2020-06-02T16:58:02.742Z,1591117082.742 [Supervisor](DEBUG): Initializing supervisor.
2020-06-02T16:58:02.745Z,1591117082.745 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-06-02T16:58:02.745Z,1591117082.745 [SyncHandler](INFO): Protected caller Thread ID is 8622
2020-06-02T16:58:02.746Z,1591117082.746 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-06-02T16:58:02.747Z,1591117082.747 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-06-02T16:58:02.747Z,1591117082.747 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 8623
2020-06-02T16:58:02.750Z,1591117082.750 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-06-02T16:58:02.764Z,1591117082.764 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-06-02T16:58:02.765Z,1591117082.765 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-06-02T16:58:02.765Z,1591117082.765 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 8624
2020-06-02T16:58:02.766Z,1591117082.766 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-06-02T16:58:02.767Z,1591117082.767 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-06-02T16:58:02.767Z,1591117082.767 [logger ThreadHandler](INFO): Protected caller Thread ID is 8625
2020-06-02T16:58:02.769Z,1591117082.769 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-06-02T16:58:02.769Z,1591117082.769 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-06-02T16:58:02.771Z,1591117082.771 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-06-02T16:58:02.893Z,1591117082.893 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-06-02T16:58:02.893Z,1591117082.893 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-06-02T16:58:03.567Z,1591117083.567 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-06-02T16:58:03.568Z,1591117083.568 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2020-06-02T16:58:03.758Z,1591117083.758 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2020-06-02T16:58:03.759Z,1591117083.759 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-06-02T16:58:03.855Z,1591117083.855 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-06-02T16:58:03.856Z,1591117083.856 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-06-02T16:58:03.955Z,1591117083.955 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-06-02T16:58:03.956Z,1591117083.956 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-06-02T16:58:04.034Z,1591117084.034 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-06-02T16:58:04.168Z,1591117084.168 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-06-02T16:58:04.169Z,1591117084.169 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-06-02T16:58:04.455Z,1591117084.455 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-06-02T16:58:04.456Z,1591117084.456 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-06-02T16:58:04.918Z,1591117084.918 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-06-02T16:58:04.919Z,1591117084.919 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-06-02T16:58:05.060Z,1591117085.060 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-06-02T16:58:05.060Z,1591117085.060 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-06-02T16:58:05.255Z,1591117085.255 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-06-02T16:58:05.255Z,1591117085.255 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-06-02T16:58:05.739Z,1591117085.739 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-06-02T16:58:05.740Z,1591117085.740 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-06-02T16:58:05.954Z,1591117085.954 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-06-02T16:58:05.955Z,1591117085.955 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-06-02T16:58:06.157Z,1591117086.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-06-02T16:58:06.157Z,1591117086.157 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-06-02T16:58:06.584Z,1591117086.584 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-06-02T16:58:06.585Z,1591117086.585 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-06-02T16:58:07.339Z,1591117087.339 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-06-02T16:58:07.341Z,1591117087.341 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/
2020-06-02T16:58:07.342Z,1591117087.342 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/secure.cfg
2020-06-02T16:58:07.424Z,1591117087.424 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Sensor.cfg
2020-06-02T16:58:07.580Z,1591117087.580 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Servo.cfg
2020-06-02T16:58:07.685Z,1591117087.685 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Simulator.cfg
2020-06-02T16:58:07.768Z,1591117087.768 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/logger.cfg
2020-06-02T16:58:07.860Z,1591117087.860 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/vehicle.cfg
2020-06-02T16:58:08.059Z,1591117088.059 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Battery.cfg
2020-06-02T16:58:08.284Z,1591117088.284 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-06-02T16:58:08.284Z,1591117088.284 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Navigation.cfg
2020-06-02T16:58:08.375Z,1591117088.375 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/BIT.cfg
2020-06-02T16:58:08.471Z,1591117088.471 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Science.cfg
2020-06-02T16:58:08.607Z,1591117088.607 [Supervisor](INFO): Opening Config file at: Config/lrauv-pontus/Control.cfg
2020-06-02T16:58:08.704Z,1591117088.704 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-pontus/root/
2020-06-02T16:58:08.704Z,1591117088.704 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-06-02T16:58:08.715Z,1591117088.715 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2020-06-02T16:58:08.811Z,1591117088.811 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2020-06-02T16:58:08.811Z,1591117088.811 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-06-02T16:58:08.875Z,1591117088.875 [VerticalControl](DEBUG): Construct VerticalControl.
2020-06-02T16:58:08.985Z,1591117088.985 [VerticalControl] Loaded
2020-06-02T16:58:08.985Z,1591117088.985 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-06-02T16:58:08.986Z,1591117088.986 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-06-02T16:58:09.065Z,1591117089.065 [HorizontalControl] Loaded
2020-06-02T16:58:09.065Z,1591117089.065 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-06-02T16:58:09.066Z,1591117089.066 [SpeedControl](DEBUG): Construct SpeedControl.
2020-06-02T16:58:09.071Z,1591117089.071 [SpeedControl] Loaded
2020-06-02T16:58:09.072Z,1591117089.072 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-06-02T16:58:09.072Z,1591117089.072 [LoopControl](DEBUG): Construct LoopControl.
2020-06-02T16:58:09.073Z,1591117089.073 [LoopControl] Loaded
2020-06-02T16:58:09.073Z,1591117089.073 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-06-02T16:58:09.073Z,1591117089.073 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-06-02T16:58:09.074Z,1591117089.074 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-06-02T16:58:09.129Z,1591117089.129 [DepthRateCalculator] Loaded
2020-06-02T16:58:09.129Z,1591117089.129 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-06-02T16:58:09.134Z,1591117089.134 [PitchRateCalculator] Loaded
2020-06-02T16:58:09.134Z,1591117089.134 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-06-02T16:58:09.150Z,1591117089.150 [SpeedCalculator] Loaded
2020-06-02T16:58:09.150Z,1591117089.150 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-06-02T16:58:09.171Z,1591117089.171 [TempGradientCalculator] Loaded
2020-06-02T16:58:09.171Z,1591117089.171 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-06-02T16:58:09.176Z,1591117089.176 [YawRateCalculator] Loaded
2020-06-02T16:58:09.177Z,1591117089.177 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-06-02T16:58:09.206Z,1591117089.206 [ElevatorOffsetCalculator] Loaded
2020-06-02T16:58:09.206Z,1591117089.206 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-06-02T16:58:09.206Z,1591117089.206 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-06-02T16:58:09.207Z,1591117089.207 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-06-02T16:58:09.234Z,1591117089.234 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-06-02T16:58:09.235Z,1591117089.235 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-06-02T16:58:09.320Z,1591117089.320 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-06-02T16:58:09.320Z,1591117089.320 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-06-02T16:58:09.609Z,1591117089.609 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-06-02T16:58:09.609Z,1591117089.609 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-06-02T16:58:09.709Z,1591117089.709 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-06-02T16:58:09.709Z,1591117089.709 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-06-02T16:58:10.112Z,1591117090.112 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-06-02T16:58:10.117Z,1591117090.117 [AHRS_M2](INFO): created writer for : platform_orientation
2020-06-02T16:58:10.119Z,1591117090.119 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-06-02T16:58:10.124Z,1591117090.124 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-06-02T16:58:10.125Z,1591117090.125 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-06-02T16:58:10.130Z,1591117090.130 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-06-02T16:58:10.130Z,1591117090.130 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-06-02T16:58:10.136Z,1591117090.136 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-06-02T16:58:10.340Z,1591117090.340 [AHRS_M2] Loaded
2020-06-02T16:58:10.341Z,1591117090.341 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-06-02T16:58:10.443Z,1591117090.443 [DataOverHttps] Loaded
2020-06-02T16:58:10.443Z,1591117090.443 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-06-02T16:58:10.444Z,1591117090.444 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 409044E0
2020-06-02T16:58:10.445Z,1591117090.445 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 8708
2020-06-02T16:58:10.458Z,1591117090.458 [Depth_Keller] Loaded
2020-06-02T16:58:10.458Z,1591117090.458 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-06-02T16:58:10.554Z,1591117090.554 [NAL9602] Loaded
2020-06-02T16:58:10.554Z,1591117090.554 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-06-02T16:58:10.591Z,1591117090.591 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/voltage_now
2020-06-02T16:58:10.592Z,1591117090.592 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/current_now
2020-06-02T16:58:10.592Z,1591117090.592 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_now
2020-06-02T16:58:10.593Z,1591117090.593 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-0/charge_full
2020-06-02T16:58:10.593Z,1591117090.593 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/voltage_now
2020-06-02T16:58:10.594Z,1591117090.594 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/current_now
2020-06-02T16:58:10.594Z,1591117090.594 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_now
2020-06-02T16:58:10.595Z,1591117090.595 [Onboard](ERROR): Can't open SysFS node file: /sys/class/power_supply/ds2782-1/charge_full
2020-06-02T16:58:10.595Z,1591117090.595 [Onboard] Loaded
2020-06-02T16:58:10.595Z,1591117090.595 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2020-06-02T16:58:10.598Z,1591117090.598 [Radio_Surface] Loaded
2020-06-02T16:58:10.599Z,1591117090.599 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-06-02T16:58:10.600Z,1591117090.600 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 409344E0
2020-06-02T16:58:10.600Z,1591117090.600 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 8709
2020-06-02T16:58:10.643Z,1591117090.643 [RDI_Pathfinder] Loaded
2020-06-02T16:58:10.643Z,1591117090.643 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2020-06-02T16:58:10.775Z,1591117090.775 [DAT] Loaded
2020-06-02T16:58:10.776Z,1591117090.776 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2020-06-02T16:58:12.679Z,1591117092.679 [BPC1] Loaded
2020-06-02T16:58:12.680Z,1591117092.680 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-06-02T16:58:12.680Z,1591117092.680 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-06-02T16:58:12.681Z,1591117092.681 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-06-02T16:58:12.800Z,1591117092.800 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-06-02T16:58:12.800Z,1591117092.800 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-06-02T16:58:12.820Z,1591117092.820 [NavChart] Loaded
2020-06-02T16:58:12.821Z,1591117092.821 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-06-02T16:58:12.824Z,1591117092.824 [UniversalFixResidualReporter] Loaded
2020-06-02T16:58:12.825Z,1591117092.825 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-06-02T16:58:12.825Z,1591117092.825 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-06-02T16:58:12.826Z,1591117092.826 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-06-02T16:58:12.984Z,1591117092.984 [SBIT](DEBUG): Construct Startup Built In Test.
2020-06-02T16:58:12.995Z,1591117092.995 [SBIT] Loaded
2020-06-02T16:58:12.996Z,1591117092.996 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-06-02T16:58:12.996Z,1591117092.996 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-06-02T16:58:13.009Z,1591117093.009 [IBIT] Loaded
2020-06-02T16:58:13.009Z,1591117093.009 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-06-02T16:58:13.012Z,1591117093.012 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-06-02T16:58:13.149Z,1591117093.149 [CBIT] Loaded
2020-06-02T16:58:13.149Z,1591117093.149 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-06-02T16:58:13.149Z,1591117093.149 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-06-02T16:58:13.150Z,1591117093.150 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-06-02T16:58:13.254Z,1591117093.254 [BuoyancyServo] Loaded
2020-06-02T16:58:13.255Z,1591117093.255 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-06-02T16:58:13.266Z,1591117093.266 [ElevatorServo] Loaded
2020-06-02T16:58:13.266Z,1591117093.266 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-06-02T16:58:13.277Z,1591117093.277 [MassServo] Loaded
2020-06-02T16:58:13.278Z,1591117093.278 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-06-02T16:58:13.288Z,1591117093.288 [RudderServo] Loaded
2020-06-02T16:58:13.289Z,1591117093.289 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-06-02T16:58:13.299Z,1591117093.299 [ThrusterServo] Loaded
2020-06-02T16:58:13.299Z,1591117093.299 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-06-02T16:58:13.300Z,1591117093.300 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-06-02T16:58:13.300Z,1591117093.300 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-06-02T16:58:13.319Z,1591117093.319 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-06-02T16:58:13.320Z,1591117093.320 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-06-02T16:58:13.546Z,1591117093.546 [BackSeatDriver] Loaded
2020-06-02T16:58:13.547Z,1591117093.547 [ComponentRegistry](DEBUG): Component "BackSeatDriver" handled in its own thread.
2020-06-02T16:58:13.548Z,1591117093.548 [BackSeatDriver ThreadHandler](DEBUG): Created PCaller Thread at 40ACA4E0
2020-06-02T16:58:13.548Z,1591117093.548 [BackSeatDriver ThreadHandler](INFO): Protected caller Thread ID is 8710
2020-06-02T16:58:13.558Z,1591117093.558 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_density
2020-06-02T16:58:13.563Z,1591117093.563 [CTD_Seabird](INFO): created writer for : sea_water_density
2020-06-02T16:58:13.563Z,1591117093.563 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): depth
2020-06-02T16:58:13.568Z,1591117093.568 [CTD_Seabird](INFO): created writer for : depth
2020-06-02T16:58:13.569Z,1591117093.569 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_pressure
2020-06-02T16:58:13.573Z,1591117093.573 [CTD_Seabird](INFO): created writer for : sea_water_pressure
2020-06-02T16:58:13.574Z,1591117093.574 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_salinity
2020-06-02T16:58:13.579Z,1591117093.579 [CTD_Seabird](INFO): created writer for : sea_water_salinity
2020-06-02T16:58:13.580Z,1591117093.580 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_temperature
2020-06-02T16:58:13.585Z,1591117093.585 [CTD_Seabird](INFO): created writer for : sea_water_temperature
2020-06-02T16:58:13.586Z,1591117093.586 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_electrical_conductivity
2020-06-02T16:58:13.591Z,1591117093.591 [CTD_Seabird](INFO): created writer for : sea_water_electrical_conductivity
2020-06-02T16:58:13.591Z,1591117093.591 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): speed_of_sound_in_sea_water
2020-06-02T16:58:13.596Z,1591117093.596 [CTD_Seabird](INFO): created writer for : speed_of_sound_in_sea_water
2020-06-02T16:58:13.624Z,1591117093.624 [CTD_Seabird] Loaded
2020-06-02T16:58:13.624Z,1591117093.624 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2020-06-02T16:58:13.625Z,1591117093.625 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40AFA4E0
2020-06-02T16:58:13.625Z,1591117093.625 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 8711
2020-06-02T16:58:13.632Z,1591117093.632 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output470
2020-06-02T16:58:13.632Z,1591117093.632 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: Output470
2020-06-02T16:58:13.636Z,1591117093.636 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output650
2020-06-02T16:58:13.636Z,1591117093.636 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: Output650
2020-06-02T16:58:13.640Z,1591117093.640 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.OutputChl
2020-06-02T16:58:13.641Z,1591117093.641 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: OutputChl
2020-06-02T16:58:13.645Z,1591117093.645 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg470nm
2020-06-02T16:58:13.645Z,1591117093.645 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: VolumeScatCoeff117deg470nm
2020-06-02T16:58:13.649Z,1591117093.649 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg650nm
2020-06-02T16:58:13.649Z,1591117093.649 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: VolumeScatCoeff117deg650nm
2020-06-02T16:58:13.653Z,1591117093.653 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff470nm
2020-06-02T16:58:13.654Z,1591117093.654 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: BackscatteringCoeff470nm
2020-06-02T16:58:13.658Z,1591117093.658 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff650nm
2020-06-02T16:58:13.658Z,1591117093.658 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: BackscatteringCoeff650nm
2020-06-02T16:58:13.662Z,1591117093.662 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.667Z,1591117093.667 [WetLabsBB2FL](INFO): created writer for : mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.667Z,1591117093.667 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.667Z,1591117093.667 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_median_mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.671Z,1591117093.671 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.672Z,1591117093.672 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.676Z,1591117093.676 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_variance_mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.676Z,1591117093.676 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_variance_mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T16:58:13.680Z,1591117093.680 [WetLabsBB2FL] Loaded
2020-06-02T16:58:13.681Z,1591117093.681 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2020-06-02T16:58:13.682Z,1591117093.682 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40B2A4E0
2020-06-02T16:58:13.682Z,1591117093.682 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 8712
2020-06-02T16:58:13.900Z,1591117093.900 [WetLabsUBAT..SerialDriver](INFO): Created logger
2020-06-02T16:58:13.901Z,1591117093.901 [WetLabsUBAT..SerialDriver](INFO): publishing on LCM channel WetLabsUBAT
2020-06-02T16:58:13.902Z,1591117093.902 [WetLabsUBAT..StreamSerialDriver](INFO): Created logger
2020-06-02T16:58:13.907Z,1591117093.907 [WetLabsUBAT](INFO): readConfig(): serialNo_: UBAT0051, uartName_: /dev/ttyC1, optionalArgs_: -ldir /mnt/mmc/LRAUV/Logs/latest
2020-06-02T16:58:13.907Z,1591117093.907 [WetLabsUBAT](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsUBAT.biolum_potential
2020-06-02T16:58:13.907Z,1591117093.907 [WetLabsUBAT](DEBUG): LcmSlateWriter::add(): dataName: biolum_potential
2020-06-02T16:58:13.912Z,1591117093.912 [WetLabsUBAT](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsUBAT.flow_rate
2020-06-02T16:58:13.912Z,1591117093.912 [WetLabsUBAT](DEBUG): LcmSlateWriter::add(): dataName: flow_rate
2020-06-02T16:58:13.917Z,1591117093.917 [WetLabsUBAT] Loaded
2020-06-02T16:58:13.917Z,1591117093.917 [ComponentRegistry](DEBUG): Component "WetLabsUBAT" handled in its own thread.
2020-06-02T16:58:13.918Z,1591117093.918 [WetLabsUBAT ThreadHandler](DEBUG): Created PCaller Thread at 40B5A4E0
2020-06-02T16:58:13.919Z,1591117093.919 [WetLabsUBAT ThreadHandler](INFO): Protected caller Thread ID is 8713
2020-06-02T16:58:13.919Z,1591117093.919 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-06-02T16:58:13.923Z,1591117093.923 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-06-02T16:58:13.924Z,1591117093.924 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-06-02T16:58:13.931Z,1591117093.931 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-06-02T16:58:13.932Z,1591117093.932 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B8A4E0
2020-06-02T16:58:13.932Z,1591117093.932 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 8714
2020-06-02T16:58:13.937Z,1591117093.937 [Supervisor](INFO): Main Thread ID is 8621
2020-06-02T16:58:13.937Z,1591117093.937 [Supervisor](DEBUG): Running supervisor.
2020-06-02T16:58:13.938Z,1591117093.938 [CommandLine ThreadHandler](INFO): Handler Thread ID is 8715
2020-06-02T16:58:13.941Z,1591117093.941 [controlThread ThreadHandler](INFO): Handler Thread ID is 8716
2020-06-02T16:58:13.941Z,1591117093.941 [controlThread](DEBUG): Initializing ControlThread
2020-06-02T16:58:13.943Z,1591117093.943 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-06-02T16:58:13.944Z,1591117093.944 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-06-02T16:58:13.945Z,1591117093.945 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-06-02T16:58:13.945Z,1591117093.945 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-06-02T16:58:13.946Z,1591117093.946 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-06-02T16:58:13.946Z,1591117093.946 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-06-02T16:58:13.946Z,1591117093.946 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-06-02T16:58:13.947Z,1591117093.947 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-06-02T16:58:13.947Z,1591117093.947 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-06-02T16:58:13.947Z,1591117093.947 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-06-02T16:58:13.952Z,1591117093.952 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-06-02T16:58:13.952Z,1591117093.952 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-06-02T16:58:13.952Z,1591117093.952 [SBIT](INFO): Initialize SBIT Component.
2020-06-02T16:58:13.953Z,1591117093.953 [SBIT](IMPORTANT): git: 2020-05-06_C-9-gb1ae7b3
2020-06-02T16:58:13.953Z,1591117093.953 [SBIT](INFO): git hash: b1ae7b35592dd2096e9950fc8990f0aea39effde
2020-06-02T16:58:13.953Z,1591117093.953 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-06-02T16:58:13.954Z,1591117093.954 [SBIT](IMPORTANT): Kernel Version:#1 PREEMPT Thu Feb 21 11:17:40 PST 2019
2020-06-02T16:58:13.955Z,1591117093.955 [SBIT](INFO): Beginning SBIT in 76.000000 seconds.
2020-06-02T16:58:13.955Z,1591117093.955 [IBIT](INFO): Initialize IBIT Component.
2020-06-02T16:58:13.956Z,1591117093.956 [CBIT](DEBUG): Initialize CBIT Component.
2020-06-02T16:58:13.957Z,1591117093.957 [logger ThreadHandler](INFO): Handler Thread ID is 8717
2020-06-02T16:58:13.970Z,1591117093.970 [CBIT](DEBUG): Initialized mux pins.
2020-06-02T16:58:13.970Z,1591117093.970 [CBIT](DEBUG): Initializing the watchdog timer.
2020-06-02T16:58:13.974Z,1591117093.974 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 8718
2020-06-02T16:58:13.975Z,1591117093.975 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-06-02T16:58:13.982Z,1591117093.982 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 8719
2020-06-02T16:58:13.990Z,1591117093.990 [BackSeatDriver ThreadHandler](INFO): Handler Thread ID is 8720
2020-06-02T16:58:13.994Z,1591117093.994 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-06-02T16:58:13.994Z,1591117093.994 [CBIT](DEBUG): Initializing heartbeat.
2020-06-02T16:58:14.002Z,1591117094.002 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 8721
2020-06-02T16:58:14.003Z,1591117094.003 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2020-06-02T16:58:14.007Z,1591117094.007 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 8723
2020-06-02T16:58:14.008Z,1591117094.008 [WetLabsBB2FL](INFO): Powering down
2020-06-02T16:58:14.043Z,1591117094.043 [WetLabsUBAT ThreadHandler](INFO): Handler Thread ID is 8724
2020-06-02T16:58:14.054Z,1591117094.054 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 8725
2020-06-02T16:58:14.060Z,1591117094.060 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-06-02T16:58:14.060Z,1591117094.060 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-06-02T16:58:14.060Z,1591117094.060 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-06-02T16:58:14.061Z,1591117094.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-06-02T16:58:14.061Z,1591117094.061 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-06-02T16:58:14.061Z,1591117094.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-06-02T16:58:14.061Z,1591117094.061 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-06-02T16:58:14.061Z,1591117094.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-06-02T16:58:14.061Z,1591117094.061 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-06-02T16:58:14.062Z,1591117094.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-06-02T16:58:14.062Z,1591117094.062 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-06-02T16:58:14.062Z,1591117094.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-06-02T16:58:14.062Z,1591117094.062 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-06-02T16:58:14.062Z,1591117094.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-06-02T16:58:14.063Z,1591117094.063 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-06-02T16:58:14.063Z,1591117094.063 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-06-02T16:58:14.066Z,1591117094.066 [CBIT](DEBUG): Deactivating GF circuits.
2020-06-02T16:58:14.066Z,1591117094.066 [CBIT](DEBUG): Deactivating emergency mode.
2020-06-02T16:58:14.102Z,1591117094.102 [CBIT](DEBUG): Backplane powered.
2020-06-02T16:58:14.104Z,1591117094.104 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-06-02T16:58:14.115Z,1591117094.115 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-02T16:58:14.146Z,1591117094.146 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2020-06-02T16:58:14.146Z,1591117094.146 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-06-02T16:58:14.213Z,1591117094.213 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-06-02T16:58:14.214Z,1591117094.214 [Default:A.Wait](DEBUG): Construct Wait.
2020-06-02T16:58:14.216Z,1591117094.216 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-02T16:58:14.275Z,1591117094.275 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-06-02T16:58:14.277Z,1591117094.277 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-06-02T16:58:14.299Z,1591117094.299 [Default:E.Execute](DEBUG): Construct Execute.
2020-06-02T16:58:14.302Z,1591117094.302 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

