:41:58.507Z,1558042918.507 [Reporter](INFO): platform_buoyancy_position 657.791321 cc
2019-05-16T21:41:58.919Z,1558042918.919 [Reporter](INFO): platform_buoyancy_position 658.328552 cc
2019-05-16T21:41:59.339Z,1558042919.339 [Reporter](INFO): platform_buoyancy_position 659.940125 cc
2019-05-16T21:41:59.723Z,1558042919.723 [Reporter](INFO): platform_buoyancy_position 662.088928 cc
2019-05-16T21:42:00.562Z,1558042920.562 [Reporter](INFO): platform_buoyancy_position 664.237732 cc
2019-05-16T21:42:00.960Z,1558042920.960 [Reporter](INFO): platform_buoyancy_position 666.386536 cc
2019-05-16T21:42:01.750Z,1558042921.750 [Reporter](INFO): platform_buoyancy_position 668.535339 cc
2019-05-16T21:42:02.155Z,1558042922.155 [Reporter](INFO): platform_buoyancy_position 668.803955 cc
2019-05-16T21:42:02.555Z,1558042922.555 [Reporter](INFO): platform_buoyancy_position 670.684143 cc
2019-05-16T21:42:02.979Z,1558042922.979 [Reporter](INFO): platform_buoyancy_position 672.832947 cc
2019-05-16T21:42:03.359Z,1558042923.359 [Reporter](INFO): platform_buoyancy_position 672.967224 cc
2019-05-16T21:42:03.779Z,1558042923.779 [Reporter](INFO): platform_buoyancy_position 675.116028 cc
2019-05-16T21:42:04.214Z,1558042924.214 [Reporter](INFO): platform_buoyancy_position 675.384644 cc
2019-05-16T21:42:04.571Z,1558042924.571 [Reporter](INFO): platform_buoyancy_position 677.264832 cc
2019-05-16T21:42:04.995Z,1558042924.995 [Reporter](INFO): platform_buoyancy_position 679.279358 cc
2019-05-16T21:42:05.383Z,1558042925.383 [Reporter](INFO): platform_buoyancy_position 679.413635 cc
2019-05-16T21:42:05.819Z,1558042925.819 [Reporter](INFO): platform_buoyancy_position 681.428101 cc
2019-05-16T21:42:06.191Z,1558042926.191 [Reporter](INFO): platform_buoyancy_position 683.442627 cc
2019-05-16T21:42:06.590Z,1558042926.590 [Reporter](INFO): platform_buoyancy_position 683.576904 cc
2019-05-16T21:42:06.999Z,1558042926.999 [Reporter](INFO): platform_buoyancy_position 685.725708 cc
2019-05-16T21:42:07.422Z,1558042927.422 [Reporter](INFO): platform_buoyancy_position 686.262939 cc
2019-05-16T21:42:07.806Z,1558042927.806 [Reporter](INFO): platform_buoyancy_position 688.008850 cc
2019-05-16T21:42:08.207Z,1558042928.207 [Reporter](INFO): platform_buoyancy_position 690.023315 cc
2019-05-16T21:42:08.631Z,1558042928.631 [Reporter](INFO): platform_buoyancy_position 690.157654 cc
2019-05-16T21:42:09.022Z,1558042929.022 [Reporter](INFO): platform_buoyancy_position 692.172119 cc
2019-05-16T21:42:09.435Z,1558042929.435 [Reporter](INFO): platform_buoyancy_position 692.843628 cc
2019-05-16T21:42:09.823Z,1558042929.823 [Reporter](INFO): platform_buoyancy_position 694.320923 cc
2019-05-16T21:42:10.235Z,1558042930.235 [Reporter](INFO): platform_buoyancy_position 696.469727 cc
2019-05-16T21:42:10.627Z,1558042930.627 [Reporter](INFO): platform_buoyancy_position 696.604004 cc
2019-05-16T21:42:11.039Z,1558042931.039 [Reporter](INFO): platform_buoyancy_position 698.618530 cc
2019-05-16T21:42:11.446Z,1558042931.446 [Reporter](INFO): platform_buoyancy_position 700.767334 cc
2019-05-16T21:42:12.247Z,1558042932.247 [Reporter](INFO): platform_buoyancy_position 703.050415 cc
2019-05-16T21:42:12.662Z,1558042932.662 [Reporter](INFO): platform_buoyancy_position 703.184753 cc
2019-05-16T21:42:13.047Z,1558042933.047 [Reporter](INFO): platform_buoyancy_position 705.199219 cc
2019-05-16T21:42:13.459Z,1558042933.459 [Reporter](INFO): platform_buoyancy_position 706.945129 cc
2019-05-16T21:42:13.878Z,1558042933.878 [Reporter](INFO): platform_buoyancy_position 707.348022 cc
2019-05-16T21:42:14.263Z,1558042934.263 [Reporter](INFO): platform_buoyancy_position 709.496826 cc
2019-05-16T21:42:14.675Z,1558042934.675 [Reporter](INFO): platform_buoyancy_position 709.631104 cc
2019-05-16T21:42:15.079Z,1558042935.079 [Reporter](INFO): platform_buoyancy_position 711.645630 cc
2019-05-16T21:42:15.475Z,1558042935.475 [Reporter](INFO): platform_buoyancy_position 713.660156 cc
2019-05-16T21:42:16.291Z,1558042936.291 [Reporter](INFO): platform_buoyancy_position 715.808960 cc
2019-05-16T21:42:16.699Z,1558042936.699 [Reporter](INFO): platform_buoyancy_position 717.957764 cc
2019-05-16T21:42:17.139Z,1558042937.139 [Reporter](INFO): platform_buoyancy_position 718.092041 cc
2019-05-16T21:42:17.537Z,1558042937.537 [Reporter](INFO): platform_buoyancy_position 720.106506 cc
2019-05-16T21:42:17.907Z,1558042937.907 [Reporter](INFO): platform_buoyancy_position 720.375122 cc
2019-05-16T21:42:18.307Z,1558042938.307 [Reporter](INFO): platform_buoyancy_position 722.255310 cc
2019-05-16T21:42:18.719Z,1558042938.719 [Reporter](INFO): platform_buoyancy_position 722.926819 cc
2019-05-16T21:42:19.115Z,1558042939.115 [Reporter](INFO): platform_buoyancy_position 724.538452 cc
2019-05-16T21:42:19.519Z,1558042939.519 [Reporter](INFO): platform_buoyancy_position 726.687256 cc
2019-05-16T21:42:19.934Z,1558042939.934 [Reporter](INFO): platform_buoyancy_position 726.955811 cc
2019-05-16T21:42:20.335Z,1558042940.335 [Reporter](INFO): platform_buoyancy_position 728.701721 cc
2019-05-16T21:42:20.783Z,1558042940.783 [Reporter](INFO): platform_buoyancy_position 730.850525 cc
2019-05-16T21:42:21.485Z,1558042941.485 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:42:21.551Z,1558042941.551 [Reporter](INFO): platform_buoyancy_position 732.999329 cc
2019-05-16T21:42:21.963Z,1558042941.963 [Reporter](INFO): platform_buoyancy_position 733.402222 cc
2019-05-16T21:42:22.391Z,1558042942.391 [Reporter](INFO): platform_buoyancy_position 735.148132 cc
2019-05-16T21:42:22.751Z,1558042942.751 [Reporter](INFO): platform_buoyancy_position 737.431213 cc
2019-05-16T21:42:23.569Z,1558042943.569 [Reporter](INFO): platform_buoyancy_position 739.445740 cc
2019-05-16T21:42:23.955Z,1558042943.955 [Reporter](INFO): platform_buoyancy_position 740.923035 cc
2019-05-16T21:42:24.375Z,1558042944.375 [Reporter](INFO): platform_buoyancy_position 741.728821 cc
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2019-05-16T21:42:26.691Z,1558042946.691 [NAL9602](INFO): Powering up NAL9602
2019-05-16T21:42:26.795Z,1558042946.795 [Reporter](INFO): platform_buoyancy_position 750.189758 cc
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2019-05-16T21:42:37.599Z,1558042957.599 [NAL9602](INFO): NAL9602 initialized
2019-05-16T21:42:37.707Z,1558042957.707 [Reporter](INFO): platform_buoyancy_position 786.719360 cc
2019-05-16T21:42:38.119Z,1558042958.119 [Reporter](INFO): platform_buoyancy_position 786.853638 cc
2019-05-16T21:42:38.421Z,1558042958.421 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:42:38.539Z,1558042958.539 [Reporter](INFO): platform_buoyancy_position 789.002441 cc
2019-05-16T21:42:38.980Z,1558042958.980 [Reporter](INFO): platform_buoyancy_position 790.882629 cc
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2019-05-16T21:42:52.193Z,1558042972.193 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:42:52.227Z,1558042972.227 [Reporter](INFO): platform_buoyancy_position 833.992920 cc
2019-05-16T21:42:53.031Z,1558042973.031 [Reporter](INFO): platform_buoyancy_position 836.276062 cc
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2019-05-16T21:42:58.090Z,1558042978.090 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003575
2019-05-16T21:42:58.275Z,1558042978.275 [Reporter](INFO): platform_buoyancy_position 853.332153 cc
2019-05-16T21:42:58.691Z,1558042978.691 [Reporter](INFO): platform_buoyancy_position 854.003662 cc
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2019-05-16T21:43:16.047Z,1558042996.047 [Reporter](INFO): platform_buoyancy_position 911.484070 cc
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2019-05-16T21:43:16.881Z,1558042996.881 [Reporter](INFO): platform_buoyancy_position 913.498535 cc
2019-05-16T21:43:17.271Z,1558042997.271 [Reporter](INFO): platform_buoyancy_position 915.781677 cc
2019-05-16T21:43:17.675Z,1558042997.675 [Reporter](INFO): platform_buoyancy_position 917.527527 cc
2019-05-16T21:43:18.075Z,1558042998.075 [Reporter](INFO): platform_buoyancy_position 917.796143 cc
2019-05-16T21:43:18.471Z,1558042998.471 [Reporter](INFO): platform_buoyancy_position 919.944946 cc
2019-05-16T21:43:18.867Z,1558042998.867 [Reporter](INFO): platform_buoyancy_position 920.079224 cc
2019-05-16T21:43:19.283Z,1558042999.283 [Reporter](INFO): platform_buoyancy_position 922.093750 cc
2019-05-16T21:43:19.409Z,1558042999.409 [CommandLine](IMPORTANT): got command run ./Missions/test.xml
2019-05-16T21:43:19.410Z,1558042999.410 [MissionManager](INFO): Loading Mission: ./Missions/test.xml
2019-05-16T21:43:19.532Z,1558042999.532 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2019-05-16T21:43:19.534Z,1558042999.534 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2019-05-16T21:43:19.536Z,1558042999.536 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2019-05-16T21:43:19.538Z,1558042999.538 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2019-05-16T21:43:19.540Z,1558042999.540 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = 0.000000 m
2019-05-16T21:43:19.543Z,1558042999.543 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2019-05-16T21:43:19.545Z,1558042999.545 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2019-05-16T21:43:19.547Z,1558042999.547 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2019-05-16T21:43:19.549Z,1558042999.549 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2019-05-16T21:43:19.551Z,1558042999.551 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 20.000000 s
2019-05-16T21:43:19.553Z,1558042999.553 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2019-05-16T21:43:19.555Z,1558042999.555 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2019-05-16T21:43:19.557Z,1558042999.557 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2019-05-16T21:43:19.559Z,1558042999.559 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2019-05-16T21:43:19.561Z,1558042999.561 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2019-05-16T21:43:19.563Z,1558042999.563 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2019-05-16T21:43:19.566Z,1558042999.566 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2019-05-16T21:43:19.568Z,1558042999.568 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2019-05-16T21:43:19.626Z,1558042999.626 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 0.000000 m/s
2019-05-16T21:43:19.650Z,1558042999.650 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2019-05-16T21:43:19.661Z,1558042999.661 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2019-05-16T21:43:19.663Z,1558042999.663 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2019-05-16T21:43:19.683Z,1558042999.683 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2019-05-16T21:43:19.727Z,1558042999.727 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-16T21:43:19.767Z,1558042999.767 [Reporter](INFO): platform_buoyancy_position 924.242554 cc
2019-05-16T21:43:19.849Z,1558042999.849 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2019-05-16T21:43:19.852Z,1558042999.852 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-16T21:43:19.858Z,1558042999.858 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-16T21:43:19.860Z,1558042999.860 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2019-05-16T21:43:19.866Z,1558042999.866 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-16T21:43:19.868Z,1558042999.868 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2019-05-16T21:43:19.875Z,1558042999.875 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2019-05-16T21:43:19.887Z,1558042999.887 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-16T21:43:19.916Z,1558042999.916 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-16T21:43:19.945Z,1558042999.945 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-16T21:43:19.947Z,1558042999.947 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-16T21:43:19.966Z,1558042999.966 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-16T21:43:19.967Z,1558042999.967 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:43:19.976Z,1558042999.976 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:43:19.991Z,1558042999.991 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-16T21:43:20.067Z,1558043000.067 [circle_acoustic_contact:I.Pitch](DEBUG): Construct.
