2020-11-19T19:21:32.267Z,1605813692.267 [Supervisor](DEBUG): Initializing supervisor.
2020-11-19T19:21:32.270Z,1605813692.270 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2020-11-19T19:21:32.271Z,1605813692.271 [SyncHandler](INFO): Protected caller Thread ID is 990
2020-11-19T19:21:32.271Z,1605813692.271 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2020-11-19T19:21:32.272Z,1605813692.272 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2020-11-19T19:21:32.272Z,1605813692.272 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 991
2020-11-19T19:21:32.276Z,1605813692.276 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2020-11-19T19:21:32.293Z,1605813692.293 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2020-11-19T19:21:32.294Z,1605813692.294 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2020-11-19T19:21:32.294Z,1605813692.294 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 992
2020-11-19T19:21:32.295Z,1605813692.295 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2020-11-19T19:21:32.295Z,1605813692.295 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2020-11-19T19:21:32.296Z,1605813692.296 [logger ThreadHandler](INFO): Protected caller Thread ID is 993
2020-11-19T19:21:32.298Z,1605813692.298 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2020-11-19T19:21:32.298Z,1605813692.298 [Supervisor](INFO): Looking for Config files in directory: Config/
2020-11-19T19:21:32.300Z,1605813692.300 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2020-11-19T19:21:32.718Z,1605813692.718 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2020-11-19T19:21:32.719Z,1605813692.719 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2020-11-19T19:21:32.861Z,1605813692.861 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2020-11-19T19:21:32.861Z,1605813692.861 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2020-11-19T19:21:32.940Z,1605813692.940 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2020-11-19T19:21:33.128Z,1605813693.128 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2020-11-19T19:21:33.128Z,1605813693.128 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2020-11-19T19:21:33.224Z,1605813693.224 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2020-11-19T19:21:33.225Z,1605813693.225 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2020-11-19T19:21:33.319Z,1605813693.319 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2020-11-19T19:21:33.319Z,1605813693.319 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2020-11-19T19:21:33.693Z,1605813693.693 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2020-11-19T19:21:33.693Z,1605813693.693 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2020-11-19T19:21:33.797Z,1605813693.797 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2020-11-19T19:21:33.797Z,1605813693.797 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2020-11-19T19:21:34.283Z,1605813694.283 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2020-11-19T19:21:34.283Z,1605813694.283 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2020-11-19T19:21:34.467Z,1605813694.467 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2020-11-19T19:21:34.468Z,1605813694.468 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2020-11-19T19:21:34.761Z,1605813694.761 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2020-11-19T19:21:34.761Z,1605813694.761 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2020-11-19T19:21:34.978Z,1605813694.978 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2020-11-19T19:21:34.979Z,1605813694.979 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2020-11-19T19:21:35.117Z,1605813695.117 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2020-11-19T19:21:35.117Z,1605813695.117 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2020-11-19T19:21:35.750Z,1605813695.750 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2020-11-19T19:21:35.751Z,1605813695.751 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2020-11-19T19:21:36.070Z,1605813696.070 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2020-11-19T19:21:36.071Z,1605813696.071 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2020-11-19T19:21:36.270Z,1605813696.270 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2020-11-19T19:21:36.272Z,1605813696.272 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/
2020-11-19T19:21:36.273Z,1605813696.273 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/vehicle.cfg
2020-11-19T19:21:36.488Z,1605813696.488 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/secure.cfg
2020-11-19T19:21:36.668Z,1605813696.668 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Science.cfg
2020-11-19T19:21:37.039Z,1605813697.039 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Simulator.cfg
2020-11-19T19:21:37.152Z,1605813697.152 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Battery.cfg
2020-11-19T19:21:37.399Z,1605813697.399 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2020-11-19T19:21:37.399Z,1605813697.399 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/logger.cfg
2020-11-19T19:21:37.501Z,1605813697.501 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Servo.cfg
2020-11-19T19:21:37.607Z,1605813697.607 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Navigation.cfg
2020-11-19T19:21:37.698Z,1605813697.698 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Sensor.cfg
2020-11-19T19:21:37.838Z,1605813697.838 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/Control.cfg
2020-11-19T19:21:37.934Z,1605813697.934 [Supervisor](INFO): Opening Config file at: Config/lrauv-triton/BIT.cfg
2020-11-19T19:21:38.031Z,1605813698.031 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-triton/root/
2020-11-19T19:21:38.031Z,1605813698.031 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2020-11-19T19:21:38.044Z,1605813698.044 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2020-11-19T19:21:38.062Z,1605813698.062 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2020-11-19T19:21:38.063Z,1605813698.063 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2020-11-19T19:21:38.138Z,1605813698.138 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2020-11-19T19:21:38.139Z,1605813698.139 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2020-11-19T19:21:38.184Z,1605813698.184 [VerticalControl](DEBUG): Construct VerticalControl.