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

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

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

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

    </Aggregate>

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

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

</Mission>


2020-06-02T16:58:14.325Z,1591117094.325 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,NAL9602,Onboard,RDI_Pathfinder,DAT,BPC1,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,
2020-06-02T16:58:14.339Z,1591117094.339 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-06-02T16:58:14.386Z,1591117094.386 [Radio_Surface](INFO): Powering up
2020-06-02T16:58:14.537Z,1591117094.537 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2020-06-02T16:58:14.537Z,1591117094.537 [DAT](INFO): Powering up
2020-06-02T16:58:14.537Z,1591117094.537 [DAT](DEBUG): Initializing DAT.
2020-06-02T16:58:14.538Z,1591117094.538 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2020-06-02T16:58:14.647Z,1591117094.647 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-06-02T16:58:14.663Z,1591117094.663 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-06-02T16:58:14.664Z,1591117094.664 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-06-02T16:58:14.671Z,1591117094.671 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-06-02T16:58:14.672Z,1591117094.672 [MassServo](DEBUG): Initializing EZServoServo.
2020-06-02T16:58:14.678Z,1591117094.678 [MassServo](DEBUG): Initializing MassServo.
2020-06-02T16:58:14.679Z,1591117094.679 [RudderServo](DEBUG): Initializing EZServoServo.
2020-06-02T16:58:14.686Z,1591117094.686 [RudderServo](DEBUG): Initializing RudderServo.
2020-06-02T16:58:14.687Z,1591117094.687 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-06-02T16:58:14.694Z,1591117094.694 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-06-02T16:58:14.766Z,1591117094.766 [Depth_Keller](ERROR): Pressure reading out of range: 1650.297119 decibar
2020-06-02T16:58:24.887Z,1591117104.887 [DAT](DEBUG): 
2020-06-02T16:58:24.888Z,1591117104.888 [DAT](DEBUG): Teledyne Benthos DAT-900 Series
2020-06-02T16:58:26.100Z,1591117106.100 [DAT](DEBUG): MF Frequency Band
2020-06-02T16:58:26.102Z,1591117106.102 [DAT](DEBUG): Directional Acoustic Transponder version 8.12.21
2020-06-02T16:58:26.104Z,1591117106.104 [DAT](DEBUG): Jun  2 2020 16:52:59 
2020-06-02T16:58:26.882Z,1591117106.882 [DAT](DEBUG): Features enabled [Bearing]
2020-06-02T16:58:27.292Z,1591117107.292 [DAT](DEBUG): CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP
2020-06-02T16:58:27.293Z,1591117107.293 [DAT](INFO): commRate: 800
2020-06-02T16:58:27.687Z,1591117107.687 [DAT](INFO): entering command mode
2020-06-02T16:58:28.098Z,1591117108.098 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-02T16:58:28.440Z,1591117108.440 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.048268
2020-06-02T16:58:28.505Z,1591117108.505 [DAT](DEBUG): checking for command mode acknowledgment
2020-06-02T16:58:28.506Z,1591117108.506 [DAT](INFO): command mode acknowledged
2020-06-02T16:58:28.514Z,1591117108.514 [DAT](INFO): setting verbose to 3
2020-06-02T16:58:28.898Z,1591117108.898 [DAT](DEBUG): checking for verbose setting acknowledgment
2020-06-02T16:58:28.899Z,1591117108.899 [DAT](INFO): set verbose to 3
2020-06-02T16:58:29.370Z,1591117109.370 [DAT](INFO): setting transmit power to 8
2020-06-02T16:58:29.710Z,1591117109.710 [DAT](DEBUG): checking for transmit power setting acknowledgment
2020-06-02T16:58:30.110Z,1591117110.110 [DAT](DEBUG): checking for transmit power setting acknowledgment
2020-06-02T16:58:30.111Z,1591117110.111 [DAT](INFO): set transmit power to 8
2020-06-02T16:58:30.514Z,1591117110.514 [DAT](INFO): setting local address to 9
2020-06-02T16:58:30.929Z,1591117110.929 [DAT](DEBUG): checking for local address setting acknowledgment
2020-06-02T16:58:31.322Z,1591117111.322 [DAT](DEBUG): checking for local address setting acknowledgment
2020-06-02T16:58:31.323Z,1591117111.323 [DAT](INFO): set local address to 9
2020-06-02T16:58:40.599Z,1591117120.599 [NAL9602](INFO): Powering up NAL9602
2020-06-02T16:58:55.188Z,1591117135.188 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-06-02T16:59:01.203Z,1591117141.203 [NAL9602](ERROR): NAL9602 initialization error.
2020-06-02T16:59:01.203Z,1591117141.203 [NAL9602] Communications Fault, FailCount= 1
2020-06-02T16:59:01.203Z,1591117141.203 [NAL9602](ERROR): Communications Fault
2020-06-02T16:59:01.288Z,1591117141.288 [CBIT](ERROR): Communications Fault in component: NAL9602
2020-06-02T16:59:01.607Z,1591117141.607 [NAL9602](INFO): Powering down
2020-06-02T16:59:02.496Z,1591117142.496 [CBIT](INFO): Clearing failed state for component NAL9602
2020-06-02T16:59:02.496Z,1591117142.496 [NAL9602] No Fault, FailCount= 1
2020-06-02T16:59:30.075Z,1591117170.075 [CommandLine](IMPORTANT): got command failComponent
2020-06-02T16:59:30.076Z,1591117170.076 [CommandLine](IMPORTANT): Failed components:
2020-06-02T16:59:30.077Z,1591117170.077 [CommandLine](IMPORTANT): No failed Components.
2020-06-02T16:59:30.744Z,1591117170.744 [SBIT](IMPORTANT): Beginning Startup BIT
2020-06-02T16:59:30.748Z,1591117170.748 [CBIT](IMPORTANT): Beginning ground fault scan
2020-06-02T16:59:31.907Z,1591117171.907 [NAL9602](INFO): Powering up NAL9602
2020-06-02T16:59:41.837Z,1591117181.837 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): -0.022890
CHAN A1 (24V): 0.036213
CHAN A2 (12V): -0.007732
CHAN A3 (5V): -0.002449
CHAN B0 (3.3V): -0.000746
CHAN B1 (3.15aV): 0.000476
CHAN B2 (3.15bV): -0.001052
CHAN B3 (GND): 0.002439
OPEN: -0.003454
Full Scale Calc: 4.765 mA, -1.589 mA
2020-06-02T16:59:42.907Z,1591117182.907 [NAL9602](INFO): NAL9602 initialized
2020-06-02T16:59:51.998Z,1591117191.998 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-06-02T17:00:24.428Z,1591117224.428 [SBIT](IMPORTANT): SBIT PASSED
2020-06-02T17:00:24.428Z,1591117224.428 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-06-02T17:00:24.429Z,1591117224.429 [SBIT](IMPORTANT): DataOverHttps.verbosity=0 count;

2020-06-02T17:00:24.429Z,1591117224.429 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2020-06-02T17:00:24.430Z,1591117224.430 [SBIT](IMPORTANT): Express none ThrusterServo.component_avgCurrent;

2020-06-02T17:00:24.430Z,1591117224.430 [SBIT](IMPORTANT): Express linearApproximation WetLabsUBAT.flow_rate 1.000000 liter_per_second;

2020-06-02T17:00:24.430Z,1591117224.430 [SBIT](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2020-06-02T17:00:24.430Z,1591117224.430 [SBIT](IMPORTANT): IBIT.batteryCapacityThreshold=15 ampere_hour;

2020-06-02T17:00:24.430Z,1591117224.430 [SBIT](IMPORTANT): IBIT.batteryVoltageThreshold=13 volt;

2020-06-02T17:00:24.430Z,1591117224.430 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=413.311030 cubic_centimeter;

2020-06-02T17:00:24.431Z,1591117224.431 [SBIT](IMPORTANT): VerticalControl.massDefault=-14.023880 millimeter;

2020-06-02T17:00:24.431Z,1591117224.431 [SBIT](IMPORTANT): WetLabsUBAT.loadAtStartup=1 bool;