2019-05-16T21:43:20.083Z,1558043000.083 [circle_acoustic_contact:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-16T21:43:20.093Z,1558043000.093 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-05-16T21:43:20.286Z,1558043000.286 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2019-05-16T21:43:20.288Z,1558043000.288 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-05-16T21:43:20.291Z,1558043000.291 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-05-16T21:43:20.293Z,1558043000.293 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2019-05-16T21:43:20.295Z,1558043000.295 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2019-05-16T21:43:20.298Z,1558043000.298 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2019-05-16T21:43:20.299Z,1558043000.299 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2019-05-16T21:43:20.302Z,1558043000.302 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2019-05-16T21:43:20.304Z,1558043000.304 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2019-05-16T21:43:20.307Z,1558043000.307 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2019-05-16T21:43:20.329Z,1558043000.329 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2019-05-16T21:43:20.331Z,1558043000.331 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2019-05-16T21:43:20.337Z,1558043000.337 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2019-05-16T21:43:20.339Z,1558043000.339 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-05-16T21:43:20.346Z,1558043000.346 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2019-05-16T21:43:20.348Z,1558043000.348 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2019-05-16T21:43:20.351Z,1558043000.351 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 0.000000 bool
2019-05-16T21:43:20.353Z,1558043000.353 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-05-16T21:43:20.356Z,1558043000.356 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2019-05-16T21:43:20.370Z,1558043000.370 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-05-16T21:43:20.373Z,1558043000.373 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-05-16T21:43:20.375Z,1558043000.375 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2019-05-16T21:43:20.377Z,1558043000.377 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2019-05-16T21:43:20.389Z,1558043000.389 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2019-05-16T21:43:20.391Z,1558043000.391 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2019-05-16T21:43:20.393Z,1558043000.393 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2019-05-16T21:43:20.395Z,1558043000.395 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2019-05-16T21:43:20.397Z,1558043000.397 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2019-05-16T21:43:20.400Z,1558043000.400 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2019-05-16T21:43:20.411Z,1558043000.411 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2019-05-16T21:43:20.453Z,1558043000.453 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2019-05-16T21:43:20.456Z,1558043000.456 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2019-05-16T21:43:20.458Z,1558043000.458 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2019-05-16T21:43:20.460Z,1558043000.460 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2019-05-16T21:43:20.503Z,1558043000.503 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2019-05-16T21:43:20.523Z,1558043000.523 [Reporter](INFO): platform_buoyancy_position 926.391357 cc
2019-05-16T21:43:20.533Z,1558043000.533 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2019-05-16T21:43:20.535Z,1558043000.535 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2019-05-16T21:43:20.538Z,1558043000.538 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2019-05-16T21:43:20.540Z,1558043000.540 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2019-05-16T21:43:20.558Z,1558043000.558 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2019-05-16T21:43:20.560Z,1558043000.560 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2019-05-16T21:43:20.563Z,1558043000.563 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2019-05-16T21:43:20.581Z,1558043000.581 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2019-05-16T21:43:20.583Z,1558043000.583 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2019-05-16T21:43:20.586Z,1558043000.586 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2019-05-16T21:43:20.588Z,1558043000.588 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2019-05-16T21:43:20.610Z,1558043000.610 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2019-05-16T21:43:20.612Z,1558043000.612 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2019-05-16T21:43:20.627Z,1558043000.627 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2019-05-16T21:43:20.629Z,1558043000.629 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2019-05-16T21:43:20.631Z,1558043000.631 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2019-05-16T21:43:20.652Z,1558043000.652 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:43:20.674Z,1558043000.674 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-05-16T21:43:20.697Z,1558043000.697 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:43:20.717Z,1558043000.717 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:43:20.732Z,1558043000.732 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-05-16T21:43:20.742Z,1558043000.742 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2019-05-16T21:43:20.744Z,1558043000.744 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2019-05-16T21:43:20.746Z,1558043000.746 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2019-05-16T21:43:20.747Z,1558043000.747 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2019-05-16T21:43:20.748Z,1558043000.748 [circle_acoustic_contact:L.SetSpeed](DEBUG): Construct.
2019-05-16T21:43:20.751Z,1558043000.751 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-16T21:43:20.758Z,1558043000.758 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-16T21:43:20.763Z,1558043000.763 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2019-05-16T21:43:20.772Z,1558043000.772 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2019-05-16T21:43:20.780Z,1558043000.780 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2019-05-16T21:43:20.811Z,1558043000.811 [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>0</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>20</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>0</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>

    </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>


2019-05-16T21:43:20.813Z,1558043000.813 [CommandLine](IMPORTANT): Running ./Missions/test.xml
2019-05-16T21:43:20.854Z,1558043000.854 [Default] Stopped
2019-05-16T21:43:20.854Z,1558043000.854 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-16T21:43:20.854Z,1558043000.854 [Default:B.GoToSurface] Stopped
2019-05-16T21:43:20.854Z,1558043000.854 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:43:20.854Z,1558043000.854 [Default:CheckIn] Stopped
2019-05-16T21:43:20.854Z,1558043000.854 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:43:20.855Z,1558043000.855 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:43:20.855Z,1558043000.855 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact] Running Loop=1
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact:A.](INFO): Initializing Tracking.
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:43:20.855Z,1558043000.855 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:I.Pitch](DEBUG): Initialize.
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:43:20.856Z,1558043000.856 [circle_acoustic_contact:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:A] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:B] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:C] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:D] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:E] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:F] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:H] Running Loop=1
2019-05-16T21:43:20.857Z,1558043000.857 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2019-05-16T21:43:20.858Z,1558043000.858 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:43:20.858Z,1558043000.858 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:43:20.858Z,1558043000.858 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:43:20.858Z,1558043000.858 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:43:20.859Z,1558043000.859 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2019-05-16T21:43:20.859Z,1558043000.859 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:43:20.859Z,1558043000.859 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-05-16T21:43:20.859Z,1558043000.859 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-05-16T21:43:20.860Z,1558043000.860 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2019-05-16T21:43:20.860Z,1558043000.860 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:43:20.860Z,1558043000.860 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:43:20.860Z,1558043000.860 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:43:20.861Z,1558043000.861 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2019-05-16T21:43:20.862Z,1558043000.862 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:43:20.862Z,1558043000.862 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:43:20.862Z,1558043000.862 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:43:20.863Z,1558043000.863 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2019-05-16T21:43:20.863Z,1558043000.863 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:43:20.863Z,1558043000.863 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-05-16T21:43:20.863Z,1558043000.863 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-05-16T21:43:20.864Z,1558043000.864 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:43:20.864Z,1558043000.864 [circle_acoustic_contact:L.SetSpeed](DEBUG): Initialize.
2019-05-16T21:43:20.864Z,1558043000.864 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:43:20.865Z,1558043000.865 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2019-05-16T21:43:20.865Z,1558043000.865 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:43:20.865Z,1558043000.865 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-16T21:43:20.865Z,1558043000.865 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:43:20.865Z,1558043000.865 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-16T21:43:20.865Z,1558043000.865 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:43:20.866Z,1558043000.866 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2019-05-16T21:43:20.866Z,1558043000.866 [circle_acoustic_contact:D] Running Loop=1
2019-05-16T21:43:20.866Z,1558043000.866 [circle_acoustic_contact:YoYos] Running Loop=1
2019-05-16T21:43:20.866Z,1558043000.866 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2019-05-16T21:43:20.867Z,1558043000.867 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2019-05-16T21:43:20.867Z,1558043000.867 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2019-05-16T21:43:20.868Z,1558043000.868 [circle_acoustic_contact:L.SetSpeed] Running Loop=1
2019-05-16T21:43:20.868Z,1558043000.868 [circle_acoustic_contact:Science] Running Loop=1
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:43:20.870Z,1558043000.870 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:Read_Oil] Stopped
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:H] Stopped
2019-05-16T21:43:20.871Z,1558043000.871 [circle_acoustic_contact:Science:G] Running Loop=1
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:F] Stopped
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:E] Stopped
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:D] Stopped
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:C] Stopped
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:B] Stopped
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:Science:A] Stopped
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:J.Buoyancy] Running Loop=1
2019-05-16T21:43:20.872Z,1558043000.872 [circle_acoustic_contact:I.Pitch] Running Loop=1
2019-05-16T21:43:20.873Z,1558043000.873 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2019-05-16T21:43:20.873Z,1558043000.873 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-16T21:43:20.881Z,1558043000.881 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-16T21:43:20.882Z,1558043000.882 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-16T21:43:20.882Z,1558043000.882 [circle_acoustic_contact:D] Stopped
2019-05-16T21:43:20.882Z,1558043000.882 [circle_acoustic_contact:F] Running Loop=1
2019-05-16T21:43:20.882Z,1558043000.882 [circle_acoustic_contact:A.] Running Loop=1
2019-05-16T21:43:20.883Z,1558043000.883 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:20.955Z,1558043000.955 [Reporter](INFO): platform_buoyancy_position 926.525635 cc
2019-05-16T21:43:21.118Z,1558043001.118 [WetLabsBB2FL](INFO): Opening uart, block timeout 10ths=2
2019-05-16T21:43:21.119Z,1558043001.119 [WetLabsBB2FL](INFO): Powering up
2019-05-16T21:43:21.286Z,1558043001.286 [circle_acoustic_contact:F] Stopped
2019-05-16T21:43:21.286Z,1558043001.286 [circle_acoustic_contact:G] Running Loop=1
2019-05-16T21:43:21.303Z,1558043001.303 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:21.734Z,1558043001.734 [circle_acoustic_contact:G] Stopped
2019-05-16T21:43:21.734Z,1558043001.734 [circle_acoustic_contact:H] Running Loop=1
2019-05-16T21:43:21.758Z,1558043001.758 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:22.087Z,1558043002.087 [circle_acoustic_contact:H] Stopped
2019-05-16T21:43:22.087Z,1558043002.087 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2019-05-16T21:43:22.087Z,1558043002.087 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:43:22.096Z,1558043002.096 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:22.491Z,1558043002.491 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2019-05-16T21:43:22.492Z,1558043002.492 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:43:22.492Z,1558043002.492 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:43:22.492Z,1558043002.492 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2019-05-16T21:43:22.492Z,1558043002.492 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2019-05-16T21:43:22.494Z,1558043002.494 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2019-05-16T21:43:22.495Z,1558043002.495 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:43:22.506Z,1558043002.506 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-05-16T21:43:22.506Z,1558043002.506 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:22.903Z,1558043002.903 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:23.348Z,1558043003.348 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:23.748Z,1558043003.748 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:24.154Z,1558043004.154 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:24.528Z,1558043004.528 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:24.944Z,1558043004.944 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:25.047Z,1558043005.047 [Reporter](INFO): platform_buoyancy_position 928.674438 cc
2019-05-16T21:43:25.347Z,1558043005.347 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:25.395Z,1558043005.395 [Reporter](INFO): platform_buoyancy_position 928.540161 cc