2020-11-19T19:21:38.242Z,1605813698.242 [VerticalControl] Loaded
2020-11-19T19:21:38.242Z,1605813698.242 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2020-11-19T19:21:38.243Z,1605813698.243 [HorizontalControl](DEBUG): Construct HorizontalControl.
2020-11-19T19:21:38.279Z,1605813698.279 [HorizontalControl] Loaded
2020-11-19T19:21:38.279Z,1605813698.279 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2020-11-19T19:21:38.280Z,1605813698.280 [SpeedControl](DEBUG): Construct SpeedControl.
2020-11-19T19:21:38.283Z,1605813698.283 [SpeedControl] Loaded
2020-11-19T19:21:38.283Z,1605813698.283 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2020-11-19T19:21:38.284Z,1605813698.284 [LoopControl](DEBUG): Construct LoopControl.
2020-11-19T19:21:38.284Z,1605813698.284 [LoopControl] Loaded
2020-11-19T19:21:38.285Z,1605813698.285 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2020-11-19T19:21:38.285Z,1605813698.285 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2020-11-19T19:21:38.285Z,1605813698.285 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2020-11-19T19:21:38.416Z,1605813698.416 [BuoyancyServo] Loaded
2020-11-19T19:21:38.416Z,1605813698.416 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2020-11-19T19:21:38.432Z,1605813698.432 [ElevatorServo] Loaded
2020-11-19T19:21:38.432Z,1605813698.432 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2020-11-19T19:21:38.447Z,1605813698.447 [MassServo] Loaded
2020-11-19T19:21:38.447Z,1605813698.447 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2020-11-19T19:21:38.462Z,1605813698.462 [RudderServo] Loaded
2020-11-19T19:21:38.462Z,1605813698.462 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2020-11-19T19:21:38.477Z,1605813698.477 [ThrusterServo] Loaded
2020-11-19T19:21:38.477Z,1605813698.477 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2020-11-19T19:21:38.477Z,1605813698.477 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2020-11-19T19:21:38.478Z,1605813698.478 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2020-11-19T19:21:38.514Z,1605813698.514 [DepthRateCalculator] Loaded
2020-11-19T19:21:38.514Z,1605813698.514 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2020-11-19T19:21:38.517Z,1605813698.517 [PitchRateCalculator] Loaded
2020-11-19T19:21:38.517Z,1605813698.517 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2020-11-19T19:21:38.525Z,1605813698.525 [SpeedCalculator] Loaded
2020-11-19T19:21:38.525Z,1605813698.525 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2020-11-19T19:21:38.536Z,1605813698.536 [TempGradientCalculator] Loaded
2020-11-19T19:21:38.536Z,1605813698.536 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2020-11-19T19:21:38.539Z,1605813698.539 [YawRateCalculator] Loaded
2020-11-19T19:21:38.539Z,1605813698.539 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2020-11-19T19:21:38.553Z,1605813698.553 [ElevatorOffsetCalculator] Loaded
2020-11-19T19:21:38.554Z,1605813698.554 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2020-11-19T19:21:38.554Z,1605813698.554 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2020-11-19T19:21:38.554Z,1605813698.554 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2020-11-19T19:21:38.630Z,1605813698.630 [DeadReckonUsingMultipleVelocitySources] Loaded
2020-11-19T19:21:38.631Z,1605813698.631 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2020-11-19T19:21:38.641Z,1605813698.641 [NavChart] Loaded
2020-11-19T19:21:38.642Z,1605813698.642 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2020-11-19T19:21:38.645Z,1605813698.645 [UniversalFixResidualReporter] Loaded
2020-11-19T19:21:38.646Z,1605813698.646 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2020-11-19T19:21:38.646Z,1605813698.646 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2020-11-19T19:21:38.647Z,1605813698.647 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2020-11-19T19:21:38.934Z,1605813698.934 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2020-11-19T19:21:38.937Z,1605813698.937 [AHRS_M2](INFO): created writer for : platform_orientation
2020-11-19T19:21:38.939Z,1605813698.939 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2020-11-19T19:21:38.942Z,1605813698.942 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2020-11-19T19:21:38.942Z,1605813698.942 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2020-11-19T19:21:38.945Z,1605813698.945 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2020-11-19T19:21:38.945Z,1605813698.945 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2020-11-19T19:21:38.948Z,1605813698.948 [AHRS_M2](INFO): created writer for : platform_roll_angle
2020-11-19T19:21:38.984Z,1605813698.984 [AHRS_M2] Loaded
2020-11-19T19:21:38.984Z,1605813698.984 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2020-11-19T19:21:39.054Z,1605813699.054 [DataOverHttps] Loaded
2020-11-19T19:21:39.054Z,1605813699.054 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2020-11-19T19:21:39.055Z,1605813699.055 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 408504E0
2020-11-19T19:21:39.056Z,1605813699.056 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1075
2020-11-19T19:21:39.072Z,1605813699.072 [Depth_Keller] Loaded
2020-11-19T19:21:39.072Z,1605813699.072 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2020-11-19T19:21:39.125Z,1605813699.125 [NAL9602] Loaded
2020-11-19T19:21:39.125Z,1605813699.125 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2020-11-19T19:21:39.150Z,1605813699.150 [Onboard] Loaded
2020-11-19T19:21:39.150Z,1605813699.150 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2020-11-19T19:21:39.151Z,1605813699.151 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408804E0
2020-11-19T19:21:39.152Z,1605813699.152 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 1076
2020-11-19T19:21:39.162Z,1605813699.162 [Radio_Surface] Loaded
2020-11-19T19:21:39.162Z,1605813699.162 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2020-11-19T19:21:39.163Z,1605813699.163 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408B04E0
2020-11-19T19:21:39.163Z,1605813699.163 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1077
2020-11-19T19:21:39.236Z,1605813699.236 [DAT] Loaded
2020-11-19T19:21:39.236Z,1605813699.236 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread.