2020-06-02T17:00:24.818Z,1591117224.818 [MissionManager](IMPORTANT): Started mission Startup
2020-06-02T17:00:24.819Z,1591117224.819 [Startup] Running Loop=1
2020-06-02T17:00:24.819Z,1591117224.819 [Startup](DEBUG): Aggregate::initialize Startup
2020-06-02T17:00:24.819Z,1591117224.819 [Startup:A.GoToSurface] Running Loop=1
2020-06-02T17:00:24.819Z,1591117224.819 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:00:24.820Z,1591117224.820 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-02T17:00:24.820Z,1591117224.820 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-02T17:00:24.821Z,1591117224.821 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-02T17:00:24.821Z,1591117224.821 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:00:24.821Z,1591117224.821 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:00:24.823Z,1591117224.823 [Startup:StartupSatComms] Running Loop=1
2020-06-02T17:00:24.823Z,1591117224.823 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-06-02T17:00:24.823Z,1591117224.823 [Startup:StartupSatComms:A] Running Loop=1
2020-06-02T17:00:25.241Z,1591117225.241 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-06-02T17:01:14.183Z,1591117274.183 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-06-02T17:01:14.183Z,1591117274.183 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:01:14.197Z,1591117274.197 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:01:14.525Z,1591117274.525 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:01:14.525Z,1591117274.525 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-06-02T17:01:25.012Z,1591117285.012 [Startup:StartupSatComms:A](INFO): Timed out from 2020-06-02T17:00:24.8Z
2020-06-02T17:01:25.013Z,1591117285.013 [Startup:StartupSatComms:A] Stopped
2020-06-02T17:01:25.013Z,1591117285.013 [Startup:StartupSatComms:B] Running Loop=1
2020-06-02T17:01:25.437Z,1591117285.437 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-06-02T17:01:32.975Z,1591117292.975 [DataOverHttps](INFO): Sending 552 bytes from file Logs/20200522T191419/Courier0004.lzma
2020-06-02T17:01:33.976Z,1591117293.976 [DataOverHttps](INFO): Moved sent file to Logs/20200522T191419/Courier0004.lzma.bak
2020-06-02T17:01:33.976Z,1591117293.976 [DataOverHttps](INFO): SBD MOMSN=12359606
2020-06-02T17:01:50.137Z,1591117310.137 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20200601T175214/Courier0000.lzma
2020-06-02T17:01:51.140Z,1591117311.140 [DataOverHttps](INFO): Moved sent file to Logs/20200601T175214/Courier0000.lzma.bak
2020-06-02T17:01:51.140Z,1591117311.140 [DataOverHttps](INFO): SBD MOMSN=12359609
2020-06-02T17:02:03.123Z,1591117323.123 [CommandLine](IMPORTANT): got command failComponent
2020-06-02T17:02:03.123Z,1591117323.123 [CommandLine](IMPORTANT): Failed components:
2020-06-02T17:02:03.123Z,1591117323.123 [CommandLine](IMPORTANT): No failed Components.
2020-06-02T17:02:06.335Z,1591117326.335 [CommandLine](IMPORTANT): got command configSet list
2020-06-02T17:02:06.335Z,1591117326.335 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-06-02T17:02:06.336Z,1591117326.336 [CommandLine](IMPORTANT): DataOverHttps.verbosity=0 count;

2020-06-02T17:02:06.336Z,1591117326.336 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2020-06-02T17:02:06.336Z,1591117326.336 [CommandLine](IMPORTANT): Express none ThrusterServo.component_avgCurrent;

2020-06-02T17:02:06.336Z,1591117326.336 [CommandLine](IMPORTANT): Express linearApproximation WetLabsUBAT.flow_rate 1.000000 liter_per_second;

2020-06-02T17:02:06.336Z,1591117326.336 [CommandLine](IMPORTANT): Express linearApproximation height_above_sea_floor 5.000000 meter;

2020-06-02T17:02:06.336Z,1591117326.336 [CommandLine](IMPORTANT): IBIT.batteryCapacityThreshold=15 ampere_hour;

2020-06-02T17:02:06.337Z,1591117326.337 [CommandLine](IMPORTANT): IBIT.batteryVoltageThreshold=13 volt;

2020-06-02T17:02:06.337Z,1591117326.337 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=413.311030 cubic_centimeter;

2020-06-02T17:02:06.337Z,1591117326.337 [CommandLine](IMPORTANT): VerticalControl.massDefault=-14.023880 millimeter;

2020-06-02T17:02:06.337Z,1591117326.337 [CommandLine](IMPORTANT): WetLabsUBAT.loadAtStartup=1 bool;

2020-06-02T17:02:07.063Z,1591117327.063 [DataOverHttps](INFO): Sending 125 bytes from file Logs/20200522T174255/Express0005.lzma
2020-06-02T17:02:08.064Z,1591117328.064 [DataOverHttps](INFO): Moved sent file to Logs/20200522T174255/Express0005.lzma.bak
2020-06-02T17:02:08.064Z,1591117328.064 [DataOverHttps](INFO): SBD MOMSN=12359612
2020-06-02T17:02:23.232Z,1591117343.232 [DataOverHttps](INFO): Sending 937 bytes from file Logs/20200522T175153/Express0001.lzma
2020-06-02T17:02:24.231Z,1591117344.231 [DataOverHttps](INFO): Moved sent file to Logs/20200522T175153/Express0001.lzma.bak
2020-06-02T17:02:24.232Z,1591117344.232 [DataOverHttps](INFO): SBD MOMSN=12359617
2020-06-02T17:02:25.210Z,1591117345.210 [Startup:StartupSatComms:B](INFO): Timed out from 2020-06-02T17:01:25.0Z
2020-06-02T17:02:25.210Z,1591117345.210 [Startup:StartupSatComms:B] Stopped
2020-06-02T17:02:25.210Z,1591117345.210 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-06-02T17:02:25.210Z,1591117345.210 [Startup:StartupSatComms] Stopped
2020-06-02T17:02:25.210Z,1591117345.210 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-06-02T17:02:25.211Z,1591117345.211 [Startup](INFO): Completed Startup
2020-06-02T17:02:25.211Z,1591117345.211 [MissionManager](INFO): Startup is completed.
2020-06-02T17:02:25.211Z,1591117345.211 [MissionManager](INFO): Uninitializing Mission Startup
2020-06-02T17:02:25.211Z,1591117345.211 [Startup] Stopped
2020-06-02T17:02:25.211Z,1591117345.211 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-06-02T17:02:25.212Z,1591117345.212 [Startup:A.GoToSurface] Stopped
2020-06-02T17:02:25.212Z,1591117345.212 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:02:25.613Z,1591117345.613 [MissionManager](IMPORTANT): Started mission Default
2020-06-02T17:02:25.614Z,1591117345.614 [Default] Running Loop=1
2020-06-02T17:02:25.618Z,1591117345.618 [Default](DEBUG): Aggregate::initialize Default
2020-06-02T17:02:25.618Z,1591117345.618 [Default:B.GoToSurface] Running Loop=1
2020-06-02T17:02:25.618Z,1591117345.618 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:02:25.618Z,1591117345.618 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-02T17:02:25.619Z,1591117345.619 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-02T17:02:25.619Z,1591117345.619 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-02T17:02:25.619Z,1591117345.619 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:02:25.620Z,1591117345.620 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:02:25.620Z,1591117345.620 [Default:A.Wait] Running Loop=1
2020-06-02T17:02:25.620Z,1591117345.620 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-02T17:02:38.959Z,1591117358.959 [Default:A.Wait](INFO): Done Waiting.
2020-06-02T17:02:38.959Z,1591117358.959 [Default:A.Wait] Stopped
2020-06-02T17:02:38.959Z,1591117358.959 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-02T17:02:39.367Z,1591117359.367 [Default:CheckIn] Running Loop=1
2020-06-02T17:02:39.367Z,1591117359.367 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-06-02T17:02:39.367Z,1591117359.367 [Default:CheckIn:Read_GPS] Running Loop=1
2020-06-02T17:02:39.780Z,1591117359.780 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-06-02T17:02:40.569Z,1591117360.569 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2020-06-02T17:04:15.144Z,1591117455.144 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-06-02T17:04:15.144Z,1591117455.144 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:04:15.163Z,1591117455.163 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:04:15.531Z,1591117455.531 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:04:15.531Z,1591117455.531 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-06-02T17:04:46.575Z,1591117486.575 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-06-02T17:06:18.336Z,1591117578.336 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2020-06-02T17:06:18.340Z,1591117578.340 [BPC1](INFO): Received data from all battery sticks.
2020-06-02T17:07:16.127Z,1591117636.127 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-06-02T17:07:16.127Z,1591117636.127 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:07:16.149Z,1591117636.149 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:16.507Z,1591117636.507 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:16.507Z,1591117636.507 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-06-02T17:07:17.416Z,1591117637.416 [DataOverHttps](IMPORTANT): SBD MTMSN=20200602T170211
2020-06-02T17:07:24.906Z,1591117644.906 [DataOverHttps](INFO): Received command:load Science/circle_acoustic_contact.xml;set circle_acoustic_contact.ContactLabel 50 count;set circle_acoustic_contact.TrackingUpdatePeriod 15 second;run 
2020-06-02T17:07:24.967Z,1591117644.967 [CommandLine](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.xml
2020-06-02T17:07:24.967Z,1591117644.967 [MissionManager](INFO): Loading Mission: ./Missions/Science/circle_acoustic_contact.xml
2020-06-02T17:07:25.162Z,1591117645.162 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2020-06-02T17:07:25.165Z,1591117645.165 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2020-06-02T17:07:25.168Z,1591117645.168 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2020-06-02T17:07:25.171Z,1591117645.171 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2020-06-02T17:07:25.174Z,1591117645.174 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m
2020-06-02T17:07:25.177Z,1591117645.177 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2020-06-02T17:07:25.180Z,1591117645.180 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2020-06-02T17:07:25.204Z,1591117645.204 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2020-06-02T17:07:25.226Z,1591117645.226 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2020-06-02T17:07:25.229Z,1591117645.229 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s
2020-06-02T17:07:25.240Z,1591117645.240 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2020-06-02T17:07:25.247Z,1591117645.247 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2020-06-02T17:07:25.255Z,1591117645.255 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2020-06-02T17:07:25.257Z,1591117645.257 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2020-06-02T17:07:25.272Z,1591117645.272 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2020-06-02T17:07:25.275Z,1591117645.275 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2020-06-02T17:07:25.280Z,1591117645.280 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2020-06-02T17:07:25.295Z,1591117645.295 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2020-06-02T17:07:25.302Z,1591117645.302 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s
2020-06-02T17:07:25.305Z,1591117645.305 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2020-06-02T17:07:25.317Z,1591117645.317 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2020-06-02T17:07:25.320Z,1591117645.320 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2020-06-02T17:07:25.331Z,1591117645.331 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2020-06-02T17:07:25.332Z,1591117645.332 [MissionManager](INFO): Inserting Stack: Missions/Insert/AbortDrift.xml
2020-06-02T17:07:25.417Z,1591117645.417 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h
2020-06-02T17:07:25.431Z,1591117645.431 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2020-06-02T17:07:25.438Z,1591117645.438 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute.
2020-06-02T17:07:25.440Z,1591117645.440 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout
2020-06-02T17:07:25.683Z,1591117645.683 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-06-02T17:07:25.846Z,1591117645.846 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2020-06-02T17:07:25.849Z,1591117645.849 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2020-06-02T17:07:25.857Z,1591117645.857 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-06-02T17:07:25.864Z,1591117645.864 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2020-06-02T17:07:25.868Z,1591117645.868 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-06-02T17:07:25.887Z,1591117645.887 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2020-06-02T17:07:25.890Z,1591117645.890 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2020-06-02T17:07:25.897Z,1591117645.897 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-02T17:07:25.936Z,1591117645.936 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-06-02T17:07:25.968Z,1591117645.968 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2020-06-02T17:07:25.983Z,1591117645.983 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2020-06-02T17:07:25.986Z,1591117645.986 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-06-02T17:07:25.987Z,1591117645.987 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-02T17:07:26.007Z,1591117646.007 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-02T17:07:26.031Z,1591117646.031 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-06-02T17:07:26.047Z,1591117646.047 [circle_acoustic_contact:J.Pitch](DEBUG): Construct.
2020-06-02T17:07:26.053Z,1591117646.053 [circle_acoustic_contact:K.Buoyancy](DEBUG): Construct Buoyancy.
2020-06-02T17:07:26.079Z,1591117646.079 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-06-02T17:07:26.461Z,1591117646.461 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2020-06-02T17:07:26.469Z,1591117646.469 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2020-06-02T17:07:26.472Z,1591117646.472 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2020-06-02T17:07:26.496Z,1591117646.496 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2020-06-02T17:07:26.500Z,1591117646.500 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2020-06-02T17:07:26.507Z,1591117646.507 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2020-06-02T17:07:26.514Z,1591117646.514 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2020-06-02T17:07:26.517Z,1591117646.517 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2020-06-02T17:07:26.525Z,1591117646.525 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2020-06-02T17:07:26.532Z,1591117646.532 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2020-06-02T17:07:26.537Z,1591117646.537 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2020-06-02T17:07:26.593Z,1591117646.593 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2020-06-02T17:07:26.604Z,1591117646.604 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2020-06-02T17:07:26.608Z,1591117646.608 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-06-02T17:07:26.624Z,1591117646.624 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2020-06-02T17:07:26.632Z,1591117646.632 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2020-06-02T17:07:26.637Z,1591117646.637 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 bool
2020-06-02T17:07:26.653Z,1591117646.653 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2020-06-02T17:07:26.660Z,1591117646.660 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2020-06-02T17:07:26.664Z,1591117646.664 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2020-06-02T17:07:26.690Z,1591117646.690 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 1.000000 bool
2020-06-02T17:07:26.698Z,1591117646.698 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2020-06-02T17:07:26.701Z,1591117646.701 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2020-06-02T17:07:26.709Z,1591117646.709 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2020-06-02T17:07:26.716Z,1591117646.716 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2020-06-02T17:07:26.721Z,1591117646.721 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2020-06-02T17:07:26.738Z,1591117646.738 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2020-06-02T17:07:26.746Z,1591117646.746 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2020-06-02T17:07:26.749Z,1591117646.749 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2020-06-02T17:07:26.756Z,1591117646.756 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2020-06-02T17:07:26.761Z,1591117646.761 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2020-06-02T17:07:26.772Z,1591117646.772 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2020-06-02T17:07:26.776Z,1591117646.776 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2020-06-02T17:07:26.787Z,1591117646.787 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2020-06-02T17:07:26.803Z,1591117646.803 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2020-06-02T17:07:26.810Z,1591117646.810 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2020-06-02T17:07:26.813Z,1591117646.813 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2020-06-02T17:07:26.821Z,1591117646.821 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2020-06-02T17:07:26.825Z,1591117646.825 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2020-06-02T17:07:26.836Z,1591117646.836 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2020-06-02T17:07:26.840Z,1591117646.840 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2020-06-02T17:07:26.852Z,1591117646.852 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2020-06-02T17:07:26.859Z,1591117646.859 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2020-06-02T17:07:26.866Z,1591117646.866 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2020-06-02T17:07:26.870Z,1591117646.870 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2020-06-02T17:07:26.877Z,1591117646.877 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2020-06-02T17:07:26.884Z,1591117646.884 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2020-06-02T17:07:26.889Z,1591117646.889 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2020-06-02T17:07:26.900Z,1591117646.900 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2020-06-02T17:07:26.904Z,1591117646.904 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2020-06-02T17:07:26.916Z,1591117646.916 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2020-06-02T17:07:26.966Z,1591117646.966 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:07:27.028Z,1591117647.028 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-06-02T17:07:27.059Z,1591117647.059 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:07:27.104Z,1591117647.104 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:07:27.136Z,1591117647.136 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:07:27.171Z,1591117647.171 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2020-06-02T17:07:27.173Z,1591117647.173 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2020-06-02T17:07:27.175Z,1591117647.175 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2020-06-02T17:07:27.177Z,1591117647.177 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2020-06-02T17:07:27.178Z,1591117647.178 [circle_acoustic_contact:M.SetSpeed](DEBUG): Construct.
2020-06-02T17:07:27.182Z,1591117647.182 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-02T17:07:27.203Z,1591117647.203 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-02T17:07:27.233Z,1591117647.233 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2020-06-02T17:07:27.257Z,1591117647.257 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2020-06-02T17:07:27.267Z,1591117647.267 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2020-06-02T17:07:27.337Z,1591117647.337 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="circle_acoustic_contact">