2019-05-16T21:43:25.740Z,1558043005.740 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:26.164Z,1558043006.164 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:26.219Z,1558043006.219 [Reporter](INFO): platform_buoyancy_position 924.242554 cc
2019-05-16T21:43:26.559Z,1558043006.559 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:26.597Z,1558043006.597 [Reporter](INFO): platform_buoyancy_position 920.079224 cc
2019-05-16T21:43:27.004Z,1558043007.004 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:27.051Z,1558043007.051 [Reporter](INFO): platform_buoyancy_position 915.647339 cc
2019-05-16T21:43:27.380Z,1558043007.380 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:27.427Z,1558043007.427 [Reporter](INFO): platform_buoyancy_position 910.275330 cc
2019-05-16T21:43:27.784Z,1558043007.784 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:27.824Z,1558043007.824 [Reporter](INFO): platform_buoyancy_position 905.037659 cc
2019-05-16T21:43:28.168Z,1558043008.168 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:28.236Z,1558043008.236 [Reporter](INFO): platform_buoyancy_position 900.605774 cc
2019-05-16T21:43:28.635Z,1558043008.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:28.675Z,1558043008.675 [Reporter](INFO): platform_buoyancy_position 894.293640 cc
2019-05-16T21:43:28.954Z,1558043008.954 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:29.063Z,1558043009.063 [Reporter](INFO): platform_buoyancy_position 889.996033 cc
2019-05-16T21:43:29.352Z,1558043009.352 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:29.419Z,1558043009.419 [Reporter](INFO): platform_buoyancy_position 885.564148 cc
2019-05-16T21:43:29.764Z,1558043009.764 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:29.919Z,1558043009.919 [Reporter](INFO): platform_buoyancy_position 880.729370 cc
2019-05-16T21:43:30.177Z,1558043010.177 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:30.215Z,1558043010.215 [Reporter](INFO): platform_buoyancy_position 874.954468 cc
2019-05-16T21:43:30.568Z,1558043010.568 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:30.631Z,1558043010.631 [Reporter](INFO): platform_buoyancy_position 870.253967 cc
2019-05-16T21:43:30.964Z,1558043010.964 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:31.007Z,1558043011.007 [Reporter](INFO): platform_buoyancy_position 864.344727 cc
2019-05-16T21:43:31.377Z,1558043011.377 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:31.419Z,1558043011.419 [Reporter](INFO): platform_buoyancy_position 859.778564 cc
2019-05-16T21:43:31.788Z,1558043011.788 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:31.839Z,1558043011.839 [Reporter](INFO): platform_buoyancy_position 853.466431 cc
2019-05-16T21:43:32.186Z,1558043012.186 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:32.223Z,1558043012.223 [Reporter](INFO): platform_buoyancy_position 849.034546 cc
2019-05-16T21:43:32.605Z,1558043012.605 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:32.643Z,1558043012.643 [Reporter](INFO): platform_buoyancy_position 842.722473 cc
2019-05-16T21:43:33.003Z,1558043013.003 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:33.039Z,1558043013.039 [Reporter](INFO): platform_buoyancy_position 838.290527 cc
2019-05-16T21:43:33.420Z,1558043013.420 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:33.459Z,1558043013.459 [Reporter](INFO): platform_buoyancy_position 831.844116 cc
2019-05-16T21:43:33.827Z,1558043013.827 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:33.863Z,1558043013.863 [Reporter](INFO): platform_buoyancy_position 827.680847 cc
2019-05-16T21:43:34.202Z,1558043014.202 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:34.243Z,1558043014.243 [Reporter](INFO): platform_buoyancy_position 821.234436 cc
2019-05-16T21:43:34.593Z,1558043014.593 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-05-16T21:43:34.593Z,1558043014.593 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-05-16T21:43:34.593Z,1558043014.593 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-16T21:43:34.603Z,1558043014.603 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:34.657Z,1558043014.657 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-16T21:43:34.659Z,1558043014.659 [Reporter](INFO): platform_buoyancy_position 816.802551 cc
2019-05-16T21:43:35.005Z,1558043015.005 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:35.057Z,1558043015.057 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-16T21:43:35.058Z,1558043015.058 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-05-16T21:43:35.060Z,1558043015.060 [Reporter](INFO): platform_buoyancy_position 812.236328 cc
2019-05-16T21:43:35.417Z,1558043015.417 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:35.523Z,1558043015.523 [Reporter](INFO): platform_buoyancy_position 806.192810 cc
2019-05-16T21:43:35.818Z,1558043015.818 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:35.902Z,1558043015.902 [Reporter](INFO): platform_buoyancy_position 801.358032 cc
2019-05-16T21:43:36.224Z,1558043016.224 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:36.291Z,1558043016.291 [Reporter](INFO): platform_buoyancy_position 795.314514 cc
2019-05-16T21:43:36.635Z,1558043016.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:36.739Z,1558043016.739 [Reporter](INFO): platform_buoyancy_position 791.016968 cc
2019-05-16T21:43:37.043Z,1558043017.043 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:37.107Z,1558043017.107 [Reporter](INFO): platform_buoyancy_position 784.704834 cc
2019-05-16T21:43:37.435Z,1558043017.435 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:37.519Z,1558043017.519 [Reporter](INFO): platform_buoyancy_position 780.138611 cc
2019-05-16T21:43:37.872Z,1558043017.872 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:37.979Z,1558043017.979 [Reporter](INFO): platform_buoyancy_position 773.960815 cc
2019-05-16T21:43:38.260Z,1558043018.260 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:38.423Z,1558043018.423 [Reporter](INFO): platform_buoyancy_position 769.528931 cc
2019-05-16T21:43:38.653Z,1558043018.653 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:38.703Z,1558043018.703 [Reporter](INFO): platform_buoyancy_position 763.082520 cc
2019-05-16T21:43:39.071Z,1558043019.071 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:39.130Z,1558043019.130 [Reporter](INFO): platform_buoyancy_position 758.919250 cc
2019-05-16T21:43:39.461Z,1558043019.461 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:39.499Z,1558043019.499 [Reporter](INFO): platform_buoyancy_position 752.338562 cc
2019-05-16T21:43:39.916Z,1558043019.916 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:39.955Z,1558043019.955 [Reporter](INFO): platform_buoyancy_position 747.906616 cc
2019-05-16T21:43:40.291Z,1558043020.291 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:40.327Z,1558043020.327 [Reporter](INFO): platform_buoyancy_position 741.863159 cc
2019-05-16T21:43:40.684Z,1558043020.684 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:40.723Z,1558043020.723 [Reporter](INFO): platform_buoyancy_position 737.431213 cc
2019-05-16T21:43:41.076Z,1558043021.076 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:41.099Z,1558043021.099 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:43:41.099Z,1558043021.099 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:43:41.135Z,1558043021.135 [Reporter](INFO): platform_buoyancy_position 732.462158 cc
2019-05-16T21:43:41.465Z,1558043021.465 [DAT](INFO): ****** ping requested ******
2019-05-16T21:43:41.487Z,1558043021.487 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:41.539Z,1558043021.539 [Reporter](INFO): platform_buoyancy_position 726.687256 cc
2019-05-16T21:43:41.871Z,1558043021.871 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:41.907Z,1558043021.907 [Reporter](INFO): platform_buoyancy_position 722.255310 cc
2019-05-16T21:43:42.285Z,1558043022.285 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:42.323Z,1558043022.323 [Reporter](INFO): platform_buoyancy_position 716.480408 cc
2019-05-16T21:43:42.708Z,1558043022.708 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:42.748Z,1558043022.748 [Reporter](INFO): platform_buoyancy_position 711.511353 cc
2019-05-16T21:43:43.140Z,1558043023.140 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:43.183Z,1558043023.183 [Reporter](INFO): platform_buoyancy_position 705.199219 cc
2019-05-16T21:43:43.557Z,1558043023.557 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:43.667Z,1558043023.667 [Reporter](INFO): platform_buoyancy_position 700.230103 cc
2019-05-16T21:43:43.910Z,1558043023.910 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:43.995Z,1558043023.995 [Reporter](INFO): platform_buoyancy_position 694.455261 cc
2019-05-16T21:43:44.328Z,1558043024.328 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:44.511Z,1558043024.511 [Reporter](INFO): platform_buoyancy_position 690.023315 cc
2019-05-16T21:43:44.727Z,1558043024.727 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:44.767Z,1558043024.767 [Reporter](INFO): platform_buoyancy_position 683.711243 cc
2019-05-16T21:43:45.192Z,1558043025.192 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:45.231Z,1558043025.231 [Reporter](INFO): platform_buoyancy_position 679.279358 cc
2019-05-16T21:43:45.559Z,1558043025.559 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:45.602Z,1558043025.602 [Reporter](INFO): platform_buoyancy_position 672.832947 cc
2019-05-16T21:43:45.960Z,1558043025.960 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:45.999Z,1558043025.999 [Reporter](INFO): platform_buoyancy_position 668.535339 cc
2019-05-16T21:43:46.371Z,1558043026.371 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:46.407Z,1558043026.407 [Reporter](INFO): platform_buoyancy_position 662.357544 cc
2019-05-16T21:43:46.762Z,1558043026.762 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:46.800Z,1558043026.800 [Reporter](INFO): platform_buoyancy_position 657.791321 cc
2019-05-16T21:43:47.165Z,1558043027.165 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:47.204Z,1558043027.204 [Reporter](INFO): platform_buoyancy_position 652.956543 cc
2019-05-16T21:43:47.549Z,1558043027.549 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:47.587Z,1558043027.587 [Reporter](INFO): platform_buoyancy_position 647.315918 cc
2019-05-16T21:43:47.954Z,1558043027.954 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:47.995Z,1558043027.995 [Reporter](INFO): platform_buoyancy_position 642.749756 cc
2019-05-16T21:43:48.363Z,1558043028.363 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:48.415Z,1558043028.415 [Reporter](INFO): platform_buoyancy_position 636.437622 cc
2019-05-16T21:43:48.768Z,1558043028.768 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:48.807Z,1558043028.807 [Reporter](INFO): platform_buoyancy_position 631.737122 cc
2019-05-16T21:43:49.172Z,1558043029.172 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:49.212Z,1558043029.212 [Reporter](INFO): platform_buoyancy_position 625.559326 cc
2019-05-16T21:43:49.585Z,1558043029.585 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:49.623Z,1558043029.623 [Reporter](INFO): platform_buoyancy_position 621.261719 cc
2019-05-16T21:43:49.983Z,1558043029.983 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:50.083Z,1558043030.083 [Reporter](INFO): platform_buoyancy_position 614.949646 cc
2019-05-16T21:43:50.398Z,1558043030.398 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:50.471Z,1558043030.471 [Reporter](INFO): platform_buoyancy_position 610.517700 cc
2019-05-16T21:43:50.813Z,1558043030.813 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:50.967Z,1558043030.967 [Reporter](INFO): platform_buoyancy_position 604.205627 cc
2019-05-16T21:43:51.200Z,1558043031.200 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:51.255Z,1558043031.255 [Reporter](INFO): platform_buoyancy_position 599.908020 cc
2019-05-16T21:43:51.608Z,1558043031.608 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:51.651Z,1558043031.651 [Reporter](INFO): platform_buoyancy_position 593.461609 cc
2019-05-16T21:43:52.016Z,1558043032.016 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:52.066Z,1558043032.066 [Reporter](INFO): platform_buoyancy_position 589.164001 cc
2019-05-16T21:43:52.404Z,1558043032.404 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:52.443Z,1558043032.443 [Reporter](INFO): platform_buoyancy_position 584.597839 cc
2019-05-16T21:43:52.808Z,1558043032.808 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:52.847Z,1558043032.847 [Reporter](INFO): platform_buoyancy_position 578.285706 cc
2019-05-16T21:43:53.216Z,1558043033.216 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:53.255Z,1558043033.255 [Reporter](INFO): platform_buoyancy_position 573.988098 cc
2019-05-16T21:43:53.620Z,1558043033.620 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:53.659Z,1558043033.659 [Reporter](INFO): platform_buoyancy_position 567.541748 cc
2019-05-16T21:43:54.062Z,1558043034.062 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:54.107Z,1558043034.107 [Reporter](INFO): platform_buoyancy_position 561.229614 cc
2019-05-16T21:43:54.466Z,1558043034.466 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:54.507Z,1558043034.507 [Reporter](INFO): platform_buoyancy_position 556.797729 cc
2019-05-16T21:43:54.868Z,1558043034.868 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:54.915Z,1558043034.915 [Reporter](INFO): platform_buoyancy_position 550.485596 cc
2019-05-16T21:43:55.252Z,1558043035.252 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:55.319Z,1558043035.319 [Reporter](INFO): platform_buoyancy_position 545.919434 cc
2019-05-16T21:43:55.655Z,1558043035.655 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:55.711Z,1558043035.711 [Reporter](INFO): platform_buoyancy_position 540.547424 cc
2019-05-16T21:43:56.083Z,1558043036.083 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:56.143Z,1558043036.143 [Reporter](INFO): platform_buoyancy_position 535.309692 cc
2019-05-16T21:43:56.554Z,1558043036.554 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:56.675Z,1558043036.675 [Reporter](INFO): platform_buoyancy_position 528.997620 cc
2019-05-16T21:43:56.887Z,1558043036.887 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:56.959Z,1558043036.959 [Reporter](INFO): platform_buoyancy_position 524.700012 cc
2019-05-16T21:43:57.284Z,1558043037.284 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:57.391Z,1558043037.391 [Reporter](INFO): platform_buoyancy_position 518.253601 cc
2019-05-16T21:43:57.696Z,1558043037.696 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:57.855Z,1558043037.855 [Reporter](INFO): platform_buoyancy_position 513.955994 cc
2019-05-16T21:43:58.058Z,1558043038.058 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:58.099Z,1558043038.099 [Reporter](INFO): platform_buoyancy_position 509.524139 cc
2019-05-16T21:43:58.490Z,1558043038.490 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:58.548Z,1558043038.548 [Reporter](INFO): platform_buoyancy_position 503.077759 cc
2019-05-16T21:43:58.873Z,1558043038.873 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:58.931Z,1558043038.931 [Reporter](INFO): platform_buoyancy_position 498.914459 cc
2019-05-16T21:43:59.268Z,1558043039.268 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:59.307Z,1558043039.307 [Reporter](INFO): platform_buoyancy_position 494.616852 cc