2020-11-19T19:21:40.003Z,1605813700.003 [BPC1] Loaded
2020-11-19T19:21:40.003Z,1605813700.003 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2020-11-19T19:21:40.004Z,1605813700.004 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2020-11-19T19:21:40.005Z,1605813700.005 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2020-11-19T19:21:40.089Z,1605813700.089 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2020-11-19T19:21:40.089Z,1605813700.089 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2020-11-19T19:21:40.185Z,1605813700.185 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2020-11-19T19:21:40.186Z,1605813700.186 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2020-11-19T19:21:40.211Z,1605813700.211 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2020-11-19T19:21:40.212Z,1605813700.212 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2020-11-19T19:21:40.402Z,1605813700.402 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_density
2020-11-19T19:21:40.405Z,1605813700.405 [CTD_Seabird](INFO): created writer for : sea_water_density
2020-11-19T19:21:40.406Z,1605813700.406 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): depth
2020-11-19T19:21:40.408Z,1605813700.408 [CTD_Seabird](INFO): created writer for : depth
2020-11-19T19:21:40.409Z,1605813700.409 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_pressure
2020-11-19T19:21:40.411Z,1605813700.411 [CTD_Seabird](INFO): created writer for : sea_water_pressure
2020-11-19T19:21:40.412Z,1605813700.412 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_salinity
2020-11-19T19:21:40.415Z,1605813700.415 [CTD_Seabird](INFO): created writer for : sea_water_salinity
2020-11-19T19:21:40.415Z,1605813700.415 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_temperature
2020-11-19T19:21:40.418Z,1605813700.418 [CTD_Seabird](INFO): created writer for : sea_water_temperature
2020-11-19T19:21:40.418Z,1605813700.418 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): sea_water_electrical_conductivity
2020-11-19T19:21:40.421Z,1605813700.421 [CTD_Seabird](INFO): created writer for : sea_water_electrical_conductivity
2020-11-19T19:21:40.422Z,1605813700.422 [CTD_Seabird](DEBUG): LcmSlateWriter::add(): speed_of_sound_in_sea_water
2020-11-19T19:21:40.425Z,1605813700.425 [CTD_Seabird](INFO): created writer for : speed_of_sound_in_sea_water
2020-11-19T19:21:40.437Z,1605813700.437 [CTD_Seabird] Loaded
2020-11-19T19:21:40.438Z,1605813700.438 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2020-11-19T19:21:40.439Z,1605813700.439 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 40A584E0
2020-11-19T19:21:40.439Z,1605813700.439 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 1078
2020-11-19T19:21:40.468Z,1605813700.468 [ESPComponent] Loaded
2020-11-19T19:21:40.468Z,1605813700.468 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2020-11-19T19:21:40.484Z,1605813700.484 [PAR_Licor] Loaded
2020-11-19T19:21:40.485Z,1605813700.485 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2020-11-19T19:21:40.497Z,1605813700.497 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output470
2020-11-19T19:21:40.497Z,1605813700.497 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: Output470
2020-11-19T19:21:40.499Z,1605813700.499 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.Output650
2020-11-19T19:21:40.499Z,1605813700.499 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: Output650
2020-11-19T19:21:40.501Z,1605813700.501 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.OutputChl
2020-11-19T19:21:40.501Z,1605813700.501 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: OutputChl
2020-11-19T19:21:40.503Z,1605813700.503 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg470nm
2020-11-19T19:21:40.503Z,1605813700.503 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: VolumeScatCoeff117deg470nm
2020-11-19T19:21:40.505Z,1605813700.505 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.VolumeScatCoeff117deg650nm
2020-11-19T19:21:40.505Z,1605813700.505 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: VolumeScatCoeff117deg650nm
2020-11-19T19:21:40.507Z,1605813700.507 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff470nm
2020-11-19T19:21:40.507Z,1605813700.507 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: BackscatteringCoeff470nm
2020-11-19T19:21:40.509Z,1605813700.509 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.BackscatteringCoeff650nm
2020-11-19T19:21:40.509Z,1605813700.509 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: BackscatteringCoeff650nm