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

<!-- Mission-wide settings -->

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

    <Aggregate Id="UpdateCenter">

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

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

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

    </Aggregate>

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Aggregate Id="YoYos">

        <Parallel/>

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

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

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

    </Aggregate>

    <Aggregate Id="CircleWrapper">

        <Sequence/>

        <Aggregate Id="CircleContact">

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

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

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

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

        </Aggregate>

        <Aggregate Id="CircleContactClose">

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

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

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

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

        </Aggregate>

    </Aggregate>

</Mission>


2020-06-02T17:07:27.337Z,1591117647.337 [CommandLine](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.xml
2020-06-02T17:07:34.329Z,1591117654.329 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.ContactLabel 50.000000 count
2020-06-02T17:07:34.330Z,1591117654.330 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.TrackingUpdatePeriod 15.000000 second
2020-06-02T17:07:34.330Z,1591117654.330 [CommandLine](IMPORTANT): got command run 
2020-06-02T17:07:34.334Z,1591117654.334 [CommandLine](IMPORTANT): Running 
2020-06-02T17:07:34.667Z,1591117654.667 [Default] Stopped
2020-06-02T17:07:34.667Z,1591117654.667 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-02T17:07:34.667Z,1591117654.667 [Default:B.GoToSurface] Stopped
2020-06-02T17:07:34.667Z,1591117654.667 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:07:34.667Z,1591117654.667 [Default:CheckIn] Stopped
2020-06-02T17:07:34.667Z,1591117654.667 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-06-02T17:07:34.667Z,1591117654.667 [Default:CheckIn:Read_GPS] Stopped
2020-06-02T17:07:34.667Z,1591117654.667 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact] Running Loop=1
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::initialize circle_acoustic_contact:AbortDrift
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact:AbortDrift:A] Running Loop=1
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact:B.] Running Loop=1
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact:B.](INFO): Initializing Tracking.
2020-06-02T17:07:34.668Z,1591117654.668 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-02T17:07:34.669Z,1591117654.669 [circle_acoustic_contact:J.Pitch](DEBUG): Initialize.
2020-06-02T17:07:34.690Z,1591117654.690 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:A] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:B] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:E] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:F] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:H] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2020-06-02T17:07:34.691Z,1591117654.691 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-02T17:07:34.692Z,1591117654.692 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-02T17:07:34.692Z,1591117654.692 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:07:34.692Z,1591117654.692 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:07:34.698Z,1591117654.698 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2020-06-02T17:07:34.698Z,1591117654.698 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-02T17:07:34.698Z,1591117654.698 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-06-02T17:07:34.698Z,1591117654.698 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-06-02T17:07:34.699Z,1591117654.699 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2020-06-02T17:07:34.699Z,1591117654.699 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-02T17:07:34.699Z,1591117654.699 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:07:34.699Z,1591117654.699 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:07:34.701Z,1591117654.701 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2020-06-02T17:07:34.701Z,1591117654.701 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-02T17:07:34.701Z,1591117654.701 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:07:34.701Z,1591117654.701 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:07:34.704Z,1591117654.704 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2020-06-02T17:07:34.704Z,1591117654.704 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-02T17:07:34.704Z,1591117654.704 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:07:34.704Z,1591117654.704 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:07:34.718Z,1591117654.718 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-02T17:07:34.718Z,1591117654.718 [circle_acoustic_contact:M.SetSpeed](DEBUG): Initialize.
2020-06-02T17:07:34.718Z,1591117654.718 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-02T17:07:34.718Z,1591117654.718 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2020-06-02T17:07:34.718Z,1591117654.718 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-02T17:07:34.718Z,1591117654.718 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-02T17:07:34.719Z,1591117654.719 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-02T17:07:34.719Z,1591117654.719 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-02T17:07:34.719Z,1591117654.719 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-02T17:07:34.719Z,1591117654.719 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2020-06-02T17:07:34.719Z,1591117654.719 [circle_acoustic_contact:E] Running Loop=1
2020-06-02T17:07:34.720Z,1591117654.720 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-02T17:07:34.720Z,1591117654.720 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-02T17:07:34.721Z,1591117654.721 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-02T17:07:34.721Z,1591117654.721 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-02T17:07:34.727Z,1591117654.727 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-02T17:07:34.727Z,1591117654.727 [circle_acoustic_contact:Science] Running Loop=1
2020-06-02T17:07:34.728Z,1591117654.728 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:07:34.729Z,1591117654.729 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2020-06-02T17:07:34.730Z,1591117654.730 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-02T17:07:34.734Z,1591117654.734 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-06-02T17:07:34.734Z,1591117654.734 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-06-02T17:07:34.734Z,1591117654.734 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-02T17:07:34.734Z,1591117654.734 [circle_acoustic_contact:Science:Read_Oil] Stopped
2020-06-02T17:07:34.735Z,1591117654.735 [circle_acoustic_contact:Science:H] Running Loop=1
2020-06-02T17:07:34.735Z,1591117654.735 [circle_acoustic_contact:Science:H](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.biolum_potential
2020-06-02T17:07:34.735Z,1591117654.735 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-02T17:07:34.736Z,1591117654.736 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T17:07:34.736Z,1591117654.736 [circle_acoustic_contact:Science:F] Stopped
2020-06-02T17:07:34.736Z,1591117654.736 [circle_acoustic_contact:Science:E] Stopped
2020-06-02T17:07:34.736Z,1591117654.736 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-02T17:07:34.737Z,1591117654.737 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-06-02T17:07:34.737Z,1591117654.737 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-06-02T17:07:34.737Z,1591117654.737 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-02T17:07:34.740Z,1591117654.740 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-06-02T17:07:34.741Z,1591117654.741 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-06-02T17:07:34.741Z,1591117654.741 [circle_acoustic_contact:Science:B] Stopped
2020-06-02T17:07:34.741Z,1591117654.741 [circle_acoustic_contact:Science:A] Stopped
2020-06-02T17:07:34.741Z,1591117654.741 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-02T17:07:34.741Z,1591117654.741 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-02T17:07:34.742Z,1591117654.742 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-02T17:07:34.758Z,1591117654.758 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-06-02T17:07:34.758Z,1591117654.758 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2020-06-02T17:07:34.758Z,1591117654.758 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:E] Stopped
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:G] Running Loop=1
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:NeedComms] Running Loop=1
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:NeedComms](DEBUG): Aggregate::initialize circle_acoustic_contact:NeedComms
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:NeedComms:B.GoToSurface] Running Loop=1
2020-06-02T17:07:34.759Z,1591117654.759 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:07:34.760Z,1591117654.760 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2020-06-02T17:07:34.760Z,1591117654.760 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2020-06-02T17:07:34.761Z,1591117654.761 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2020-06-02T17:07:34.761Z,1591117654.761 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:07:34.761Z,1591117654.761 [circle_acoustic_contact:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:07:34.761Z,1591117654.761 [circle_acoustic_contact:NeedComms:A] Running Loop=1
2020-06-02T17:07:34.767Z,1591117654.767 [circle_acoustic_contact:NeedComms:A](ERROR): data element is not active.
2020-06-02T17:07:34.767Z,1591117654.767 [circle_acoustic_contact:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2020-06-02T17:07:34.767Z,1591117654.767 [circle_acoustic_contact:NeedComms:A] Stopped
2020-06-02T17:07:34.767Z,1591117654.767 [circle_acoustic_contact:B.] Running Loop=1
2020-06-02T17:07:34.767Z,1591117654.767 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:07:34.768Z,1591117654.768 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-02T17:07:34.769Z,1591117654.769 [circle_acoustic_contact:AbortDrift:A](INFO): Insert acoustic timeout set to 0.250000 h .
2020-06-02T17:07:34.769Z,1591117654.769 [circle_acoustic_contact:AbortDrift:A] Stopped
2020-06-02T17:07:34.769Z,1591117654.769 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Running Loop=1
2020-06-02T17:07:34.769Z,1591117654.769 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2020-06-02T17:07:34.769Z,1591117654.769 [circle_acoustic_contact:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.25 hours.
2020-06-02T17:07:35.122Z,1591117655.122 [circle_acoustic_contact:G] Stopped
2020-06-02T17:07:35.123Z,1591117655.123 [circle_acoustic_contact:H] Running Loop=1
2020-06-02T17:07:35.123Z,1591117655.123 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2020-06-02T17:07:35.124Z,1591117655.124 [circle_acoustic_contact:NeedComms:C] Running Loop=1
2020-06-02T17:07:35.124Z,1591117655.124 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:07:35.183Z,1591117655.183 [WetLabsBB2FL](INFO): Powering up
2020-06-02T17:07:35.234Z,1591117655.234 [WetLabsUBAT](INFO): Initializing
2020-06-02T17:07:35.236Z,1591117655.236 [WetLabsUBAT](INFO): readConfig(): serialNo_: UBAT0051, uartName_: /dev/ttyC1, optionalArgs_: -ldir /mnt/mmc/LRAUV/Logs/latest
2020-06-02T17:07:35.236Z,1591117655.236 [WetLabsUBAT](INFO): Powering up
2020-06-02T17:07:35.236Z,1591117655.236 [WetLabsUBAT](INFO): Checking LCM
2020-06-02T17:07:35.236Z,1591117655.236 [WetLabsUBAT](INFO): LCM OK
2020-06-02T17:07:35.242Z,1591117655.242 [WetLabsUBAT](INFO): setup() - setLineFormat()
2020-06-02T17:07:35.503Z,1591117655.503 [circle_acoustic_contact:H] Stopped
2020-06-02T17:07:35.503Z,1591117655.503 [circle_acoustic_contact:I] Running Loop=1
2020-06-02T17:07:35.503Z,1591117655.503 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2020-06-02T17:07:35.504Z,1591117655.504 [circle_acoustic_contact:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-06-02T17:07:35.505Z,1591117655.505 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:07:35.882Z,1591117655.882 [circle_acoustic_contact:I] Stopped
2020-06-02T17:07:35.883Z,1591117655.883 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2020-06-02T17:07:35.883Z,1591117655.883 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2020-06-02T17:07:35.883Z,1591117655.883 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2020-06-02T17:07:35.884Z,1591117655.884 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:07:36.323Z,1591117656.323 [circle_acoustic_contact:CircleWrapper:CircleContactClose] Running Loop=1
2020-06-02T17:07:36.323Z,1591117656.323 [circle_acoustic_contact:CircleWrapper:CircleContactClose](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContactClose
2020-06-02T17:07:36.323Z,1591117656.323 [circle_acoustic_contact:CircleWrapper:CircleContactClose:A] Running Loop=1
2020-06-02T17:07:36.323Z,1591117656.323 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle] Running Loop=1
2020-06-02T17:07:36.323Z,1591117656.323 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Initialize CircleComponent.
2020-06-02T17:07:36.323Z,1591117656.323 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Initialize CircleComponent.
2020-06-02T17:07:36.324Z,1591117656.324 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](CRITICAL): Location is nan.
2020-06-02T17:07:36.324Z,1591117656.324 [circle_acoustic_contact:CircleWrapper:CircleContactClose:A] Running Loop=1
2020-06-02T17:07:36.328Z,1591117656.328 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2020-06-02T17:07:36.329Z,1591117656.329 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:07:36.356Z,1591117656.356 [CommandLine](FAULT): Scheduling is paused
2020-06-02T17:07:36.357Z,1591117656.357 [CBIT](INFO): Critical error at 20200602T170736
2020-06-02T17:07:36.357Z,1591117656.357 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2020-06-02T17:07:36.711Z,1591117656.711 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Initialize CircleComponent.
2020-06-02T17:07:36.716Z,1591117656.716 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2020-06-02T17:07:36.718Z,1591117656.718 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:07:36.719Z,1591117656.719 [MissionManager](INFO): MissionManager is completed.
2020-06-02T17:07:36.719Z,1591117656.719 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact] Stopped
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:AbortDrift] Stopped
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::uninitialize circle_acoustic_contact:AbortDrift
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Stopped
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:B.] Stopped
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:B.](DEBUG): Uninitializing Tracking.
2020-06-02T17:07:36.719Z,1591117656.719 [circle_acoustic_contact:NeedComms] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:NeedComms](DEBUG): Aggregate::uninitialize circle_acoustic_contact:NeedComms
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:NeedComms:B.GoToSurface] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:NeedComms:C] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:J.Pitch] Stopped
2020-06-02T17:07:36.720Z,1591117656.720 [circle_acoustic_contact:K.Buoyancy] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:C] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:D] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:G] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:H] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:M.SetSpeed] Stopped
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:M.SetSpeed](DEBUG): Uninitialize.
2020-06-02T17:07:36.721Z,1591117656.721 [circle_acoustic_contact:YoYos] Stopped
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:CircleWrapper] Stopped
2020-06-02T17:07:36.722Z,1591117656.722 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2020-06-02T17:07:36.723Z,1591117656.723 [circle_acoustic_contact:CircleWrapper:CircleContactClose] Stopped
2020-06-02T17:07:36.723Z,1591117656.723 [circle_acoustic_contact:CircleWrapper:CircleContactClose](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContactClose
2020-06-02T17:07:36.723Z,1591117656.723 [circle_acoustic_contact:CircleWrapper:CircleContactClose:A] Stopped
2020-06-02T17:07:36.723Z,1591117656.723 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle] Stopped
2020-06-02T17:07:36.723Z,1591117656.723 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Uninitialize.
2020-06-02T17:07:37.109Z,1591117657.109 [MissionManager](IMPORTANT): Started mission Default
2020-06-02T17:07:37.109Z,1591117657.109 [Default] Running Loop=1
2020-06-02T17:07:37.109Z,1591117657.109 [Default](DEBUG): Aggregate::initialize Default
2020-06-02T17:07:37.109Z,1591117657.109 [Default:B.GoToSurface] Running Loop=1
2020-06-02T17:07:37.110Z,1591117657.110 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:07:37.110Z,1591117657.110 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-02T17:07:37.110Z,1591117657.110 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-02T17:07:37.111Z,1591117657.111 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-02T17:07:37.111Z,1591117657.111 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:07:37.111Z,1591117657.111 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:07:37.111Z,1591117657.111 [Default:A.Wait] Running Loop=1
2020-06-02T17:07:37.112Z,1591117657.112 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-02T17:07:37.798Z,1591117657.798 [WetLabsBB2FL](INFO): Powering down
2020-06-02T17:07:46.650Z,1591117666.650 [WetLabsUBAT](INFO): Got instrument prompt
2020-06-02T17:07:48.788Z,1591117668.788 [WetLabsUBAT](INFO): Got instrument prompt
2020-06-02T17:07:49.850Z,1591117669.850 [WetLabsUBAT..StreamSerialDriver](INFO): device metadata:
Override SerialDriver::getDeviceMetadata()
2020-06-02T17:07:50.433Z,1591117670.433 [Default:A.Wait](INFO): Done Waiting.
2020-06-02T17:07:50.433Z,1591117670.433 [Default:A.Wait] Stopped
2020-06-02T17:07:50.434Z,1591117670.434 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-02T17:07:50.828Z,1591117670.828 [Default:CheckIn] Running Loop=1
2020-06-02T17:07:50.828Z,1591117670.828 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-06-02T17:07:50.829Z,1591117670.829 [Default:CheckIn:Read_GPS] Running Loop=1
2020-06-02T17:07:53.990Z,1591117673.990 [WetLabsUBAT](INFO): isDataRequested() is false
2020-06-02T17:07:54.161Z,1591117674.161 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2020-06-02T17:07:54.165Z,1591117674.165 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2020-06-02T17:07:54.165Z,1591117674.165 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2020-06-02T17:07:54.167Z,1591117674.167 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2020-06-02T17:07:54.394Z,1591117674.394 [WetLabsUBAT](INFO): Powering down