2019-05-16T21:43:59.693Z,1558043039.693 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:43:59.731Z,1558043039.731 [Reporter](INFO): platform_buoyancy_position 488.170441 cc
2019-05-16T21:44:00.096Z,1558043040.096 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:00.135Z,1558043040.135 [Reporter](INFO): platform_buoyancy_position 481.858368 cc
2019-05-16T21:44:00.545Z,1558043040.545 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:00.591Z,1558043040.591 [Reporter](INFO): platform_buoyancy_position 477.023529 cc
2019-05-16T21:44:00.883Z,1558043040.883 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:00.935Z,1558043040.935 [Reporter](INFO): platform_buoyancy_position 470.980072 cc
2019-05-16T21:44:01.288Z,1558043041.288 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:01.289Z,1558043041.289 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:44:01.289Z,1558043041.289 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:44:01.339Z,1558043041.339 [Reporter](INFO): platform_buoyancy_position 466.682465 cc
2019-05-16T21:44:01.670Z,1558043041.670 [DAT](INFO): ****** ping requested ******
2019-05-16T21:44:01.710Z,1558043041.710 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:01.747Z,1558043041.747 [Reporter](INFO): platform_buoyancy_position 460.236053 cc
2019-05-16T21:44:02.100Z,1558043042.100 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:02.179Z,1558043042.179 [Reporter](INFO): platform_buoyancy_position 455.804169 cc
2019-05-16T21:44:02.515Z,1558043042.515 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:02.569Z,1558043042.569 [Reporter](INFO): platform_buoyancy_position 451.506561 cc
2019-05-16T21:44:02.907Z,1558043042.907 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:03.015Z,1558043043.015 [Reporter](INFO): platform_buoyancy_position 447.074615 cc
2019-05-16T21:44:03.312Z,1558043043.312 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:03.383Z,1558043043.383 [Reporter](INFO): platform_buoyancy_position 440.762543 cc
2019-05-16T21:44:03.721Z,1558043043.721 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:03.875Z,1558043043.875 [Reporter](INFO): platform_buoyancy_position 434.450470 cc
2019-05-16T21:44:04.133Z,1558043044.133 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:04.175Z,1558043044.175 [Reporter](INFO): platform_buoyancy_position 430.018524 cc
2019-05-16T21:44:04.547Z,1558043044.547 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:04.596Z,1558043044.596 [Reporter](INFO): platform_buoyancy_position 423.706451 cc
2019-05-16T21:44:04.921Z,1558043044.921 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:04.964Z,1558043044.964 [Reporter](INFO): platform_buoyancy_position 419.543121 cc
2019-05-16T21:44:05.327Z,1558043045.327 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:05.386Z,1558043045.386 [Reporter](INFO): platform_buoyancy_position 413.902557 cc
2019-05-16T21:44:05.736Z,1558043045.736 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:05.775Z,1558043045.775 [Reporter](INFO): platform_buoyancy_position 408.530548 cc
2019-05-16T21:44:06.140Z,1558043046.140 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:06.179Z,1558043046.179 [Reporter](INFO): platform_buoyancy_position 404.098633 cc
2019-05-16T21:44:06.558Z,1558043046.558 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:06.599Z,1558043046.599 [Reporter](INFO): platform_buoyancy_position 397.786530 cc
2019-05-16T21:44:06.954Z,1558043046.954 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:06.991Z,1558043046.991 [Reporter](INFO): platform_buoyancy_position 393.220337 cc
2019-05-16T21:44:07.380Z,1558043047.380 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:07.419Z,1558043047.419 [Reporter](INFO): platform_buoyancy_position 387.042542 cc
2019-05-16T21:44:07.781Z,1558043047.781 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:07.819Z,1558043047.819 [Reporter](INFO): platform_buoyancy_position 381.939148 cc
2019-05-16T21:44:08.156Z,1558043048.156 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:08.195Z,1558043048.195 [Reporter](INFO): platform_buoyancy_position 375.761353 cc
2019-05-16T21:44:08.569Z,1558043048.569 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:08.619Z,1558043048.619 [Reporter](INFO): platform_buoyancy_position 369.986450 cc
2019-05-16T21:44:08.968Z,1558043048.968 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:09.003Z,1558043049.003 [Reporter](INFO): platform_buoyancy_position 365.554535 cc
2019-05-16T21:44:09.372Z,1558043049.372 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:09.479Z,1558043049.479 [Reporter](INFO): platform_buoyancy_position 361.391235 cc
2019-05-16T21:44:09.776Z,1558043049.776 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:09.863Z,1558043049.863 [Reporter](INFO): platform_buoyancy_position 356.556427 cc
2019-05-16T21:44:10.188Z,1558043050.188 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:10.295Z,1558043050.295 [Reporter](INFO): platform_buoyancy_position 350.512939 cc
2019-05-16T21:44:10.602Z,1558043050.602 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:10.759Z,1558043050.759 [Reporter](INFO): platform_buoyancy_position 346.215332 cc
2019-05-16T21:44:10.999Z,1558043050.999 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:11.036Z,1558043051.036 [Reporter](INFO): platform_buoyancy_position 339.768951 cc
2019-05-16T21:44:11.381Z,1558043051.381 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:11.422Z,1558043051.422 [Reporter](INFO): platform_buoyancy_position 335.471344 cc
2019-05-16T21:44:11.830Z,1558043051.830 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:11.868Z,1558043051.868 [Reporter](INFO): platform_buoyancy_position 329.024933 cc
2019-05-16T21:44:12.214Z,1558043052.214 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:12.251Z,1558043052.251 [Reporter](INFO): platform_buoyancy_position 324.190125 cc
2019-05-16T21:44:12.602Z,1558043052.602 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:12.639Z,1558043052.639 [Reporter](INFO): platform_buoyancy_position 318.280945 cc
2019-05-16T21:44:13.003Z,1558043053.003 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:13.044Z,1558043053.044 [Reporter](INFO): platform_buoyancy_position 311.968842 cc
2019-05-16T21:44:13.416Z,1558043053.416 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:13.471Z,1558043053.471 [Reporter](INFO): platform_buoyancy_position 307.805542 cc
2019-05-16T21:44:13.821Z,1558043053.821 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:13.875Z,1558043053.875 [Reporter](INFO): platform_buoyancy_position 303.239319 cc
2019-05-16T21:44:14.236Z,1558043054.236 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:14.275Z,1558043054.275 [Reporter](INFO): platform_buoyancy_position 297.598724 cc
2019-05-16T21:44:14.620Z,1558043054.620 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:14.659Z,1558043054.659 [Reporter](INFO): platform_buoyancy_position 292.495331 cc
2019-05-16T21:44:15.030Z,1558043055.030 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:15.081Z,1558043055.081 [Reporter](INFO): platform_buoyancy_position 286.183228 cc
2019-05-16T21:44:15.425Z,1558043055.425 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:15.479Z,1558043055.479 [Reporter](INFO): platform_buoyancy_position 281.751343 cc
2019-05-16T21:44:15.854Z,1558043055.854 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:15.959Z,1558043055.959 [Reporter](INFO): platform_buoyancy_position 275.439240 cc
2019-05-16T21:44:16.261Z,1558043056.261 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:16.343Z,1558043056.343 [Reporter](INFO): platform_buoyancy_position 271.007324 cc
2019-05-16T21:44:16.652Z,1558043056.652 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:16.763Z,1558043056.763 [Reporter](INFO): platform_buoyancy_position 264.963837 cc
2019-05-16T21:44:17.054Z,1558043057.054 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:17.179Z,1558043057.179 [Reporter](INFO): platform_buoyancy_position 258.248840 cc
2019-05-16T21:44:17.461Z,1558043057.461 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:17.567Z,1558043057.567 [Reporter](INFO): platform_buoyancy_position 253.951233 cc
2019-05-16T21:44:17.846Z,1558043057.846 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:18.003Z,1558043058.003 [Reporter](INFO): platform_buoyancy_position 249.519302 cc
2019-05-16T21:44:18.256Z,1558043058.256 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:18.299Z,1558043058.299 [Reporter](INFO): platform_buoyancy_position 245.356033 cc
2019-05-16T21:44:18.663Z,1558043058.663 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:18.711Z,1558043058.711 [Reporter](INFO): platform_buoyancy_position 238.909637 cc
2019-05-16T21:44:19.068Z,1558043059.068 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:19.107Z,1558043059.107 [Reporter](INFO): platform_buoyancy_position 232.328918 cc
2019-05-16T21:44:19.472Z,1558043059.472 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:19.513Z,1558043059.513 [Reporter](INFO): platform_buoyancy_position 228.165619 cc
2019-05-16T21:44:19.879Z,1558043059.879 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:19.923Z,1558043059.923 [Reporter](INFO): platform_buoyancy_position 223.599426 cc
2019-05-16T21:44:20.302Z,1558043060.302 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:20.339Z,1558043060.339 [Reporter](INFO): platform_buoyancy_position 217.287323 cc
2019-05-16T21:44:20.708Z,1558043060.708 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:20.747Z,1558043060.747 [Reporter](INFO): platform_buoyancy_position 212.989716 cc
2019-05-16T21:44:21.113Z,1558043061.113 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:21.151Z,1558043061.151 [Reporter](INFO): platform_buoyancy_position 206.677612 cc
2019-05-16T21:44:21.526Z,1558043061.526 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:21.526Z,1558043061.526 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:44:21.526Z,1558043061.526 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:44:21.572Z,1558043061.572 [Reporter](INFO): platform_buoyancy_position 202.111420 cc
2019-05-16T21:44:21.878Z,1558043061.878 [DAT](INFO): ****** ping requested ******
2019-05-16T21:44:21.900Z,1558043061.900 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:21.951Z,1558043061.951 [Reporter](INFO): platform_buoyancy_position 197.948120 cc
2019-05-16T21:44:22.300Z,1558043062.300 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:22.407Z,1558043062.407 [Reporter](INFO): platform_buoyancy_position 191.636017 cc
2019-05-16T21:44:22.702Z,1558043062.702 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:22.815Z,1558043062.815 [Reporter](INFO): platform_buoyancy_position 185.189636 cc
2019-05-16T21:44:23.115Z,1558043063.115 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:23.231Z,1558043063.231 [Reporter](INFO): platform_buoyancy_position 180.757721 cc
2019-05-16T21:44:23.519Z,1558043063.519 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:23.675Z,1558043063.675 [Reporter](INFO): platform_buoyancy_position 174.579926 cc
2019-05-16T21:44:23.923Z,1558043063.923 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:23.963Z,1558043063.963 [Reporter](INFO): platform_buoyancy_position 169.879425 cc
2019-05-16T21:44:24.316Z,1558043064.316 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:24.375Z,1558043064.375 [Reporter](INFO): platform_buoyancy_position 163.567322 cc
2019-05-16T21:44:24.719Z,1558043064.719 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:24.755Z,1558043064.755 [Reporter](INFO): platform_buoyancy_position 159.404022 cc
2019-05-16T21:44:25.146Z,1558043065.146 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:25.196Z,1558043065.196 [Reporter](INFO): platform_buoyancy_position 152.823303 cc
2019-05-16T21:44:25.550Z,1558043065.550 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:25.587Z,1558043065.587 [Reporter](INFO): platform_buoyancy_position 148.525726 cc
2019-05-16T21:44:25.943Z,1558043065.943 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:26.024Z,1558043066.024 [Reporter](INFO): platform_buoyancy_position 142.347900 cc
2019-05-16T21:44:26.354Z,1558043066.354 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:26.750Z,1558043066.750 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:27.148Z,1558043067.148 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:27.576Z,1558043067.576 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:27.949Z,1558043067.949 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:28.354Z,1558043068.354 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:28.760Z,1558043068.760 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:29.161Z,1558043069.161 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:29.572Z,1558043069.572 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:30.019Z,1558043070.019 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:30.408Z,1558043070.408 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:30.804Z,1558043070.804 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:31.208Z,1558043071.208 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:31.588Z,1558043071.588 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:31.989Z,1558043071.989 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:32.396Z,1558043072.396 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:32.800Z,1558043072.800 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:33.202Z,1558043073.202 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:33.616Z,1558043073.616 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:34.024Z,1558043074.024 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:34.043Z,1558043074.043 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:44:34.043Z,1558043074.043 [AHRS_M2] No Fault, FailCount= 5
2019-05-16T21:44:34.373Z,1558043074.373 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:44:34.444Z,1558043074.444 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:34.818Z,1558043074.818 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:35.236Z,1558043075.236 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:35.635Z,1558043075.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:36.053Z,1558043076.053 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:36.454Z,1558043076.454 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:36.846Z,1558043076.846 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:37.246Z,1558043077.246 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:37.701Z,1558043077.701 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:44:37.761Z,1558043077.761 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:38.084Z,1558043078.084 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:38.503Z,1558043078.503 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:38.884Z,1558043078.884 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:39.296Z,1558043079.296 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:39.700Z,1558043079.700 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:40.122Z,1558043080.122 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:40.526Z,1558043080.526 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:40.930Z,1558043080.930 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:41.332Z,1558043081.332 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:41.725Z,1558043081.725 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:41.725Z,1558043081.725 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:44:41.725Z,1558043081.725 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:44:42.094Z,1558043082.094 [DAT](INFO): ****** ping requested ******
2019-05-16T21:44:42.151Z,1558043082.151 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:42.523Z,1558043082.523 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:42.928Z,1558043082.928 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:43.332Z,1558043083.332 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:43.732Z,1558043083.732 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:44.139Z,1558043084.139 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:44.553Z,1558043084.553 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:44.962Z,1558043084.962 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:45.389Z,1558043085.389 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:45.789Z,1558043085.789 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:46.229Z,1558043086.229 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:46.592Z,1558043086.592 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:46.981Z,1558043086.981 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:47.376Z,1558043087.376 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:47.786Z,1558043087.786 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:48.133Z,1558043088.133 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:44:48.133Z,1558043088.133 [AHRS_M2] Data Fault, FailCount= 1
2019-05-16T21:44:48.133Z,1558043088.133 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:44:48.220Z,1558043088.220 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:48.242Z,1558043088.242 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:44:48.513Z,1558043088.513 [AHRS_M2](INFO): Powering down
2019-05-16T21:44:48.635Z,1558043088.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:48.964Z,1558043088.964 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:49.363Z,1558043089.363 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:49.405Z,1558043089.405 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:44:49.405Z,1558043089.405 [AHRS_M2] No Fault, FailCount= 1
2019-05-16T21:44:49.731Z,1558043089.731 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:44:49.776Z,1558043089.776 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:50.183Z,1558043090.183 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:50.606Z,1558043090.606 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:51.023Z,1558043091.023 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:51.453Z,1558043091.453 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:51.832Z,1558043091.832 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:52.193Z,1558043092.193 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:52.597Z,1558043092.597 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:53.061Z,1558043093.061 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:44:53.115Z,1558043093.115 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:53.432Z,1558043093.432 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:53.521Z,1558043093.521 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:44:53.847Z,1558043093.847 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:54.245Z,1558043094.245 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:54.655Z,1558043094.655 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:55.079Z,1558043095.079 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:55.452Z,1558043095.452 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:55.938Z,1558043095.938 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:56.342Z,1558043096.342 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:56.745Z,1558043096.745 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:57.154Z,1558043097.154 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:57.530Z,1558043097.530 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:57.887Z,1558043097.887 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:58.292Z,1558043098.292 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:58.742Z,1558043098.742 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:59.084Z,1558043099.084 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:59.564Z,1558043099.564 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:44:59.892Z,1558043099.892 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:00.382Z,1558043100.382 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:00.705Z,1558043100.705 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:01.134Z,1558043101.134 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:01.538Z,1558043101.538 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:01.948Z,1558043101.948 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:01.949Z,1558043101.949 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:45:01.950Z,1558043101.950 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:45:02.312Z,1558043102.312 [DAT](INFO): ****** ping requested ******
2019-05-16T21:45:02.358Z,1558043102.358 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:02.742Z,1558043102.742 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:03.141Z,1558043103.141 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:03.481Z,1558043103.481 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:45:03.481Z,1558043103.481 [AHRS_M2] Data Fault, FailCount= 2
2019-05-16T21:45:03.481Z,1558043103.481 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:45:03.531Z,1558043103.531 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:03.542Z,1558043103.542 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:45:03.873Z,1558043103.873 [AHRS_M2](INFO): Powering down
2019-05-16T21:45:03.992Z,1558043103.992 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:04.340Z,1558043104.340 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:04.717Z,1558043104.717 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:04.754Z,1558043104.754 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:45:04.754Z,1558043104.754 [AHRS_M2] No Fault, FailCount= 2
2019-05-16T21:45:05.077Z,1558043105.077 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:45:05.122Z,1558043105.122 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:05.531Z,1558043105.531 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:05.934Z,1558043105.934 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:06.373Z,1558043106.373 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:06.754Z,1558043106.754 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:07.178Z,1558043107.178 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:07.580Z,1558043107.580 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:08.024Z,1558043108.024 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:08.397Z,1558043108.397 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:45:08.444Z,1558043108.444 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:08.783Z,1558043108.783 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:09.199Z,1558043109.199 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:09.605Z,1558043109.605 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:10.006Z,1558043110.006 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:10.399Z,1558043110.399 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:10.802Z,1558043110.802 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:11.209Z,1558043111.209 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:11.637Z,1558043111.637 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:12.041Z,1558043112.041 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:12.461Z,1558043112.461 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:12.857Z,1558043112.857 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:13.231Z,1558043113.231 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:13.635Z,1558043113.635 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:14.035Z,1558043114.035 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:14.450Z,1558043114.450 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:14.848Z,1558043114.848 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:15.270Z,1558043115.270 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:15.651Z,1558043115.651 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:16.056Z,1558043116.056 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:16.461Z,1558043116.461 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:16.886Z,1558043116.886 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:17.286Z,1558043117.286 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:17.679Z,1558043117.679 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:18.094Z,1558043118.094 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:18.498Z,1558043118.498 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:18.833Z,1558043118.833 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:45:18.833Z,1558043118.833 [AHRS_M2] Data Fault, FailCount= 3
2019-05-16T21:45:18.833Z,1558043118.833 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:45:18.915Z,1558043118.915 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:18.943Z,1558043118.943 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:45:19.221Z,1558043119.221 [AHRS_M2](INFO): Powering down
2019-05-16T21:45:19.380Z,1558043119.380 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:19.669Z,1558043119.669 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:20.066Z,1558043120.066 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:20.101Z,1558043120.101 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:45:20.101Z,1558043120.101 [AHRS_M2] No Fault, FailCount= 3
2019-05-16T21:45:20.434Z,1558043120.434 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:45:20.489Z,1558043120.489 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:20.883Z,1558043120.883 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:21.296Z,1558043121.296 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:21.708Z,1558043121.708 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:22.136Z,1558043122.136 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:22.141Z,1558043122.141 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:45:22.142Z,1558043122.142 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:45:22.482Z,1558043122.482 [DAT](INFO): ****** ping requested ******
2019-05-16T21:45:22.519Z,1558043122.519 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:22.960Z,1558043122.960 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:23.322Z,1558043123.322 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:23.765Z,1558043123.765 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:45:23.819Z,1558043123.819 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:24.157Z,1558043124.157 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:45:24.223Z,1558043124.223 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:24.225Z,1558043124.225 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:45:24.565Z,1558043124.565 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:45:24.646Z,1558043124.646 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:24.977Z,1558043124.977 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:45:25.049Z,1558043125.049 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:25.358Z,1558043125.358 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:25.830Z,1558043125.830 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:26.155Z,1558043126.155 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:26.622Z,1558043126.622 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:27.042Z,1558043127.042 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:27.451Z,1558043127.451 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:27.859Z,1558043127.859 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:28.194Z,1558043128.194 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:28.588Z,1558043128.588 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:29.012Z,1558043129.012 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:29.384Z,1558043129.384 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:29.792Z,1558043129.792 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:30.195Z,1558043130.195 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:30.509Z,1558043130.509 [Radio_Surface](INFO): Powering down
2019-05-16T21:45:30.592Z,1558043130.592 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:31.002Z,1558043131.002 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:31.409Z,1558043131.409 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:31.826Z,1558043131.826 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:32.234Z,1558043132.234 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:32.652Z,1558043132.652 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:33.061Z,1558043133.061 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:33.442Z,1558043133.442 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:33.836Z,1558043133.836 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:34.232Z,1558043134.232 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:34.640Z,1558043134.640 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:35.048Z,1558043135.048 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:35.397Z,1558043135.397 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:45:35.397Z,1558043135.397 [AHRS_M2] Data Fault, FailCount= 4
2019-05-16T21:45:35.397Z,1558043135.397 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:45:35.489Z,1558043135.489 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:35.625Z,1558043135.625 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:45:35.785Z,1558043135.785 [AHRS_M2](INFO): Powering down
2019-05-16T21:45:35.940Z,1558043135.940 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:36.233Z,1558043136.233 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:36.636Z,1558043136.636 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:36.649Z,1558043136.649 [CBIT](INFO): Clearing failed state for component AHRS_M2
2019-05-16T21:45:36.649Z,1558043136.649 [AHRS_M2] No Fault, FailCount= 4
2019-05-16T21:45:36.993Z,1558043136.993 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-05-16T21:45:37.052Z,1558043137.052 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:37.463Z,1558043137.463 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:37.873Z,1558043137.873 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:38.185Z,1558043138.185 [Radio_Surface](INFO): Powering up
2019-05-16T21:45:38.295Z,1558043138.295 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:38.664Z,1558043138.664 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:39.054Z,1558043139.054 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:39.452Z,1558043139.452 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:39.873Z,1558043139.873 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:40.313Z,1558043140.313 [AHRS_M2](ERROR): Start data-stream UART error: serial timeout
2019-05-16T21:45:40.382Z,1558043140.382 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:40.701Z,1558043140.701 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:41.161Z,1558043141.161 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:41.531Z,1558043141.531 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:41.935Z,1558043141.935 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:42.319Z,1558043142.319 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:42.319Z,1558043142.319 [circle_acoustic_contact:A.](INFO): update period (20.000000 s) has elapsed, querying...