2020-06-02T17:07:54.501Z,1591117674.501 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,NAL9602,Onboard,RDI_Pathfinder,DAT,BPC1,Depth_Keller,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-06-02T17:07:54.875Z,1591117674.875 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:07:54.876Z,1591117674.876 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-06-02T17:07:54.876Z,1591117674.876 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:07:54.886Z,1591117674.886 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:55.301Z,1591117675.301 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:55.301Z,1591117675.301 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-06-02T17:07:56.079Z,1591117676.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:07:56.079Z,1591117676.079 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-06-02T17:07:56.079Z,1591117676.079 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:07:56.142Z,1591117676.142 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:56.553Z,1591117676.553 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:56.553Z,1591117676.553 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-06-02T17:07:57.347Z,1591117677.347 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:07:57.347Z,1591117677.347 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2020-06-02T17:07:57.347Z,1591117677.347 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:07:57.365Z,1591117677.365 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:57.780Z,1591117677.780 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:57.780Z,1591117677.780 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2020-06-02T17:07:58.523Z,1591117678.523 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:07:58.523Z,1591117678.523 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2020-06-02T17:07:58.523Z,1591117678.523 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:07:58.562Z,1591117678.562 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:58.977Z,1591117678.977 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:07:58.977Z,1591117678.977 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2020-06-02T17:07:59.723Z,1591117679.723 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:07:59.723Z,1591117679.723 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2020-06-02T17:07:59.723Z,1591117679.723 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:07:59.777Z,1591117679.777 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:00.185Z,1591117680.185 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:00.185Z,1591117680.185 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2020-06-02T17:08:00.955Z,1591117680.955 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:08:00.955Z,1591117680.955 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2020-06-02T17:08:00.955Z,1591117680.955 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:08:00.965Z,1591117680.965 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:01.373Z,1591117681.373 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:01.373Z,1591117681.373 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2020-06-02T17:08:02.162Z,1591117682.162 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:08:02.162Z,1591117682.162 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2020-06-02T17:08:02.162Z,1591117682.162 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:08:02.172Z,1591117682.172 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:02.568Z,1591117682.568 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:02.568Z,1591117682.568 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2020-06-02T17:08:03.370Z,1591117683.370 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:08:03.370Z,1591117683.370 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2020-06-02T17:08:03.370Z,1591117683.370 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:08:03.380Z,1591117683.380 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:03.779Z,1591117683.779 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:03.779Z,1591117683.779 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2020-06-02T17:08:04.587Z,1591117684.587 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:08:04.587Z,1591117684.587 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2020-06-02T17:08:04.587Z,1591117684.587 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:08:04.597Z,1591117684.597 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:04.999Z,1591117684.999 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:04.999Z,1591117684.999 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2020-06-02T17:08:05.795Z,1591117685.795 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:08:05.795Z,1591117685.795 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2020-06-02T17:08:05.795Z,1591117685.795 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:08:05.805Z,1591117685.805 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:06.209Z,1591117686.209 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:06.209Z,1591117686.209 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2020-06-02T17:08:07.038Z,1591117687.038 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2020-06-02T17:08:07.038Z,1591117687.038 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2020-06-02T17:08:07.038Z,1591117687.038 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-06-02T17:08:07.073Z,1591117687.073 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:07.431Z,1591117687.431 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-06-02T17:08:07.431Z,1591117687.431 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2020-06-02T17:08:07.547Z,1591117687.547 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1591117696.000000 second
2020-06-02T17:08:07.821Z,1591117687.821 [Default:CheckIn:Read_GPS] Stopped
2020-06-02T17:08:07.822Z,1591117687.822 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-06-02T17:08:08.222Z,1591117688.222 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-06-02T17:08:11.307Z,1591117691.307 [CommandLine](IMPORTANT): got command get latitude
2020-06-02T17:08:11.307Z,1591117691.307 [CommandLine](IMPORTANT): latitude 36.799999 arcdeg
2020-06-02T17:08:15.418Z,1591117695.418 [DataOverHttps](INFO): Sending 312 bytes from file Logs/20200602T165802/Courier0004.lzma
2020-06-02T17:08:16.420Z,1591117696.420 [DataOverHttps](INFO): Moved sent file to Logs/20200602T165802/Courier0004.lzma.bak
2020-06-02T17:08:16.420Z,1591117696.420 [DataOverHttps](INFO): SBD MOMSN=12359647
2020-06-02T17:08:25.032Z,1591117705.032 [DataOverHttps](IMPORTANT): SBD MTMSN=20200602T170319
2020-06-02T17:08:33.253Z,1591117713.253 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20200522T175153/Express0005.lzma
2020-06-02T17:08:33.255Z,1591117713.255 [DataOverHttps](INFO): Received command:load Science/circle_acoustic_contact.xml;set circle_acoustic_contact.ContactLabel 50 count;set circle_acoustic_contact.TrackingUpdatePeriod 15 second;run 
2020-06-02T17:08:33.285Z,1591117713.285 [CommandLine](IMPORTANT): got command load ./Missions/Science/circle_acoustic_contact.xml
2020-06-02T17:08:33.289Z,1591117713.289 [MissionManager](INFO): Loading Mission: ./Missions/Science/circle_acoustic_contact.xml
2020-06-02T17:08:33.477Z,1591117713.477 [MissionManager](INFO): DefineArg circle_acoustic_contact.MissionTimeout = 2.000000 h
2020-06-02T17:08:33.479Z,1591117713.479 [MissionManager](INFO): DefineArg circle_acoustic_contact.NeedCommsTime = 60.000000 min
2020-06-02T17:08:33.482Z,1591117713.482 [MissionManager](INFO): DefineArg circle_acoustic_contact.AcousticContactTimeout = 15.000000 min
2020-06-02T17:08:33.484Z,1591117713.484 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactLabel = 0.000000 count
2020-06-02T17:08:33.486Z,1591117713.486 [MissionManager](INFO): DefineArg circle_acoustic_contact.ContactDepth = nan m
2020-06-02T17:08:33.488Z,1591117713.488 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLatitude = 36.815440 arcdeg
2020-06-02T17:08:33.490Z,1591117713.490 [MissionManager](INFO): DefineArg circle_acoustic_contact.CenterLongitude = -121.825060 arcdeg
2020-06-02T17:08:33.493Z,1591117713.493 [MissionManager](INFO): DefineArg circle_acoustic_contact.OuterCircleRadius = 300.000000 m
2020-06-02T17:08:33.495Z,1591117713.495 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleRadius = 50.000000 m
2020-06-02T17:08:33.497Z,1591117713.497 [MissionManager](INFO): DefineArg circle_acoustic_contact.TrackingUpdatePeriod = 60.000000 s
2020-06-02T17:08:33.535Z,1591117713.535 [MissionManager](INFO): DefineArg circle_acoustic_contact.NumberOfPings = 1.000000 count
2020-06-02T17:08:33.537Z,1591117713.537 [MissionManager](INFO): DefineArg circle_acoustic_contact.InnerCircleTime = 0.000000 min
2020-06-02T17:08:33.543Z,1591117713.543 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleMaxError = 100.000000 m
2020-06-02T17:08:33.545Z,1591117713.545 [MissionManager](INFO): DefineArg circle_acoustic_contact.CircleTurnToPort = 0 bool
2020-06-02T17:08:33.549Z,1591117713.549 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinDepth = 3.000000 m
2020-06-02T17:08:33.559Z,1591117713.559 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMaxDepth = 33.000000 m
2020-06-02T17:08:33.561Z,1591117713.561 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoMinAltitude = 10.000000 m
2020-06-02T17:08:33.567Z,1591117713.567 [MissionManager](INFO): DefineArg circle_acoustic_contact.YoYoPitch = 20.000000 arcdeg
2020-06-02T17:08:33.569Z,1591117713.569 [MissionManager](INFO): DefineArg circle_acoustic_contact.Speed = 1.000000 m/s
2020-06-02T17:08:33.576Z,1591117713.576 [MissionManager](INFO): DefineArg circle_acoustic_contact.KwpHeading = 0.010000 rad/m
2020-06-02T17:08:33.583Z,1591117713.583 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinAltitude = 7.000000 m
2020-06-02T17:08:33.585Z,1591117713.585 [MissionManager](INFO): DefineArg circle_acoustic_contact.MaxDepth = 105.000000 m
2020-06-02T17:08:33.587Z,1591117713.587 [MissionManager](INFO): DefineArg circle_acoustic_contact.MinOffshore = 1.500000 km
2020-06-02T17:08:33.588Z,1591117713.588 [MissionManager](INFO): Inserting Stack: Missions/Insert/AbortDrift.xml
2020-06-02T17:08:33.684Z,1591117713.684 [MissionManager](INFO): DefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = 96.000000 h
2020-06-02T17:08:33.700Z,1591117713.700 [circle_acoustic_contact:AbortDrift:B.AbortDrift](DEBUG): Construct AbortDrift.
2020-06-02T17:08:33.714Z,1591117713.714 [circle_acoustic_contact:AbortDrift:C.Execute](DEBUG): Construct Execute.
2020-06-02T17:08:33.719Z,1591117713.719 [MissionManager](INFO): RedefineArg circle_acoustic_contact:AbortDrift.AcousticTimeout = reader:circle_acoustic_contact.AcousticContactTimeout
2020-06-02T17:08:33.745Z,1591117713.745 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-06-02T17:08:33.863Z,1591117713.863 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.DiveInterval = 3.000000 h
2020-06-02T17:08:33.865Z,1591117713.865 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.WaitForPitchUp = 10.000000 min
2020-06-02T17:08:33.867Z,1591117713.867 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-06-02T17:08:33.869Z,1591117713.869 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceDepthRate = nan m/s
2020-06-02T17:08:33.872Z,1591117713.872 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-06-02T17:08:33.874Z,1591117713.874 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.GPSTimeout = 7.000000 min
2020-06-02T17:08:33.876Z,1591117713.876 [MissionManager](INFO): DefineArg circle_acoustic_contact:NeedComms.CommsTimeout = 30.000000 min
2020-06-02T17:08:33.881Z,1591117713.881 [circle_acoustic_contact:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-06-02T17:08:33.953Z,1591117713.953 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-06-02T17:08:33.995Z,1591117713.995 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinAltitude = 5.000000 m
2020-06-02T17:08:33.997Z,1591117713.997 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MaxDepth = 200.000000 m
2020-06-02T17:08:34.000Z,1591117714.000 [MissionManager](INFO): DefineArg circle_acoustic_contact:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-06-02T17:08:34.001Z,1591117714.001 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-02T17:08:34.006Z,1591117714.006 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-02T17:08:34.013Z,1591117714.013 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-06-02T17:08:34.037Z,1591117714.037 [circle_acoustic_contact:J.Pitch](DEBUG): Construct.
2020-06-02T17:08:34.059Z,1591117714.059 [circle_acoustic_contact:K.Buoyancy](DEBUG): Construct Buoyancy.
2020-06-02T17:08:34.079Z,1591117714.079 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-06-02T17:08:34.345Z,1591117714.345 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUS = 0 bool
2020-06-02T17:08:34.347Z,1591117714.347 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2020-06-02T17:08:34.350Z,1591117714.350 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.SampleISUSminPitch = -60.000000 arcdeg
2020-06-02T17:08:34.352Z,1591117714.352 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectChlActive = 0 bool
2020-06-02T17:08:34.354Z,1591117714.354 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.TimeWindowPeakReport = nan min
2020-06-02T17:08:34.356Z,1591117714.356 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.HighestChlPeakReportActive = 0 bool
2020-06-02T17:08:34.358Z,1591117714.358 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PatchTracking = 0 bool
2020-06-02T17:08:34.360Z,1591117714.360 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.FilterWidthHorizontal = 3.000000 count
2020-06-02T17:08:34.363Z,1591117714.363 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.NumProfilesSlidingwindow = 100.000000 count
2020-06-02T17:08:34.365Z,1591117714.365 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.OffPeakFractionHorizontal = 80.000000 %
2020-06-02T17:08:34.367Z,1591117714.367 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool
2020-06-02T17:08:34.369Z,1591117714.369 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool
2020-06-02T17:08:34.371Z,1591117714.371 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool
2020-06-02T17:08:34.373Z,1591117714.373 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-06-02T17:08:34.376Z,1591117714.376 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 0.000000 bool
2020-06-02T17:08:34.378Z,1591117714.378 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 0.000000 bool
2020-06-02T17:08:34.381Z,1591117714.381 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 bool
2020-06-02T17:08:34.400Z,1591117714.400 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool
2020-06-02T17:08:34.404Z,1591117714.404 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool
2020-06-02T17:08:34.415Z,1591117714.415 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2020-06-02T17:08:34.422Z,1591117714.422 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 1.000000 bool
2020-06-02T17:08:34.425Z,1591117714.425 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool
2020-06-02T17:08:34.465Z,1591117714.465 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count
2020-06-02T17:08:34.492Z,1591117714.492 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count
2020-06-02T17:08:34.511Z,1591117714.511 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m
2020-06-02T17:08:34.513Z,1591117714.513 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m
2020-06-02T17:08:34.520Z,1591117714.520 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m
2020-06-02T17:08:34.526Z,1591117714.526 [MissionManager](INFO): DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
2020-06-02T17:08:34.529Z,1591117714.529 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l
2020-06-02T17:08:34.531Z,1591117714.531 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 m
2020-06-02T17:08:34.542Z,1591117714.542 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlTemperature = 0.000000 degC
2020-06-02T17:08:34.544Z,1591117714.544 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLatitude = nan arcdeg
2020-06-02T17:08:34.551Z,1591117714.551 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakChlLongitude = nan arcdeg
2020-06-02T17:08:34.553Z,1591117714.553 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3 = 0.000000 umol/l
2020-06-02T17:08:34.559Z,1591117714.559 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Depth = 0.000000 m
2020-06-02T17:08:34.571Z,1591117714.571 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Latitude = nan arcdeg
2020-06-02T17:08:34.574Z,1591117714.574 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakNO3Longitude = nan arcdeg
2020-06-02T17:08:34.589Z,1591117714.589 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChl = 0.000000 m
2020-06-02T17:08:34.608Z,1591117714.608 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDepth = 0.000000 m
2020-06-02T17:08:34.611Z,1591117714.611 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLatitude = nan arcdeg
2020-06-02T17:08:34.614Z,1591117714.614 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlLongitude = nan arcdeg
2020-06-02T17:08:34.616Z,1591117714.616 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchChlDistance = nan m
2020-06-02T17:08:34.636Z,1591117714.636 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOil = 0.000000 kg/m3
2020-06-02T17:08:34.648Z,1591117714.648 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilDepth = 0.000000 m
2020-06-02T17:08:34.660Z,1591117714.660 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLatitude = nan arcdeg
2020-06-02T17:08:34.684Z,1591117714.684 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg
2020-06-02T17:08:34.706Z,1591117714.706 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb
2020-06-02T17:08:34.709Z,1591117714.709 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m
2020-06-02T17:08:34.731Z,1591117714.731 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg
2020-06-02T17:08:34.733Z,1591117714.733 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg
2020-06-02T17:08:34.748Z,1591117714.748 [MissionManager](INFO): DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m
2020-06-02T17:08:34.796Z,1591117714.796 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:08:34.824Z,1591117714.824 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-06-02T17:08:34.870Z,1591117714.870 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:08:34.923Z,1591117714.923 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:08:34.933Z,1591117714.933 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-06-02T17:08:34.949Z,1591117714.949 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.PeakDetectChlActive = value:1 bool
2020-06-02T17:08:34.951Z,1591117714.951 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUS = value:1 bool
2020-06-02T17:08:34.953Z,1591117714.953 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSmaxPitch = value:30.000000 arcdeg
2020-06-02T17:08:34.955Z,1591117714.955 [MissionManager](INFO): RedefineArg circle_acoustic_contact:Science.SampleISUSminPitch = value:10.000000 arcdeg
2020-06-02T17:08:34.955Z,1591117714.955 [circle_acoustic_contact:M.SetSpeed](DEBUG): Construct.
2020-06-02T17:08:34.958Z,1591117714.958 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-06-02T17:08:34.965Z,1591117714.965 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-06-02T17:08:34.971Z,1591117714.971 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Construct YoYo.
2020-06-02T17:08:34.980Z,1591117714.980 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Construct.
2020-06-02T17:08:34.988Z,1591117714.988 [circle_acoustic_contact:CircleWrapper:CircleContactClose:B.Circle](DEBUG): Construct.
2020-06-02T17:08:35.023Z,1591117715.023 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       xmlns:Estimation="Tethys/Estimation"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Sensor="Tethys/Sensor"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="circle_acoustic_contact">