2019-05-16T21:45:42.319Z,1558043142.319 [circle_acoustic_contact:A.](INFO): *** querying DAT ***
2019-05-16T21:45:42.709Z,1558043142.709 [DAT](INFO): ****** ping requested ******
2019-05-16T21:45:42.765Z,1558043142.765 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:43.134Z,1558043143.134 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:43.533Z,1558043143.533 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:43.953Z,1558043143.953 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:44.340Z,1558043144.340 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:44.745Z,1558043144.745 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:45.167Z,1558043145.167 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:45.543Z,1558043145.543 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:45.953Z,1558043145.953 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:46.356Z,1558043146.356 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:46.756Z,1558043146.756 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:47.171Z,1558043147.171 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:47.658Z,1558043147.658 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:48.041Z,1558043148.041 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:48.445Z,1558043148.445 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:48.854Z,1558043148.854 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:49.245Z,1558043149.245 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:49.648Z,1558043149.648 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:50.061Z,1558043150.061 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:50.403Z,1558043150.403 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:50.813Z,1558043150.813 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2019-05-16T21:45:50.813Z,1558043150.813 [AHRS_M2] Data Fault, FailCount= 5
2019-05-16T21:45:50.813Z,1558043150.813 [AHRS_M2](ERROR): Data Fault
2019-05-16T21:45:50.856Z,1558043150.856 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:50.891Z,1558043150.891 [CBIT](ERROR): Data Fault in component: AHRS_M2
2019-05-16T21:45:50.891Z,1558043150.891 [CBIT](CRITICAL): Data Fault in component: AHRS_M2
2019-05-16T21:45:51.133Z,1558043151.133 [AHRS_M2](INFO): Powering down
2019-05-16T21:45:51.251Z,1558043151.251 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:51.259Z,1558043151.259 [CBIT](INFO): Critical error at 20190516T214550
2019-05-16T21:45:51.259Z,1558043151.259 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-05-16T21:45:51.585Z,1558043151.585 [circle_acoustic_contact:A.](DEBUG): Tracking...
2019-05-16T21:45:51.586Z,1558043151.586 [MissionManager](INFO): MissionManager is completed.
2019-05-16T21:45:51.586Z,1558043151.586 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2019-05-16T21:45:51.586Z,1558043151.586 [circle_acoustic_contact] Stopped
2019-05-16T21:45:51.586Z,1558043151.586 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2019-05-16T21:45:51.586Z,1558043151.586 [circle_acoustic_contact:A.] Stopped
2019-05-16T21:45:51.586Z,1558043151.586 [circle_acoustic_contact:A.](DEBUG): Uninitializing Tracking.
2019-05-16T21:45:51.586Z,1558043151.586 [circle_acoustic_contact:StandardEnvelopes] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:I.Pitch] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:J.Buoyancy] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:Science] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:Science:G] Stopped
2019-05-16T21:45:51.587Z,1558043151.587 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:L.SetSpeed] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:L.SetSpeed](DEBUG): Uninitialize.
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2019-05-16T21:45:51.588Z,1558043151.588 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper] Stopped
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2019-05-16T21:45:51.589Z,1558043151.589 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2019-05-16T21:45:51.975Z,1558043151.975 [MissionManager](IMPORTANT): Started mission Default
2019-05-16T21:45:51.975Z,1558043151.975 [Default] Running Loop=1
2019-05-16T21:45:51.975Z,1558043151.975 [Default](DEBUG): Aggregate::initialize Default
2019-05-16T21:45:51.975Z,1558043151.975 [Default:B.GoToSurface] Running Loop=1
2019-05-16T21:45:51.976Z,1558043151.976 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-16T21:45:51.976Z,1558043151.976 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-16T21:45:51.976Z,1558043151.976 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-16T21:45:51.976Z,1558043151.976 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-16T21:45:51.977Z,1558043151.977 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-16T21:45:51.977Z,1558043151.977 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-16T21:45:51.978Z,1558043151.978 [Default:A.Wait] Running Loop=1
2019-05-16T21:45:51.978Z,1558043151.978 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-16T21:45:52.037Z,1558043152.037 [WetLabsBB2FL](INFO): Powering down
2019-05-16T21:45:52.417Z,1558043152.417 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2019-05-16T21:45:52.417Z,1558043152.417 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2019-05-16T21:45:52.417Z,1558043152.417 [BuoyancyServo] Hardware Fault, FailCount= 1
2019-05-16T21:45:52.418Z,1558043152.418 [BuoyancyServo](ERROR): Hardware Fault
2019-05-16T21:45:52.457Z,1558043152.457 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2019-05-16T21:45:54.415Z,1558043154.415 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-05-16T21:45:54.415Z,1558043154.415 [BuoyancyServo](INFO): Powering down
2019-05-16T21:45:54.929Z,1558043154.929 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:45:55.248Z,1558043155.248 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-05-16T21:45:55.248Z,1558043155.248 [BuoyancyServo] No Fault, FailCount= 1
2019-05-16T21:45:55.608Z,1558043155.608 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-05-16T21:45:55.609Z,1558043155.609 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-05-16T21:45:58.927Z,1558043158.927 [Reporter](INFO): platform_buoyancy_position 133.484100 cc
2019-05-16T21:45:59.315Z,1558043159.315 [Reporter](INFO): platform_buoyancy_position 133.618408 cc
2019-05-16T21:45:59.691Z,1558043159.691 [Reporter](INFO): platform_buoyancy_position 133.484100 cc
2019-05-16T21:46:00.500Z,1558043160.500 [Reporter](INFO): platform_buoyancy_position 133.752716 cc
2019-05-16T21:46:00.907Z,1558043160.907 [Reporter](INFO): platform_buoyancy_position 139.930511 cc
2019-05-16T21:46:01.315Z,1558043161.315 [Reporter](INFO): platform_buoyancy_position 146.376923 cc
2019-05-16T21:46:01.704Z,1558043161.704 [Reporter](INFO): platform_buoyancy_position 152.689026 cc
2019-05-16T21:46:02.119Z,1558043162.119 [Reporter](INFO): platform_buoyancy_position 159.269714 cc
2019-05-16T21:46:02.516Z,1558043162.516 [Reporter](INFO): platform_buoyancy_position 165.850433 cc
2019-05-16T21:46:02.915Z,1558043162.915 [Reporter](INFO): platform_buoyancy_position 170.416626 cc
2019-05-16T21:46:03.335Z,1558043163.335 [Reporter](INFO): platform_buoyancy_position 176.594421 cc
2019-05-16T21:46:03.739Z,1558043163.739 [Reporter](INFO): platform_buoyancy_position 182.906525 cc
2019-05-16T21:46:04.155Z,1558043164.155 [Reporter](INFO): platform_buoyancy_position 187.204132 cc
2019-05-16T21:46:04.559Z,1558043164.559 [Reporter](INFO): platform_buoyancy_position 193.650513 cc
2019-05-16T21:46:04.947Z,1558043164.947 [Reporter](INFO): platform_buoyancy_position 198.082428 cc
2019-05-16T21:46:05.313Z,1558043165.313 [Default:A.Wait](INFO): Done Waiting.
2019-05-16T21:46:05.313Z,1558043165.313 [Default:A.Wait] Stopped
2019-05-16T21:46:05.313Z,1558043165.313 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-16T21:46:05.355Z,1558043165.355 [Reporter](INFO): platform_buoyancy_position 204.394531 cc
2019-05-16T21:46:05.712Z,1558043165.712 [Default:CheckIn] Running Loop=1
2019-05-16T21:46:05.712Z,1558043165.712 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-16T21:46:05.712Z,1558043165.712 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-16T21:46:05.767Z,1558043165.767 [Reporter](INFO): platform_buoyancy_position 208.826416 cc
2019-05-16T21:46:06.057Z,1558043166.057 [CommandLine](IMPORTANT): got command stop
2019-05-16T21:46:06.058Z,1558043166.058 [CommandLine](IMPORTANT): Scheduling is paused
2019-05-16T21:46:06.152Z,1558043166.152 [Reporter](INFO): platform_buoyancy_position 215.138519 cc
2019-05-16T21:46:06.552Z,1558043166.552 [Reporter](INFO): platform_buoyancy_position 219.570435 cc
2019-05-16T21:46:06.964Z,1558043166.964 [Reporter](INFO): platform_buoyancy_position 223.868042 cc
2019-05-16T21:46:07.363Z,1558043167.363 [Reporter](INFO): platform_buoyancy_position 228.165619 cc
2019-05-16T21:46:07.779Z,1558043167.779 [Reporter](INFO): platform_buoyancy_position 234.612030 cc
2019-05-16T21:46:08.175Z,1558043168.175 [Reporter](INFO): platform_buoyancy_position 240.924133 cc
2019-05-16T21:46:08.584Z,1558043168.584 [Reporter](INFO): platform_buoyancy_position 245.356033 cc
2019-05-16T21:46:09.003Z,1558043169.003 [Reporter](INFO): platform_buoyancy_position 251.802444 cc
2019-05-16T21:46:09.395Z,1558043169.395 [Reporter](INFO): platform_buoyancy_position 255.965714 cc
2019-05-16T21:46:09.795Z,1558043169.795 [Reporter](INFO): platform_buoyancy_position 262.412140 cc
2019-05-16T21:46:10.195Z,1558043170.195 [Reporter](INFO): platform_buoyancy_position 266.709717 cc
2019-05-16T21:46:10.596Z,1558043170.596 [Reporter](INFO): platform_buoyancy_position 272.887543 cc
2019-05-16T21:46:11.011Z,1558043171.011 [Reporter](INFO): platform_buoyancy_position 277.588043 cc
2019-05-16T21:46:11.406Z,1558043171.406 [Reporter](INFO): platform_buoyancy_position 284.034424 cc
2019-05-16T21:46:11.823Z,1558043171.823 [Reporter](INFO): platform_buoyancy_position 288.197723 cc
2019-05-16T21:46:12.213Z,1558043172.213 [Reporter](INFO): platform_buoyancy_position 292.495331 cc
2019-05-16T21:46:12.619Z,1558043172.619 [Reporter](INFO): platform_buoyancy_position 299.076019 cc
2019-05-16T21:46:13.019Z,1558043173.019 [Reporter](INFO): platform_buoyancy_position 303.373627 cc
2019-05-16T21:46:13.427Z,1558043173.427 [Reporter](INFO): platform_buoyancy_position 309.685730 cc
2019-05-16T21:46:13.859Z,1558043173.859 [Reporter](INFO): platform_buoyancy_position 313.983337 cc
2019-05-16T21:46:14.275Z,1558043174.275 [Reporter](INFO): platform_buoyancy_position 318.818146 cc
2019-05-16T21:46:14.650Z,1558043174.650 [Reporter](INFO): platform_buoyancy_position 324.727325 cc
2019-05-16T21:46:15.055Z,1558043175.055 [Reporter](INFO): platform_buoyancy_position 331.173737 cc
2019-05-16T21:46:15.440Z,1558043175.440 [Reporter](INFO): platform_buoyancy_position 335.739929 cc
2019-05-16T21:46:15.847Z,1558043175.847 [Reporter](INFO): platform_buoyancy_position 341.917725 cc
2019-05-16T21:46:16.248Z,1558043176.248 [Reporter](INFO): platform_buoyancy_position 346.215332 cc
2019-05-16T21:46:16.663Z,1558043176.663 [Reporter](INFO): platform_buoyancy_position 350.647247 cc
2019-05-16T21:46:17.059Z,1558043177.059 [Reporter](INFO): platform_buoyancy_position 356.959351 cc
2019-05-16T21:46:17.475Z,1558043177.475 [Reporter](INFO): platform_buoyancy_position 362.197052 cc
2019-05-16T21:46:17.863Z,1558043177.863 [Reporter](INFO): platform_buoyancy_position 367.703339 cc