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

<!-- Mission-wide settings -->

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

    <Aggregate Id="UpdateCenter">

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

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

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

    </Aggregate>

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

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

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

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

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

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

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

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

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

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

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

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

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

    <Aggregate Id="YoYos">

        <Parallel/>

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

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

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

    </Aggregate>

    <Aggregate Id="CircleWrapper">

        <Sequence/>

        <Aggregate Id="CircleContact">

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

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

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

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

        </Aggregate>

        <Aggregate Id="CircleContactClose">

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

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

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

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

        </Aggregate>

    </Aggregate>

</Mission>


2020-06-02T17:08:35.023Z,1591117715.023 [CommandLine](IMPORTANT): Loaded ./Missions/Science/circle_acoustic_contact.xml
2020-06-02T17:08:39.746Z,1591117719.746 [NAL9602](INFO): Not Powering down - fast GPS
2020-06-02T17:08:41.657Z,1591117721.657 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.ContactLabel 50.000000 count
2020-06-02T17:08:41.657Z,1591117721.657 [CommandLine](IMPORTANT): got command set circle_acoustic_contact.TrackingUpdatePeriod 15.000000 second
2020-06-02T17:08:41.674Z,1591117721.674 [CommandLine](IMPORTANT): got command run 
2020-06-02T17:08:41.676Z,1591117721.676 [CommandLine](IMPORTANT): Running 
2020-06-02T17:08:41.767Z,1591117721.767 [Default] Stopped
2020-06-02T17:08:41.767Z,1591117721.767 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-02T17:08:41.767Z,1591117721.767 [Default:B.GoToSurface] Stopped
2020-06-02T17:08:41.767Z,1591117721.767 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:08:41.767Z,1591117721.767 [Default:CheckIn] Stopped
2020-06-02T17:08:41.767Z,1591117721.767 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-06-02T17:08:41.767Z,1591117721.767 [Default:CheckIn:Read_Iridium] Stopped
2020-06-02T17:08:41.767Z,1591117721.767 [MissionManager](IMPORTANT): Started mission circle_acoustic_contact
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact] Running Loop=1
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact](DEBUG): Aggregate::initialize circle_acoustic_contact
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::initialize circle_acoustic_contact:AbortDrift
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:AbortDrift:A] Running Loop=1
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:B.] Running Loop=1
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:B.](INFO): Initializing Tracking.
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-02T17:08:41.768Z,1591117721.768 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::initialize circle_acoustic_contact:StandardEnvelopes
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-02T17:08:41.769Z,1591117721.769 [circle_acoustic_contact:J.Pitch](DEBUG): Initialize.
2020-06-02T17:08:41.770Z,1591117721.770 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science] Running Loop=1
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science](DEBUG): Aggregate::initialize circle_acoustic_contact:Science
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science:A] Running Loop=1
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science:B] Running Loop=1
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-02T17:08:41.778Z,1591117721.778 [circle_acoustic_contact:Science:E] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:F] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:H] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:Read_Oil] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:08:41.779Z,1591117721.779 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:08:41.780Z,1591117721.780 [circle_acoustic_contact:Science:HighestChlPeakReport] Running Loop=1
2020-06-02T17:08:41.780Z,1591117721.780 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-02T17:08:41.781Z,1591117721.781 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2020-06-02T17:08:41.781Z,1591117721.781 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2020-06-02T17:08:41.781Z,1591117721.781 [circle_acoustic_contact:Science:PeakDetectNO3] Running Loop=1
2020-06-02T17:08:41.781Z,1591117721.781 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-02T17:08:41.781Z,1591117721.781 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:08:41.781Z,1591117721.781 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:08:41.791Z,1591117721.791 [circle_acoustic_contact:Science:PeakDetectOil] Running Loop=1
2020-06-02T17:08:41.791Z,1591117721.791 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-02T17:08:41.791Z,1591117721.791 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:08:41.791Z,1591117721.791 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:08:41.792Z,1591117721.792 [circle_acoustic_contact:Science:PeakDetectFDOM] Running Loop=1
2020-06-02T17:08:41.792Z,1591117721.792 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-02T17:08:41.792Z,1591117721.792 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2020-06-02T17:08:41.793Z,1591117721.793 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2020-06-02T17:08:41.793Z,1591117721.793 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-02T17:08:41.802Z,1591117721.802 [circle_acoustic_contact:M.SetSpeed](DEBUG): Initialize.
2020-06-02T17:08:41.804Z,1591117721.804 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-02T17:08:41.814Z,1591117721.814 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::initialize circle_acoustic_contact:YoYos
2020-06-02T17:08:41.814Z,1591117721.814 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-02T17:08:41.814Z,1591117721.814 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2020-06-02T17:08:41.814Z,1591117721.814 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-02T17:08:41.814Z,1591117721.814 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2020-06-02T17:08:41.815Z,1591117721.815 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-02T17:08:41.815Z,1591117721.815 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Initialize YoYoComponent.
2020-06-02T17:08:41.815Z,1591117721.815 [circle_acoustic_contact:E] Running Loop=1
2020-06-02T17:08:41.816Z,1591117721.816 [circle_acoustic_contact:YoYos] Running Loop=1
2020-06-02T17:08:41.816Z,1591117721.816 [circle_acoustic_contact:YoYos:C.YoYo] Running Loop=1
2020-06-02T17:08:41.816Z,1591117721.816 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Running Loop=1
2020-06-02T17:08:41.817Z,1591117721.817 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Running Loop=1
2020-06-02T17:08:41.817Z,1591117721.817 [circle_acoustic_contact:M.SetSpeed] Running Loop=1
2020-06-02T17:08:41.818Z,1591117721.818 [circle_acoustic_contact:Science] Running Loop=1
2020-06-02T17:08:41.827Z,1591117721.827 [circle_acoustic_contact:Science:PeakDetectFDOM] Stopped
2020-06-02T17:08:41.827Z,1591117721.827 [circle_acoustic_contact:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectFDOM
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectOil] Stopped
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectOil
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectNO3] Stopped
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectNO3
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:HighestChlPeakReport] Stopped
2020-06-02T17:08:41.828Z,1591117721.828 [circle_acoustic_contact:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:HighestChlPeakReport
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:PeakDetectChl] Running Loop=1
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:Read_Oil] Stopped
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:H] Running Loop=1
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:H](DEBUG): Initialize ReadDataComponent to sense WetLabsUBAT.biolum_potential
2020-06-02T17:08:41.829Z,1591117721.829 [circle_acoustic_contact:Science:G] Running Loop=1
2020-06-02T17:08:41.838Z,1591117721.838 [circle_acoustic_contact:Science:G](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2020-06-02T17:08:41.838Z,1591117721.838 [circle_acoustic_contact:Science:F] Stopped
2020-06-02T17:08:41.838Z,1591117721.838 [circle_acoustic_contact:Science:E] Stopped
2020-06-02T17:08:41.838Z,1591117721.838 [circle_acoustic_contact:Science:D] Running Loop=1
2020-06-02T17:08:41.839Z,1591117721.839 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2020-06-02T17:08:41.839Z,1591117721.839 [circle_acoustic_contact:Science:D](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2020-06-02T17:08:41.839Z,1591117721.839 [circle_acoustic_contact:Science:C] Running Loop=1
2020-06-02T17:08:41.840Z,1591117721.840 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2020-06-02T17:08:41.840Z,1591117721.840 [circle_acoustic_contact:Science:C](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2020-06-02T17:08:41.840Z,1591117721.840 [circle_acoustic_contact:Science:B] Stopped
2020-06-02T17:08:41.840Z,1591117721.840 [circle_acoustic_contact:Science:A] Stopped
2020-06-02T17:08:41.840Z,1591117721.840 [circle_acoustic_contact:K.Buoyancy] Running Loop=1
2020-06-02T17:08:41.841Z,1591117721.841 [circle_acoustic_contact:J.Pitch] Running Loop=1
2020-06-02T17:08:41.841Z,1591117721.841 [circle_acoustic_contact:StandardEnvelopes] Running Loop=1
2020-06-02T17:08:41.841Z,1591117721.841 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2020-06-02T17:08:41.841Z,1591117721.841 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2020-06-02T17:08:41.850Z,1591117721.850 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2020-06-02T17:08:41.850Z,1591117721.850 [circle_acoustic_contact:E] Stopped
2020-06-02T17:08:41.851Z,1591117721.851 [circle_acoustic_contact:G] Running Loop=1
2020-06-02T17:08:41.851Z,1591117721.851 [circle_acoustic_contact:B.] Running Loop=1
2020-06-02T17:08:41.851Z,1591117721.851 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:41.851Z,1591117721.851 [circle_acoustic_contact:AbortDrift] Running Loop=1
2020-06-02T17:08:41.852Z,1591117721.852 [circle_acoustic_contact:AbortDrift:A](INFO): Insert acoustic timeout set to 0.250000 h .
2020-06-02T17:08:41.852Z,1591117721.852 [circle_acoustic_contact:AbortDrift:A] Stopped
2020-06-02T17:08:41.852Z,1591117721.852 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Running Loop=1
2020-06-02T17:08:41.852Z,1591117721.852 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Initializing AbortDrift.
2020-06-02T17:08:41.852Z,1591117721.852 [circle_acoustic_contact:AbortDrift:B.AbortDrift](IMPORTANT): Acoustic timeout set to: 0.25 hours.
2020-06-02T17:08:42.205Z,1591117722.205 [DataOverHttps](INFO): Moved sent file to Logs/20200522T175153/Express0005.lzma.bak
2020-06-02T17:08:42.205Z,1591117722.205 [DataOverHttps](INFO): SBD MOMSN=12359653
2020-06-02T17:08:42.220Z,1591117722.220 [circle_acoustic_contact:G] Stopped
2020-06-02T17:08:42.220Z,1591117722.220 [circle_acoustic_contact:H] Running Loop=1
2020-06-02T17:08:42.221Z,1591117722.221 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:42.234Z,1591117722.234 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Received valid gps time fix: 1591117696.00. Resetting abort timer.
2020-06-02T17:08:42.258Z,1591117722.258 [WetLabsBB2FL](INFO): Powering up
2020-06-02T17:08:42.494Z,1591117722.494 [WetLabsUBAT](INFO): Initializing
2020-06-02T17:08:42.496Z,1591117722.496 [WetLabsUBAT](INFO): readConfig(): serialNo_: UBAT0051, uartName_: /dev/ttyC1, optionalArgs_: -ldir /mnt/mmc/LRAUV/Logs/latest
2020-06-02T17:08:42.496Z,1591117722.496 [WetLabsUBAT](INFO): Powering up
2020-06-02T17:08:42.496Z,1591117722.496 [WetLabsUBAT](INFO): Checking LCM
2020-06-02T17:08:42.496Z,1591117722.496 [WetLabsUBAT](INFO): LCM OK
2020-06-02T17:08:42.603Z,1591117722.603 [WetLabsUBAT](INFO): setup() - setLineFormat()
2020-06-02T17:08:42.633Z,1591117722.633 [circle_acoustic_contact:H] Stopped
2020-06-02T17:08:42.633Z,1591117722.633 [circle_acoustic_contact:I] Running Loop=1
2020-06-02T17:08:42.634Z,1591117722.634 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:42.984Z,1591117722.984 [circle_acoustic_contact:I] Stopped
2020-06-02T17:08:42.985Z,1591117722.985 [circle_acoustic_contact:CircleWrapper] Running Loop=1
2020-06-02T17:08:42.985Z,1591117722.985 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper
2020-06-02T17:08:42.986Z,1591117722.986 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:43.407Z,1591117723.407 [circle_acoustic_contact:CircleWrapper:CircleContact] Running Loop=1
2020-06-02T17:08:43.408Z,1591117723.408 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::initialize circle_acoustic_contact:CircleWrapper:CircleContact
2020-06-02T17:08:43.408Z,1591117723.408 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2020-06-02T17:08:43.408Z,1591117723.408 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Running Loop=1
2020-06-02T17:08:43.408Z,1591117723.408 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Initialize CircleComponent.
2020-06-02T17:08:43.410Z,1591117723.410 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Running Loop=1
2020-06-02T17:08:43.414Z,1591117723.414 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:43.811Z,1591117723.811 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:44.207Z,1591117724.207 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:44.609Z,1591117724.609 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:45.026Z,1591117725.026 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:45.460Z,1591117725.460 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:45.631Z,1591117725.631 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2020-06-02T17:08:45.831Z,1591117725.831 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:46.235Z,1591117726.235 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:46.683Z,1591117726.683 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:47.035Z,1591117727.035 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:47.443Z,1591117727.443 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:47.641Z,1591117727.641 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106189 psu
2020-06-02T17:08:47.885Z,1591117727.885 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:48.275Z,1591117728.275 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:48.644Z,1591117728.644 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106189 psu
2020-06-02T17:08:48.656Z,1591117728.656 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:49.099Z,1591117729.099 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:49.458Z,1591117729.458 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:49.648Z,1591117729.648 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106189 psu
2020-06-02T17:08:49.854Z,1591117729.854 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:50.271Z,1591117730.271 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:50.652Z,1591117730.652 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:08:50.668Z,1591117730.668 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:51.120Z,1591117731.120 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:51.495Z,1591117731.495 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:51.657Z,1591117731.657 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:08:51.943Z,1591117731.943 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:52.321Z,1591117732.321 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:52.596Z,1591117732.596 [CommandLine](IMPORTANT): got command show variable range
2020-06-02T17:08:52.664Z,1591117732.664 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:08:52.741Z,1591117732.741 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:52.786Z,1591117732.786 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2020-06-02T17:08:52.848Z,1591117732.848 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2020-06-02T17:08:52.849Z,1591117732.849 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2020-06-02T17:08:52.849Z,1591117732.849 [CommandLine](IMPORTANT): Docked.dockRange (meter)
2020-06-02T17:08:52.850Z,1591117732.850 [CommandLine](IMPORTANT): LineCapture.terminalRange (meter)
2020-06-02T17:08:52.851Z,1591117732.851 [CommandLine](IMPORTANT): LineCapture.armRange (meter)
2020-06-02T17:08:52.851Z,1591117732.851 [CommandLine](IMPORTANT): LineCapture.lockoutRange (meter)
2020-06-02T17:08:52.852Z,1591117732.852 [CommandLine](IMPORTANT): SetNav.dockRange (meter)
2020-06-02T17:08:52.853Z,1591117732.853 [CommandLine](IMPORTANT): SetNav.rangeTimeout (minute)
2020-06-02T17:08:52.853Z,1591117732.853 [CommandLine](IMPORTANT): Undock.undockRange (meter)
2020-06-02T17:08:52.893Z,1591117732.893 [WetLabsUBAT](INFO): Got instrument prompt
2020-06-02T17:08:53.110Z,1591117733.110 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2020-06-02T17:08:53.110Z,1591117733.110 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2020-06-02T17:08:53.111Z,1591117733.111 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2020-06-02T17:08:53.112Z,1591117733.112 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2020-06-02T17:08:53.113Z,1591117733.113 [CommandLine](IMPORTANT): DAT.range_request (count)
2020-06-02T17:08:53.114Z,1591117733.114 [CommandLine](IMPORTANT): DAT.range (meter)
2020-06-02T17:08:53.140Z,1591117733.140 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:53.241Z,1591117733.241 [CommandLine](IMPORTANT): Tracking.range_to_contact (meter)
2020-06-02T17:08:53.516Z,1591117733.516 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:53.668Z,1591117733.668 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:08:53.891Z,1591117733.891 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:54.304Z,1591117734.304 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:54.673Z,1591117734.673 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106133 psu
2020-06-02T17:08:54.714Z,1591117734.714 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:55.024Z,1591117735.024 [WetLabsUBAT](INFO): Got instrument prompt
2020-06-02T17:08:55.114Z,1591117735.114 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:55.551Z,1591117735.551 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:55.677Z,1591117735.677 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106078 psu
2020-06-02T17:08:55.928Z,1591117735.928 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:56.090Z,1591117736.090 [WetLabsUBAT..StreamSerialDriver](INFO): device metadata:
Override SerialDriver::getDeviceMetadata()
2020-06-02T17:08:56.322Z,1591117736.322 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:56.680Z,1591117736.680 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106135 psu
2020-06-02T17:08:56.794Z,1591117736.794 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:56.795Z,1591117736.795 [circle_acoustic_contact:B.](INFO): update period (15.000000 s) has elapsed, querying...
2020-06-02T17:08:56.795Z,1591117736.795 [circle_acoustic_contact:B.](INFO): *** querying DAT ***
2020-06-02T17:08:57.112Z,1591117737.112 [DAT](INFO): setting remote address to 0
2020-06-02T17:08:57.138Z,1591117737.138 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:57.523Z,1591117737.523 [DAT](INFO): unknown deviceResponse_: RemoteAddr      | 0           