2019-05-16T21:46:18.281Z,1558043178.281 [Reporter](INFO): platform_buoyancy_position 372.672424 cc
2019-05-16T21:46:18.671Z,1558043178.671 [Reporter](INFO): platform_buoyancy_position 378.447327 cc
2019-05-16T21:46:19.091Z,1558043179.091 [Reporter](INFO): platform_buoyancy_position 383.013550 cc
2019-05-16T21:46:19.495Z,1558043179.495 [Reporter](INFO): platform_buoyancy_position 389.191345 cc
2019-05-16T21:46:19.911Z,1558043179.911 [Reporter](INFO): platform_buoyancy_position 393.623230 cc
2019-05-16T21:46:20.311Z,1558043180.311 [Reporter](INFO): platform_buoyancy_position 400.069641 cc
2019-05-16T21:46:20.695Z,1558043180.695 [Reporter](INFO): platform_buoyancy_position 404.232941 cc
2019-05-16T21:46:21.096Z,1558043181.096 [Reporter](INFO): platform_buoyancy_position 410.679352 cc
2019-05-16T21:46:21.519Z,1558043181.519 [Reporter](INFO): platform_buoyancy_position 415.111237 cc
2019-05-16T21:46:21.901Z,1558043181.901 [Reporter](INFO): platform_buoyancy_position 421.423370 cc
2019-05-16T21:46:22.307Z,1558043182.307 [Reporter](INFO): platform_buoyancy_position 425.720917 cc
2019-05-16T21:46:22.711Z,1558043182.711 [Reporter](INFO): platform_buoyancy_position 430.690033 cc
2019-05-16T21:46:23.123Z,1558043183.123 [Reporter](INFO): platform_buoyancy_position 436.464935 cc
2019-05-16T21:46:23.527Z,1558043183.527 [Reporter](INFO): platform_buoyancy_position 440.762543 cc
2019-05-16T21:46:23.927Z,1558043183.927 [Reporter](INFO): platform_buoyancy_position 447.074615 cc
2019-05-16T21:46:24.363Z,1558043184.363 [Reporter](INFO): platform_buoyancy_position 451.506561 cc
2019-05-16T21:46:24.751Z,1558043184.751 [Reporter](INFO): platform_buoyancy_position 457.952972 cc
2019-05-16T21:46:25.163Z,1558043185.163 [Reporter](INFO): platform_buoyancy_position 463.324921 cc
2019-05-16T21:46:25.551Z,1558043185.551 [Reporter](INFO): platform_buoyancy_position 468.831268 cc
2019-05-16T21:46:25.633Z,1558043185.633 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:46:25.987Z,1558043185.987 [Reporter](INFO): platform_buoyancy_position 474.337555 cc
2019-05-16T21:46:26.367Z,1558043186.367 [Reporter](INFO): platform_buoyancy_position 479.306671 cc
2019-05-16T21:46:26.762Z,1558043186.762 [Reporter](INFO): platform_buoyancy_position 483.738556 cc
2019-05-16T21:46:27.171Z,1558043187.171 [Reporter](INFO): platform_buoyancy_position 489.379120 cc
2019-05-16T21:46:27.587Z,1558043187.587 [Reporter](INFO): platform_buoyancy_position 494.616852 cc
2019-05-16T21:46:27.967Z,1558043187.967 [Reporter](INFO): platform_buoyancy_position 499.451660 cc
2019-05-16T21:46:28.372Z,1558043188.372 [Reporter](INFO): platform_buoyancy_position 505.226562 cc
2019-05-16T21:46:28.778Z,1558043188.778 [Reporter](INFO): platform_buoyancy_position 509.658478 cc
2019-05-16T21:46:29.183Z,1558043189.183 [Reporter](INFO): platform_buoyancy_position 515.970520 cc
2019-05-16T21:46:29.599Z,1558043189.599 [Reporter](INFO): platform_buoyancy_position 520.805298 cc
2019-05-16T21:46:30.027Z,1558043190.027 [Reporter](INFO): platform_buoyancy_position 526.848816 cc
2019-05-16T21:46:30.414Z,1558043190.414 [Reporter](INFO): platform_buoyancy_position 531.012146 cc
2019-05-16T21:46:30.819Z,1558043190.819 [Reporter](INFO): platform_buoyancy_position 537.592834 cc
2019-05-16T21:46:31.199Z,1558043191.199 [Reporter](INFO): platform_buoyancy_position 541.756104 cc
2019-05-16T21:46:31.599Z,1558043191.599 [Reporter](INFO): platform_buoyancy_position 546.993835 cc
2019-05-16T21:46:32.011Z,1558043192.011 [Reporter](INFO): platform_buoyancy_position 552.500122 cc
2019-05-16T21:46:32.411Z,1558043192.411 [Reporter](INFO): platform_buoyancy_position 556.797729 cc
2019-05-16T21:46:32.827Z,1558043192.827 [Reporter](INFO): platform_buoyancy_position 563.244141 cc
2019-05-16T21:46:33.219Z,1558043193.219 [Reporter](INFO): platform_buoyancy_position 567.810303 cc
2019-05-16T21:46:33.627Z,1558043193.627 [Reporter](INFO): platform_buoyancy_position 574.122437 cc
2019-05-16T21:46:34.043Z,1558043194.043 [Reporter](INFO): platform_buoyancy_position 578.420044 cc
2019-05-16T21:46:34.427Z,1558043194.427 [Reporter](INFO): platform_buoyancy_position 584.866394 cc
2019-05-16T21:46:34.847Z,1558043194.847 [Reporter](INFO): platform_buoyancy_position 589.164001 cc
2019-05-16T21:46:35.252Z,1558043195.252 [Reporter](INFO): platform_buoyancy_position 593.998840 cc
2019-05-16T21:46:35.651Z,1558043195.651 [Reporter](INFO): platform_buoyancy_position 599.908020 cc
2019-05-16T21:46:36.071Z,1558043196.071 [Reporter](INFO): platform_buoyancy_position 606.354431 cc
2019-05-16T21:46:36.463Z,1558043196.463 [Reporter](INFO): platform_buoyancy_position 610.517700 cc
2019-05-16T21:46:36.852Z,1558043196.852 [Reporter](INFO): platform_buoyancy_position 616.964111 cc
2019-05-16T21:46:37.271Z,1558043197.271 [Reporter](INFO): platform_buoyancy_position 621.395996 cc
2019-05-16T21:46:37.663Z,1558043197.663 [Reporter](INFO): platform_buoyancy_position 627.305237 cc
2019-05-16T21:46:38.063Z,1558043198.063 [Reporter](INFO): platform_buoyancy_position 632.005737 cc
2019-05-16T21:46:38.471Z,1558043198.471 [Reporter](INFO): platform_buoyancy_position 636.437622 cc
2019-05-16T21:46:38.875Z,1558043198.875 [Reporter](INFO): platform_buoyancy_position 642.884033 cc
2019-05-16T21:46:39.283Z,1558043199.283 [Reporter](INFO): platform_buoyancy_position 647.181641 cc
2019-05-16T21:46:39.683Z,1558043199.683 [Reporter](INFO): platform_buoyancy_position 653.493713 cc
2019-05-16T21:46:40.119Z,1558043200.119 [Reporter](INFO): platform_buoyancy_position 657.925659 cc
2019-05-16T21:46:40.511Z,1558043200.511 [Reporter](INFO): platform_buoyancy_position 664.372009 cc
2019-05-16T21:46:40.919Z,1558043200.919 [Reporter](INFO): platform_buoyancy_position 668.803955 cc
2019-05-16T21:46:41.307Z,1558043201.307 [Reporter](INFO): platform_buoyancy_position 674.847412 cc
2019-05-16T21:46:41.700Z,1558043201.700 [Reporter](INFO): platform_buoyancy_position 679.413635 cc
2019-05-16T21:46:42.115Z,1558043202.115 [Reporter](INFO): platform_buoyancy_position 684.248413 cc
2019-05-16T21:46:42.511Z,1558043202.511 [Reporter](INFO): platform_buoyancy_position 690.157654 cc
2019-05-16T21:46:42.927Z,1558043202.927 [Reporter](INFO): platform_buoyancy_position 694.455261 cc
2019-05-16T21:46:43.315Z,1558043203.315 [Reporter](INFO): platform_buoyancy_position 700.901611 cc
2019-05-16T21:46:43.734Z,1558043203.734 [Reporter](INFO): platform_buoyancy_position 705.064941 cc
2019-05-16T21:46:44.127Z,1558043204.127 [Reporter](INFO): platform_buoyancy_position 711.511353 cc
2019-05-16T21:46:44.527Z,1558043204.527 [Reporter](INFO): platform_buoyancy_position 715.943237 cc
2019-05-16T21:46:44.936Z,1558043204.936 [Reporter](INFO): platform_buoyancy_position 720.375122 cc
2019-05-16T21:46:45.351Z,1558043205.351 [Reporter](INFO): platform_buoyancy_position 726.552917 cc
2019-05-16T21:46:45.755Z,1558043205.755 [Reporter](INFO): platform_buoyancy_position 730.984863 cc
2019-05-16T21:46:46.171Z,1558043206.171 [Reporter](INFO): platform_buoyancy_position 737.296936 cc
2019-05-16T21:46:46.579Z,1558043206.579 [Reporter](INFO): platform_buoyancy_position 743.340454 cc
2019-05-16T21:46:46.970Z,1558043206.970 [Reporter](INFO): platform_buoyancy_position 748.175232 cc
2019-05-16T21:46:47.375Z,1558043207.375 [Reporter](INFO): platform_buoyancy_position 754.353027 cc
2019-05-16T21:46:47.763Z,1558043207.763 [Reporter](INFO): platform_buoyancy_position 758.919250 cc
2019-05-16T21:46:48.167Z,1558043208.167 [Reporter](INFO): platform_buoyancy_position 763.351135 cc
2019-05-16T21:46:48.569Z,1558043208.569 [Reporter](INFO): platform_buoyancy_position 769.663208 cc
2019-05-16T21:46:48.983Z,1558043208.983 [Reporter](INFO): platform_buoyancy_position 775.303833 cc
2019-05-16T21:46:49.383Z,1558043209.383 [Reporter](INFO): platform_buoyancy_position 780.407227 cc
2019-05-16T21:46:49.783Z,1558043209.783 [Reporter](INFO): platform_buoyancy_position 784.704834 cc
2019-05-16T21:46:50.183Z,1558043210.183 [Reporter](INFO): platform_buoyancy_position 791.016968 cc
2019-05-16T21:46:50.611Z,1558043210.611 [Reporter](INFO): platform_buoyancy_position 795.986023 cc
2019-05-16T21:46:51.019Z,1558043211.019 [Reporter](INFO): platform_buoyancy_position 801.895264 cc
2019-05-16T21:46:51.439Z,1558043211.439 [Reporter](INFO): platform_buoyancy_position 806.058533 cc
2019-05-16T21:46:51.815Z,1558043211.815 [Reporter](INFO): platform_buoyancy_position 812.639221 cc
2019-05-16T21:46:52.211Z,1558043212.211 [Reporter](INFO): platform_buoyancy_position 817.071167 cc
2019-05-16T21:46:52.611Z,1558043212.611 [Reporter](INFO): platform_buoyancy_position 823.248962 cc
2019-05-16T21:46:53.027Z,1558043213.027 [Reporter](INFO): platform_buoyancy_position 827.546570 cc
2019-05-16T21:46:53.422Z,1558043213.422 [Reporter](INFO): platform_buoyancy_position 833.992920 cc
2019-05-16T21:46:53.831Z,1558043213.831 [Reporter](INFO): platform_buoyancy_position 838.424866 cc
2019-05-16T21:46:54.223Z,1558043214.223 [Reporter](INFO): platform_buoyancy_position 843.259644 cc
2019-05-16T21:46:54.627Z,1558043214.627 [Reporter](INFO): platform_buoyancy_position 849.034546 cc
2019-05-16T21:46:55.031Z,1558043215.031 [Reporter](INFO): platform_buoyancy_position 853.466431 cc
2019-05-16T21:46:55.443Z,1558043215.443 [Reporter](INFO): platform_buoyancy_position 858.166931 cc
2019-05-16T21:46:55.855Z,1558043215.855 [Reporter](INFO): platform_buoyancy_position 864.076172 cc
2019-05-16T21:46:56.271Z,1558043216.271 [Reporter](INFO): platform_buoyancy_position 868.373718 cc
2019-05-16T21:46:56.337Z,1558043216.337 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:46:56.671Z,1558043216.671 [Reporter](INFO): platform_buoyancy_position 874.954468 cc
2019-05-16T21:46:57.087Z,1558043217.087 [Reporter](INFO): platform_buoyancy_position 879.252075 cc
2019-05-16T21:46:57.475Z,1558043217.475 [Reporter](INFO): platform_buoyancy_position 883.549622 cc
2019-05-16T21:46:57.865Z,1558043217.865 [Reporter](INFO): platform_buoyancy_position 889.861755 cc
2019-05-16T21:46:58.269Z,1558043218.269 [Reporter](INFO): platform_buoyancy_position 896.308167 cc
2019-05-16T21:46:58.586Z,1558043218.586 [CommandLine](IMPORTANT): got command maintain clear
2019-05-16T21:46:58.679Z,1558043218.679 [Reporter](INFO): platform_buoyancy_position 900.605774 cc
2019-05-16T21:46:58.684Z,1558043218.684 [controlThread](DEBUG): Component order: CycleStarter,ESPComponent,PAR_Licor,AHRS_M2,Depth_Keller,NAL9602,Onboard,DAT,BPC1,PAR_Licor,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-05-16T21:46:59.083Z,1558043219.083 [Reporter](INFO): platform_buoyancy_position 907.052124 cc
2019-05-16T21:46:59.166Z,1558043219.166 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.231766
2019-05-16T21:46:59.479Z,1558043219.479 [Reporter](INFO): platform_buoyancy_position 911.349731 cc
2019-05-16T21:46:59.884Z,1558043219.884 [Reporter](INFO): platform_buoyancy_position 916.990356 cc
2019-05-16T21:47:00.287Z,1558043220.287 [Reporter](INFO): platform_buoyancy_position 922.228027 cc
2019-05-16T21:47:00.738Z,1558043220.738 [Reporter](INFO): platform_buoyancy_position 928.540161 cc
2019-05-16T21:47:01.503Z,1558043221.503 [Reporter](INFO): platform_buoyancy_position 932.837769 cc
2019-05-16T21:47:01.639Z,1558043221.639 [Reporter](INFO): platform_buoyancy_position 939.284180 cc
2019-05-16T21:47:05.707Z,1558043225.707 [Reporter](INFO): platform_buoyancy_position 952.311279 cc
2019-05-16T21:47:40.702Z,1558043260.702 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-16T21:47:41.525Z,1558043261.525 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:47:44.349Z,1558043264.349 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:47:47.177Z,1558043267.177 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:47:50.413Z,1558043270.413 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:47:50.436Z,1558043270.436 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-05-16T21:47:50.437Z,1558043270.437 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-05-16T21:47:50.437Z,1558043270.437 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-16T21:47:50.448Z,1558043270.448 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-16T21:47:50.844Z,1558043270.844 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-16T21:47:50.844Z,1558043270.844 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-05-16T21:47:53.237Z,1558043273.237 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:47:56.473Z,1558043276.473 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:47:57.405Z,1558043277.405 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:47:59.297Z,1558043279.297 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:02.129Z,1558043282.129 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:05.373Z,1558043285.373 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:08.189Z,1558043288.189 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:11.424Z,1558043291.424 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:14.249Z,1558043294.249 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:17.477Z,1558043297.477 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:20.309Z,1558043300.309 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:23.137Z,1558043303.137 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:26.369Z,1558043306.369 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:28.129Z,1558043308.129 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:48:29.197Z,1558043309.197 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:32.429Z,1558043312.429 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:35.253Z,1558043315.253 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:38.489Z,1558043318.489 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:41.317Z,1558043321.317 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:44.549Z,1558043324.549 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:47.377Z,1558043327.377 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:50.201Z,1558043330.201 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:53.437Z,1558043333.437 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:56.261Z,1558043336.261 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:48:58.833Z,1558043338.833 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-05-16T21:48:59.497Z,1558043339.497 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:02.321Z,1558043342.321 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:05.557Z,1558043345.557 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:08.381Z,1558043348.381 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:11.217Z,1558043351.217 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:13.417Z,1558043353.417 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003580
2019-05-16T21:49:14.441Z,1558043354.441 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:17.273Z,1558043357.273 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:20.501Z,1558043360.501 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:23.333Z,1558043363.333 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:26.561Z,1558043366.561 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:29.389Z,1558043369.389 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:32.621Z,1558043372.621 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:35.453Z,1558043375.453 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:38.281Z,1558043378.281 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:41.513Z,1558043381.513 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:44.341Z,1558043384.341 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:47.573Z,1558043387.573 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:50.369Z,1558043390.369 [CommandLine](IMPORTANT): got command quit
2019-05-16T21:49:50.397Z,1558043390.397 [NAL9602](DEBUG): Fix Requested
2019-05-16T21:49:51.373Z,1558043391.373 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:51.373Z,1558043391.373 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.449Z,1558043391.449 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-05-16T21:49:51.449Z,1558043391.449 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.450Z,1558043391.450 [CommandLine](INFO): Join timeout helper Thread ID is 4400
2019-05-16T21:49:51.450Z,1558043391.450 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-05-16T21:49:51.450Z,1558043391.450 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.451Z,1558043391.451 [NavChartDb](INFO): Join timeout helper Thread ID is 4401
2019-05-16T21:49:51.569Z,1558043391.569 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:51.569Z,1558043391.569 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.597Z,1558043391.597 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-05-16T21:49:51.597Z,1558043391.597 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.597Z,1558043391.597 [Radio_Surface](INFO): Join timeout helper Thread ID is 4402
2019-05-16T21:49:51.618Z,1558043391.618 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-05-16T21:49:51.618Z,1558043391.618 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-05-16T21:49:51.618Z,1558043391.618 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-05-16T21:49:51.629Z,1558043391.629 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-05-16T21:49:51.901Z,1558043391.901 [Radio_Surface](INFO): Powering down
2019-05-16T21:49:51.902Z,1558043391.902 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:51.902Z,1558043391.902 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.917Z,1558043391.917 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-05-16T21:49:51.917Z,1558043391.917 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:51.917Z,1558043391.917 [DataOverHttps](INFO): Join timeout helper Thread ID is 4403
2019-05-16T21:49:52.049Z,1558043392.049 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-05-16T21:49:52.049Z,1558043392.049 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-05-16T21:49:52.201Z,1558043392.201 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:52.201Z,1558043392.201 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.213Z,1558043392.213 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2019-05-16T21:49:52.213Z,1558043392.213 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.213Z,1558043392.213 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 4404
2019-05-16T21:49:52.453Z,1558043392.453 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:52.453Z,1558043392.453 [WetLabsBB2FL](INFO): Powering down
2019-05-16T21:49:52.454Z,1558043392.454 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.474Z,1558043392.474 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-05-16T21:49:52.474Z,1558043392.474 [logger ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.474Z,1558043392.474 [logger](INFO): Join timeout helper Thread ID is 4405
2019-05-16T21:49:52.517Z,1558043392.517 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:52.517Z,1558043392.517 [logger ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.533Z,1558043392.533 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-05-16T21:49:52.534Z,1558043392.534 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.534Z,1558043392.534 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-05-16T21:49:52.534Z,1558043392.534 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.534Z,1558043392.534 [controlThread](INFO): Join timeout helper Thread ID is 4406
2019-05-16T21:49:52.797Z,1558043392.797 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-05-16T21:49:52.797Z,1558043392.797 [controlThread](DEBUG): Uninitializing ControlThread
2019-05-16T21:49:52.799Z,1558043392.799 [AHRS_M2](INFO): Powering down
2019-05-16T21:49:52.800Z,1558043392.800 [NAL9602](INFO): Powering down
2019-05-16T21:49:52.801Z,1558043392.801 [DAT](INFO): Powering down
2019-05-16T21:49:52.922Z,1558043392.922 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-05-16T21:49:52.922Z,1558043392.922 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-05-16T21:49:52.923Z,1558043392.923 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-05-16T21:49:52.923Z,1558043392.923 [MissionManager](INFO): Uninitializing Mission Default
2019-05-16T21:49:52.923Z,1558043392.923 [Default] Stopped
2019-05-16T21:49:52.924Z,1558043392.924 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-16T21:49:52.924Z,1558043392.924 [Default:B.GoToSurface] Stopped
2019-05-16T21:49:52.924Z,1558043392.924 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-16T21:49:52.924Z,1558043392.924 [Default:CheckIn] Stopped
2019-05-16T21:49:52.924Z,1558043392.924 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-16T21:49:52.924Z,1558043392.924 [Default:CheckIn:Read_GPS] Stopped
2019-05-16T21:49:52.926Z,1558043392.926 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-05-16T21:49:52.927Z,1558043392.927 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-05-16T21:49:52.927Z,1558043392.927 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-05-16T21:49:52.927Z,1558043392.927 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-05-16T21:49:52.927Z,1558043392.927 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-05-16T21:49:52.927Z,1558043392.927 [BuoyancyServo](INFO): Powering down
2019-05-16T21:49:52.941Z,1558043392.941 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-05-16T21:49:52.941Z,1558043392.941 [ElevatorServo](INFO): Powering down
2019-05-16T21:49:52.942Z,1558043392.942 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-05-16T21:49:52.942Z,1558043392.942 [MassServo](INFO): Powering down
2019-05-16T21:49:52.943Z,1558043392.943 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-05-16T21:49:52.943Z,1558043392.943 [RudderServo](INFO): Powering down
2019-05-16T21:49:52.943Z,1558043392.943 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-05-16T21:49:52.944Z,1558043392.944 [ThrusterServo](INFO): Powering down
2019-05-16T21:49:52.944Z,1558043392.944 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-05-16T21:49:52.945Z,1558043392.945 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-05-16T21:49:52.945Z,1558043392.945 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-05-16T21:49:52.945Z,1558043392.945 [CBIT](DEBUG): Powering off loads.
2019-05-16T21:49:52.957Z,1558043392.957 [CBIT](DEBUG): Disabling WDT.
2019-05-16T21:49:52.969Z,1558043392.969 [CBIT](DEBUG): Opening all GF detection circuits.
2019-05-16T21:49:52.970Z,1558043392.970 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:52.999Z,1558043392.999 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:53.063Z,1558043393.063 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:53.068Z,1558043393.068 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:53.116Z,1558043393.116 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-05-16T21:49:53.185Z,1558043393.185 [logger ThreadHandler](INFO): Thread cancelled.