2020-06-02T17:08:57.537Z,1591117737.537 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:57.690Z,1591117737.690 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106079 psu
2020-06-02T17:08:57.000Z,1591117738.000 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:58.343Z,1591117738.343 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:58.688Z,1591117738.688 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106079 psu
2020-06-02T17:08:58.800Z,1591117738.800 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:59.220Z,1591117739.220 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:59.546Z,1591117739.546 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:08:59.693Z,1591117739.693 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:08:59.994Z,1591117739.994 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:00.408Z,1591117740.408 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:00.652Z,1591117740.652 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2020-06-02T17:09:00.696Z,1591117740.696 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106133 psu
2020-06-02T17:09:00.797Z,1591117740.797 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:01.211Z,1591117741.211 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:01.585Z,1591117741.585 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:01.701Z,1591117741.701 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106135 psu
2020-06-02T17:09:01.989Z,1591117741.989 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:02.437Z,1591117742.437 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:02.704Z,1591117742.704 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:09:02.819Z,1591117742.819 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:03.240Z,1591117743.240 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:03.605Z,1591117743.605 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:03.708Z,1591117743.708 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106133 psu
2020-06-02T17:09:04.001Z,1591117744.001 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:04.417Z,1591117744.417 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:04.712Z,1591117744.712 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106134 psu
2020-06-02T17:09:04.817Z,1591117744.817 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:05.203Z,1591117745.203 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:05.655Z,1591117745.655 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:05.755Z,1591117745.755 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106078 psu
2020-06-02T17:09:06.020Z,1591117746.020 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:06.439Z,1591117746.439 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:06.759Z,1591117746.759 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106077 psu
2020-06-02T17:09:06.865Z,1591117746.865 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:07.239Z,1591117747.239 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:07.638Z,1591117747.638 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:07.759Z,1591117747.759 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106078 psu
2020-06-02T17:09:08.113Z,1591117748.113 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:08.498Z,1591117748.498 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:08.763Z,1591117748.763 [CTD_Seabird](ERROR): Salinity reading out of range: 0.106079 psu
2020-06-02T17:09:08.767Z,1591117748.767 [CommandLine](IMPORTANT): got command stop
2020-06-02T17:09:08.767Z,1591117748.767 [CommandLine](IMPORTANT): Scheduling is paused
2020-06-02T17:09:08.767Z,1591117748.767 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-06-02T17:09:08.882Z,1591117748.882 [circle_acoustic_contact:B.](DEBUG): Tracking...
2020-06-02T17:09:08.883Z,1591117748.883 [MissionManager](INFO): MissionManager is completed.
2020-06-02T17:09:08.883Z,1591117748.883 [MissionManager](INFO): Uninitializing Mission circle_acoustic_contact
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact] Stopped
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact](DEBUG): Aggregate::uninitialize circle_acoustic_contact
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:AbortDrift] Stopped
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:AbortDrift](DEBUG): Aggregate::uninitialize circle_acoustic_contact:AbortDrift
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:AbortDrift:B.AbortDrift] Stopped
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:AbortDrift:B.AbortDrift](INFO): Uninitializing AbortDrift.
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:B.] Stopped
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:B.](DEBUG): Uninitializing Tracking.
2020-06-02T17:09:08.883Z,1591117748.883 [circle_acoustic_contact:StandardEnvelopes] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes](DEBUG): Aggregate::uninitialize circle_acoustic_contact:StandardEnvelopes
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:J.Pitch] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:K.Buoyancy] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:Science] Stopped
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:Science](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science
2020-06-02T17:09:08.884Z,1591117748.884 [circle_acoustic_contact:Science:C] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:D] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:G] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:H] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:PeakDetectChl] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize circle_acoustic_contact:Science:PeakDetectChl
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:M.SetSpeed] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:M.SetSpeed](DEBUG): Uninitialize.
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:YoYos] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:YoYos](DEBUG): Aggregate::uninitialize circle_acoustic_contact:YoYos
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:YoYos:A.DepthEnvelope] Stopped
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:YoYos:A.DepthEnvelope](DEBUG): Uninitialize.
2020-06-02T17:09:08.885Z,1591117748.885 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope] Stopped
2020-06-02T17:09:08.886Z,1591117748.886 [circle_acoustic_contact:YoYos:B.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:YoYos:C.YoYo] Stopped
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:YoYos:C.YoYo](DEBUG): Uninitialize YoYoComponent.
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:CircleWrapper] Stopped
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:CircleWrapper](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:CircleWrapper:CircleContact] Stopped
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:CircleWrapper:CircleContact](DEBUG): Aggregate::uninitialize circle_acoustic_contact:CircleWrapper:CircleContact
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:CircleWrapper:CircleContact:A] Stopped
2020-06-02T17:09:08.890Z,1591117748.890 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle] Stopped
2020-06-02T17:09:08.891Z,1591117748.891 [circle_acoustic_contact:CircleWrapper:CircleContact:B.Circle](DEBUG): Uninitialize.
2020-06-02T17:09:09.058Z,1591117749.058 [WetLabsBB2FL](INFO): Powering down
2020-06-02T17:09:09.369Z,1591117749.369 [MissionManager](IMPORTANT): Started mission Default
2020-06-02T17:09:09.369Z,1591117749.369 [Default] Running Loop=1
2020-06-02T17:09:09.369Z,1591117749.369 [Default](DEBUG): Aggregate::initialize Default
2020-06-02T17:09:09.369Z,1591117749.369 [Default:B.GoToSurface] Running Loop=1
2020-06-02T17:09:09.369Z,1591117749.369 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:09:09.369Z,1591117749.369 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-02T17:09:09.374Z,1591117749.374 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-02T17:09:09.374Z,1591117749.374 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-02T17:09:09.375Z,1591117749.375 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:09:09.375Z,1591117749.375 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:09:09.375Z,1591117749.375 [Default:A.Wait] Running Loop=1
2020-06-02T17:09:09.375Z,1591117749.375 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-02T17:09:09.746Z,1591117749.746 [WetLabsUBAT](INFO): Powering down
2020-06-02T17:09:22.592Z,1591117762.592 [Default:A.Wait](INFO): Done Waiting.
2020-06-02T17:09:22.592Z,1591117762.592 [Default:A.Wait] Stopped
2020-06-02T17:09:22.592Z,1591117762.592 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-02T17:09:22.984Z,1591117762.984 [Default:CheckIn] Running Loop=1
2020-06-02T17:09:22.984Z,1591117762.984 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-06-02T17:09:22.984Z,1591117762.984 [Default:CheckIn:Read_GPS] Running Loop=1
2020-06-02T17:09:35.121Z,1591117775.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-06-02T17:09:55.671Z,1591117795.671 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2020-06-02T17:09:55.746Z,1591117795.746 [NAL9602](FAULT): received: 
+CSQ:0

OK
2020-06-02T17:09:55.746Z,1591117795.746 [NAL9602] Data Fault, FailCount= 2
2020-06-02T17:09:55.746Z,1591117795.746 [NAL9602](ERROR): Data Fault
2020-06-02T17:09:55.785Z,1591117795.785 [CBIT](ERROR): Data Fault in component: NAL9602
2020-06-02T17:09:56.099Z,1591117796.099 [NAL9602](INFO): Powering down
2020-06-02T17:09:56.937Z,1591117796.937 [CBIT](INFO): Clearing failed state for component NAL9602
2020-06-02T17:09:56.958Z,1591117796.958 [NAL9602] No Fault, FailCount= 2
2020-06-02T17:10:26.375Z,1591117826.375 [NAL9602](INFO): Powering up NAL9602
2020-06-02T17:10:37.293Z,1591117837.293 [NAL9602](INFO): NAL9602 initialized
2020-06-02T17:10:38.111Z,1591117838.111 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-06-02T17:10:38.111Z,1591117838.111 [NAL9602] Data Fault, FailCount= 3
2020-06-02T17:10:38.112Z,1591117838.112 [NAL9602](ERROR): Data Fault
2020-06-02T17:10:38.191Z,1591117838.191 [CBIT](ERROR): Data Fault in component: NAL9602
2020-06-02T17:10:38.503Z,1591117838.503 [NAL9602](INFO): Powering down
2020-06-02T17:10:39.356Z,1591117839.356 [CBIT](INFO): Clearing failed state for component NAL9602
2020-06-02T17:10:39.356Z,1591117839.356 [NAL9602] No Fault, FailCount= 3
2020-06-02T17:11:08.799Z,1591117868.799 [NAL9602](INFO): Powering up NAL9602
2020-06-02T17:11:19.704Z,1591117879.704 [NAL9602](INFO): NAL9602 initialized
2020-06-02T17:11:44.795Z,1591117904.795 [CommandLine](IMPORTANT): got command run ./Missions/Demo/senddata_direct_test.xml
2020-06-02T17:11:44.795Z,1591117904.795 [MissionManager](INFO): Loading Mission: ./Missions/Demo/senddata_direct_test.xml
2020-06-02T17:11:44.823Z,1591117904.823 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="senddata_direct_test">

    <SendData Service="Direct" Destination="modem:1:_.pressure">
        <Sensor:Onboard.Pressure/><Units:atmosphere/>
    </SendData>
    
    <SendData Service="Direct" Destination="modem:1:_.temperature">
        <Sensor:Onboard.Temperature/><Units:celsius/>
    </SendData>
    
    <SendData Service="Direct" Destination="modem:1:_.humidity">
        <Sensor:Onboard.Humidity/><Units:percent/>
    </SendData>

</Mission>


2020-06-02T17:11:44.824Z,1591117904.824 [CommandLine](IMPORTANT): Running ./Missions/Demo/senddata_direct_test.xml
2020-06-02T17:11:45.261Z,1591117905.261 [Default] Stopped
2020-06-02T17:11:45.261Z,1591117905.261 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-02T17:11:45.261Z,1591117905.261 [Default:B.GoToSurface] Stopped
2020-06-02T17:11:45.261Z,1591117905.261 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:11:45.261Z,1591117905.261 [Default:CheckIn] Stopped
2020-06-02T17:11:45.262Z,1591117905.262 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-06-02T17:11:45.270Z,1591117905.270 [Default:CheckIn:Read_GPS] Stopped
2020-06-02T17:11:45.270Z,1591117905.270 [MissionManager](IMPORTANT): Started mission senddata_direct_test
2020-06-02T17:11:45.270Z,1591117905.270 [senddata_direct_test] Running Loop=1
2020-06-02T17:11:45.270Z,1591117905.270 [senddata_direct_test](DEBUG): Aggregate::initialize senddata_direct_test
2020-06-02T17:11:45.271Z,1591117905.271 [senddata_direct_test:A] Running Loop=1
2020-06-02T17:11:45.271Z,1591117905.271 [senddata_direct_test:A] Stopped
2020-06-02T17:11:45.271Z,1591117905.271 [senddata_direct_test:B] Running Loop=1
2020-06-02T17:11:45.576Z,1591117905.576 [DAT](INFO): modem://1: set _.pressure 0.512717 atmosphere
2020-06-02T17:11:45.576Z,1591117905.576 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:11:45.593Z,1591117905.593 [senddata_direct_test:B] Stopped
2020-06-02T17:11:45.593Z,1591117905.593 [senddata_direct_test:C] Running Loop=1
2020-06-02T17:11:45.985Z,1591117905.985 [DAT](INFO): setting remote address to 1
2020-06-02T17:11:46.015Z,1591117906.015 [senddata_direct_test:C] Stopped
2020-06-02T17:11:46.015Z,1591117906.015 [senddata_direct_test](INFO): Completed senddata_direct_test
2020-06-02T17:11:46.015Z,1591117906.015 [MissionManager](INFO): senddata_direct_test is completed.
2020-06-02T17:11:46.016Z,1591117906.016 [MissionManager](INFO): Uninitializing Mission senddata_direct_test
2020-06-02T17:11:46.016Z,1591117906.016 [senddata_direct_test] Stopped
2020-06-02T17:11:46.016Z,1591117906.016 [senddata_direct_test](DEBUG): Aggregate::uninitialize senddata_direct_test
2020-06-02T17:11:46.402Z,1591117906.402 [DAT](DEBUG): checking for remote address setting acknowledgment
2020-06-02T17:11:46.403Z,1591117906.403 [DAT](INFO): set remote address to 1
2020-06-02T17:11:46.403Z,1591117906.403 [DAT](INFO): entering online mode
2020-06-02T17:11:46.437Z,1591117906.437 [MissionManager](IMPORTANT): Started mission Default
2020-06-02T17:11:46.437Z,1591117906.437 [Default] Running Loop=1
2020-06-02T17:11:46.437Z,1591117906.437 [Default](DEBUG): Aggregate::initialize Default
2020-06-02T17:11:46.437Z,1591117906.437 [Default:B.GoToSurface] Running Loop=1
2020-06-02T17:11:46.437Z,1591117906.437 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:11:46.466Z,1591117906.466 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-02T17:11:46.466Z,1591117906.466 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-02T17:11:46.467Z,1591117906.467 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-02T17:11:46.467Z,1591117906.467 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:11:46.467Z,1591117906.467 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:11:46.468Z,1591117906.468 [Default:A.Wait] Running Loop=1
2020-06-02T17:11:46.468Z,1591117906.468 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-02T17:11:46.787Z,1591117906.787 [DAT](DEBUG): checking for online mode acknowledgment
2020-06-02T17:11:46.805Z,1591117906.805 [DAT](INFO): online mode acknowledged
2020-06-02T17:11:46.806Z,1591117906.806 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:11:50.041Z,1591117910.041 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:11:59.737Z,1591117919.737 [Default:A.Wait](INFO): Done Waiting.
2020-06-02T17:11:59.737Z,1591117919.737 [Default:A.Wait] Stopped
2020-06-02T17:11:59.737Z,1591117919.737 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-02T17:12:00.160Z,1591117920.160 [Default:CheckIn] Running Loop=1
2020-06-02T17:12:00.160Z,1591117920.160 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-06-02T17:12:00.160Z,1591117920.160 [Default:CheckIn:Read_GPS] Running Loop=1
2020-06-02T17:12:07.009Z,1591117927.009 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:12:07.010Z,1591117927.010 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:12:07.311Z,1591117927.311 [CommandLine](IMPORTANT): got command stop
2020-06-02T17:12:07.311Z,1591117927.311 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-06-02T17:12:07.417Z,1591117927.417 [DAT](INFO): modem://1: set _.temperature 24.058100 celsius
2020-06-02T17:12:07.417Z,1591117927.417 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:12:07.800Z,1591117927.800 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:12:11.042Z,1591117931.042 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:12:27.998Z,1591117947.998 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:12:27.998Z,1591117947.998 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:12:28.414Z,1591117948.414 [DAT](INFO): modem://1: set _.humidity 14.998169 percent
2020-06-02T17:12:28.414Z,1591117948.414 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:12:28.812Z,1591117948.812 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:12:32.050Z,1591117952.050 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:12:49.000Z,1591117969.000 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:12:49.000Z,1591117969.000 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:12:49.423Z,1591117969.423 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:12:49.821Z,1591117969.821 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:12:53.080Z,1591117973.080 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:12:53.572Z,1591117973.572 [CommandLine](IMPORTANT): got command show stack
2020-06-02T17:12:53.572Z,1591117973.572 [CommandLine](IMPORTANT): Behavior Stack:

2020-06-02T17:12:53.572Z,1591117973.572 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-06-02T17:12:53.572Z,1591117973.572 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-06-02T17:13:08.844Z,1591117988.844 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2020-06-02T17:13:10.021Z,1591117990.021 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:13:10.021Z,1591117990.021 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:13:10.419Z,1591117990.419 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:13:10.835Z,1591117990.835 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:13:14.074Z,1591117994.074 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:13:28.388Z,1591118008.388 [CommandLine](IMPORTANT): got command run ./Missions/Demo/senddata_direct_test.xml
2020-06-02T17:13:28.388Z,1591118008.388 [MissionManager](INFO): Loading Mission: ./Missions/Demo/senddata_direct_test.xml
2020-06-02T17:13:28.406Z,1591118008.406 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd"
    Id="senddata_direct_test">

    <SendData Service="Direct" Destination="modem:50:_.pressure">
        <Sensor:Onboard.Pressure/><Units:atmosphere/>
    </SendData>
    
    <SendData Service="Direct" Destination="modem:50:_.temperature">
        <Sensor:Onboard.Temperature/><Units:celsius/>
    </SendData>
    
    <SendData Service="Direct" Destination="modem:50:_.humidity">
        <Sensor:Onboard.Humidity/><Units:percent/>
    </SendData>

</Mission>


2020-06-02T17:13:28.408Z,1591118008.408 [CommandLine](IMPORTANT): Running ./Missions/Demo/senddata_direct_test.xml
2020-06-02T17:13:28.622Z,1591118008.622 [Default] Stopped
2020-06-02T17:13:28.622Z,1591118008.622 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-02T17:13:28.622Z,1591118008.622 [Default:B.GoToSurface] Stopped
2020-06-02T17:13:28.623Z,1591118008.623 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:13:28.623Z,1591118008.623 [Default:CheckIn] Stopped
2020-06-02T17:13:28.623Z,1591118008.623 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-06-02T17:13:28.623Z,1591118008.623 [Default:CheckIn:Read_GPS] Stopped
2020-06-02T17:13:28.623Z,1591118008.623 [MissionManager](IMPORTANT): Started mission senddata_direct_test
2020-06-02T17:13:28.623Z,1591118008.623 [senddata_direct_test] Running Loop=1
2020-06-02T17:13:28.623Z,1591118008.623 [senddata_direct_test](DEBUG): Aggregate::initialize senddata_direct_test
2020-06-02T17:13:28.624Z,1591118008.624 [senddata_direct_test:A] Running Loop=1
2020-06-02T17:13:28.624Z,1591118008.624 [senddata_direct_test:A] Stopped
2020-06-02T17:13:28.624Z,1591118008.624 [senddata_direct_test:B] Running Loop=1
2020-06-02T17:13:29.024Z,1591118009.024 [senddata_direct_test:B] Stopped
2020-06-02T17:13:29.025Z,1591118009.025 [senddata_direct_test:C] Running Loop=1
2020-06-02T17:13:29.443Z,1591118009.443 [senddata_direct_test:C] Stopped
2020-06-02T17:13:29.443Z,1591118009.443 [senddata_direct_test](INFO): Completed senddata_direct_test
2020-06-02T17:13:29.443Z,1591118009.443 [MissionManager](INFO): senddata_direct_test is completed.
2020-06-02T17:13:29.443Z,1591118009.443 [MissionManager](INFO): Uninitializing Mission senddata_direct_test
2020-06-02T17:13:29.443Z,1591118009.443 [senddata_direct_test] Stopped
2020-06-02T17:13:29.444Z,1591118009.444 [senddata_direct_test](DEBUG): Aggregate::uninitialize senddata_direct_test
2020-06-02T17:13:29.841Z,1591118009.841 [MissionManager](IMPORTANT): Started mission Default
2020-06-02T17:13:29.841Z,1591118009.841 [Default] Running Loop=1
2020-06-02T17:13:29.841Z,1591118009.841 [Default](DEBUG): Aggregate::initialize Default
2020-06-02T17:13:29.841Z,1591118009.841 [Default:B.GoToSurface] Running Loop=1
2020-06-02T17:13:29.841Z,1591118009.841 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-06-02T17:13:29.841Z,1591118009.841 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-06-02T17:13:29.862Z,1591118009.862 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-06-02T17:13:29.862Z,1591118009.862 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-06-02T17:13:29.862Z,1591118009.862 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-06-02T17:13:29.863Z,1591118009.863 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-06-02T17:13:29.863Z,1591118009.863 [Default:A.Wait] Running Loop=1
2020-06-02T17:13:29.863Z,1591118009.863 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-06-02T17:13:31.018Z,1591118011.018 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:13:31.018Z,1591118011.018 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:13:31.429Z,1591118011.429 [DAT](INFO): modem://50: set _.pressure 0.512717 atmosphere
2020-06-02T17:13:31.429Z,1591118011.429 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:13:31.853Z,1591118011.853 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:13:35.118Z,1591118015.118 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:13:43.173Z,1591118023.173 [Default:A.Wait](INFO): Done Waiting.
2020-06-02T17:13:43.173Z,1591118023.173 [Default:A.Wait] Stopped
2020-06-02T17:13:43.173Z,1591118023.173 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-06-02T17:13:43.555Z,1591118023.555 [Default:CheckIn] Running Loop=1
2020-06-02T17:13:43.555Z,1591118023.555 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-06-02T17:13:43.555Z,1591118023.555 [Default:CheckIn:Read_GPS] Running Loop=1
2020-06-02T17:13:52.036Z,1591118032.036 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:13:52.036Z,1591118032.036 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:13:52.450Z,1591118032.450 [DAT](INFO): modem://50: set _.temperature 23.937250 celsius
2020-06-02T17:13:52.450Z,1591118032.450 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:13:52.835Z,1591118032.835 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:13:56.080Z,1591118036.080 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:14:13.041Z,1591118053.041 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:14:13.041Z,1591118053.041 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:14:13.453Z,1591118053.453 [DAT](INFO): modem://50: set _.humidity 14.985961 percent
2020-06-02T17:14:13.454Z,1591118053.454 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:14:13.854Z,1591118053.854 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:14:17.091Z,1591118057.091 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:14:26.753Z,1591118066.753 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-06-02T17:14:34.048Z,1591118074.048 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:14:34.048Z,1591118074.048 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:14:34.458Z,1591118074.458 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:14:34.872Z,1591118074.872 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:14:38.130Z,1591118078.130 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:14:55.126Z,1591118095.126 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:14:55.127Z,1591118095.127 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:14:55.492Z,1591118095.492 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:14:55.896Z,1591118095.896 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:14:59.120Z,1591118099.120 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:15:16.147Z,1591118116.147 [DAT](FAULT): Ack receipt timeout failure.
2020-06-02T17:15:16.147Z,1591118116.147 [DAT](DEBUG): In sendingAckWaiting, timeout so set commsState_ = SENDING_FILL_BUFFER
2020-06-02T17:15:16.512Z,1591118116.512 [DAT](DEBUG): In sendingFillBuffer, set commsState_ = SENDING_TRANSMIT
2020-06-02T17:15:16.909Z,1591118116.909 [DAT](DEBUG): In sendingTransmit, set commsState_ = SENDING_TRANSMIT_VERIFY
2020-06-02T17:15:20.128Z,1591118120.128 [DAT](DEBUG): In parseResponses, set commsState_ = SENDING_ACK_WAITING
2020-06-02T17:15:27.859Z,1591118127.859 [CommandLine](IMPORTANT): got command stop
2020-06-02T17:15:27.859Z,1591118127.859 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-06-02T17:15:30.964Z,1591118130.964 [CommandLine](IMPORTANT): got command restart application
2020-06-02T17:15:31.970Z,1591118131.970 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:31.971Z,1591118131.971 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.006Z,1591118132.006 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-06-02T17:15:32.006Z,1591118132.006 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.008Z,1591118132.008 [CommandLine](INFO): Join timeout helper Thread ID is 8782
2020-06-02T17:15:32.009Z,1591118132.009 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-06-02T17:15:32.010Z,1591118132.010 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.012Z,1591118132.012 [NavChartDb](INFO): Join timeout helper Thread ID is 8783
2020-06-02T17:15:32.085Z,1591118132.085 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:32.085Z,1591118132.085 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.098Z,1591118132.098 [ComponentRegistry](INFO): Shutting down WetLabsUBAT ThreadHandler
2020-06-02T17:15:32.099Z,1591118132.099 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.100Z,1591118132.100 [WetLabsUBAT](INFO): Join timeout helper Thread ID is 8784
2020-06-02T17:15:32.350Z,1591118132.350 [WetLabsUBAT ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:32.351Z,1591118132.351 [WetLabsUBAT](INFO): Powering down
2020-06-02T17:15:32.351Z,1591118132.351 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.362Z,1591118132.362 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2020-06-02T17:15:32.362Z,1591118132.362 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.363Z,1591118132.363 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 8785
2020-06-02T17:15:32.754Z,1591118132.754 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:32.755Z,1591118132.755 [WetLabsBB2FL](INFO): Powering down
2020-06-02T17:15:32.755Z,1591118132.755 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.762Z,1591118132.762 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2020-06-02T17:15:32.762Z,1591118132.762 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:32.763Z,1591118132.763 [CTD_Seabird](INFO): Join timeout helper Thread ID is 8786
2020-06-02T17:15:33.322Z,1591118133.322 [CTD_Seabird](INFO): Powering down
2020-06-02T17:15:33.334Z,1591118133.334 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:33.334Z,1591118133.334 [CTD_Seabird](INFO): Powering down
2020-06-02T17:15:33.346Z,1591118133.346 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:33.363Z,1591118133.363 [ComponentRegistry](INFO): Shutting down BackSeatDriver ThreadHandler
2020-06-02T17:15:33.363Z,1591118133.363 [BackSeatDriver ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:33.363Z,1591118133.363 [BackSeatDriver](INFO): Join timeout helper Thread ID is 8789
2020-06-02T17:15:33.570Z,1591118133.570 [BackSeatDriver ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:33.571Z,1591118133.571 [BackSeatDriver ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:33.590Z,1591118133.590 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-06-02T17:15:33.591Z,1591118133.591 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:33.592Z,1591118133.592 [Radio_Surface](INFO): Join timeout helper Thread ID is 8790
2020-06-02T17:15:33.984Z,1591118133.984 [Radio_Surface](INFO): Powering down
2020-06-02T17:15:33.987Z,1591118133.987 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:33.987Z,1591118133.987 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:33.995Z,1591118133.995 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-06-02T17:15:33.995Z,1591118133.995 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:33.995Z,1591118133.995 [DataOverHttps](INFO): Join timeout helper Thread ID is 8791
2020-06-02T17:15:34.091Z,1591118134.091 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:34.092Z,1591118134.092 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.103Z,1591118134.103 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-06-02T17:15:34.103Z,1591118134.103 [logger ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.103Z,1591118134.103 [logger](INFO): Join timeout helper Thread ID is 8792
2020-06-02T17:15:34.114Z,1591118134.114 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:34.115Z,1591118134.115 [logger ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.126Z,1591118134.126 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-06-02T17:15:34.126Z,1591118134.126 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.126Z,1591118134.126 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-06-02T17:15:34.126Z,1591118134.126 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.127Z,1591118134.127 [controlThread](INFO): Join timeout helper Thread ID is 8793
2020-06-02T17:15:34.234Z,1591118134.234 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-06-02T17:15:34.234Z,1591118134.234 [controlThread](DEBUG): Uninitializing ControlThread
2020-06-02T17:15:34.235Z,1591118134.235 [AHRS_M2](INFO): Powering down
2020-06-02T17:15:34.307Z,1591118134.307 [NAL9602](INFO): Powering down
2020-06-02T17:15:34.378Z,1591118134.378 [RDI_Pathfinder](INFO): Powering down
2020-06-02T17:15:34.379Z,1591118134.379 [DAT](INFO): Powering down
2020-06-02T17:15:34.499Z,1591118134.499 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-06-02T17:15:34.500Z,1591118134.500 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-06-02T17:15:34.500Z,1591118134.500 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-06-02T17:15:34.501Z,1591118134.501 [MissionManager](INFO): Uninitializing Mission Default
2020-06-02T17:15:34.501Z,1591118134.501 [Default] Stopped
2020-06-02T17:15:34.501Z,1591118134.501 [Default](DEBUG): Aggregate::uninitialize Default
2020-06-02T17:15:34.501Z,1591118134.501 [Default:B.GoToSurface] Stopped
2020-06-02T17:15:34.501Z,1591118134.501 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-06-02T17:15:34.501Z,1591118134.501 [Default:CheckIn] Stopped
2020-06-02T17:15:34.501Z,1591118134.501 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-06-02T17:15:34.501Z,1591118134.501 [Default:CheckIn:Read_GPS] Stopped
2020-06-02T17:15:34.504Z,1591118134.504 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-06-02T17:15:34.504Z,1591118134.504 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-06-02T17:15:34.504Z,1591118134.504 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-06-02T17:15:34.505Z,1591118134.505 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-06-02T17:15:34.505Z,1591118134.505 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-06-02T17:15:34.505Z,1591118134.505 [BuoyancyServo](INFO): Powering down
2020-06-02T17:15:34.518Z,1591118134.518 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-06-02T17:15:34.518Z,1591118134.518 [ElevatorServo](INFO): Powering down
2020-06-02T17:15:34.519Z,1591118134.519 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-06-02T17:15:34.519Z,1591118134.519 [MassServo](INFO): Powering down
2020-06-02T17:15:34.520Z,1591118134.520 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-06-02T17:15:34.520Z,1591118134.520 [RudderServo](INFO): Powering down
2020-06-02T17:15:34.521Z,1591118134.521 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-06-02T17:15:34.521Z,1591118134.521 [ThrusterServo](INFO): Powering down
2020-06-02T17:15:34.522Z,1591118134.522 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-06-02T17:15:34.522Z,1591118134.522 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-06-02T17:15:34.523Z,1591118134.523 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-06-02T17:15:34.523Z,1591118134.523 [CBIT](DEBUG): Powering off loads.
2020-06-02T17:15:34.534Z,1591118134.534 [CBIT](DEBUG): Disabling WDT.
2020-06-02T17:15:34.546Z,1591118134.546 [CBIT](DEBUG): Opening all GF detection circuits.
2020-06-02T17:15:34.547Z,1591118134.547 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.653Z,1591118134.653 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.659Z,1591118134.659 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.720Z,1591118134.720 [WetLabsUBAT ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.721Z,1591118134.721 [WetLabsUBAT](INFO): WetLabs destructor: dataLog is open - close it
2020-06-02T17:15:34.721Z,1591118134.721 [WetLabsUBAT](INFO): WetLabs destructor: done
2020-06-02T17:15:34.728Z,1591118134.728 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.731Z,1591118134.731 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.734Z,1591118134.734 [BackSeatDriver ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.745Z,1591118134.745 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-06-02T17:15:34.808Z,1591118134.808 [logger ThreadHandler](INFO): Thread cancelled.