2020-11-19T19:21:40.511Z,1605813700.511 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.513Z,1605813700.513 [WetLabsBB2FL](INFO): created writer for : mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.514Z,1605813700.514 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.514Z,1605813700.514 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_median_mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.516Z,1605813700.516 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.516Z,1605813700.516 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.518Z,1605813700.518 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(DAtaURI): WetLabsBB2FL.bin_variance_mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.518Z,1605813700.518 [WetLabsBB2FL](DEBUG): LcmSlateWriter::add(): dataName: bin_variance_mass_concentration_of_chlorophyll_in_sea_water
2020-11-19T19:21:40.520Z,1605813700.520 [WetLabsBB2FL] Loaded
2020-11-19T19:21:40.520Z,1605813700.520 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread.
2020-11-19T19:21:40.521Z,1605813700.521 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 40A884E0
2020-11-19T19:21:40.521Z,1605813700.521 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 1079
2020-11-19T19:21:40.522Z,1605813700.522 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2020-11-19T19:21:40.523Z,1605813700.523 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2020-11-19T19:21:40.797Z,1605813700.797 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2020-11-19T19:21:40.798Z,1605813700.798 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2020-11-19T19:21:40.925Z,1605813700.925 [SBIT](DEBUG): Construct Startup Built In Test.
2020-11-19T19:21:40.934Z,1605813700.934 [SBIT] Loaded
2020-11-19T19:21:40.934Z,1605813700.934 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2020-11-19T19:21:40.934Z,1605813700.934 [IBIT](DEBUG): Construct Initiated Built In Test.
2020-11-19T19:21:40.947Z,1605813700.947 [IBIT] Loaded
2020-11-19T19:21:40.947Z,1605813700.947 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2020-11-19T19:21:40.950Z,1605813700.950 [CBIT](DEBUG): Construct Continuous Built In Test.
2020-11-19T19:21:41.045Z,1605813701.045 [CBIT] Loaded
2020-11-19T19:21:41.045Z,1605813701.045 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2020-11-19T19:21:41.046Z,1605813701.046 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2020-11-19T19:21:41.050Z,1605813701.050 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2020-11-19T19:21:41.050Z,1605813701.050 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2020-11-19T19:21:41.059Z,1605813701.059 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2020-11-19T19:21:41.060Z,1605813701.060 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B664E0
2020-11-19T19:21:41.060Z,1605813701.060 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1080
2020-11-19T19:21:41.064Z,1605813701.064 [Supervisor](INFO): Main Thread ID is 820
2020-11-19T19:21:41.064Z,1605813701.064 [Supervisor](DEBUG): Running supervisor.
2020-11-19T19:21:41.065Z,1605813701.065 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1081
2020-11-19T19:21:41.067Z,1605813701.067 [controlThread ThreadHandler](INFO): Handler Thread ID is 1082
2020-11-19T19:21:41.068Z,1605813701.068 [controlThread](DEBUG): Initializing ControlThread
2020-11-19T19:21:41.069Z,1605813701.069 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2020-11-19T19:21:41.070Z,1605813701.070 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2020-11-19T19:21:41.071Z,1605813701.071 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2020-11-19T19:21:41.071Z,1605813701.071 [LoopControl](DEBUG): Initialize LoopControlComponent.
2020-11-19T19:21:41.073Z,1605813701.073 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2020-11-19T19:21:41.073Z,1605813701.073 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2020-11-19T19:21:41.074Z,1605813701.074 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2020-11-19T19:21:41.074Z,1605813701.074 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2020-11-19T19:21:41.074Z,1605813701.074 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2020-11-19T19:21:41.075Z,1605813701.075 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2020-11-19T19:21:41.076Z,1605813701.076 [NavChart](DEBUG): Initialize NavChart Navigation.
2020-11-19T19:21:41.076Z,1605813701.076 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2020-11-19T19:21:41.085Z,1605813701.085 [SBIT](INFO): Initialize SBIT Component.
2020-11-19T19:21:41.085Z,1605813701.085 [SBIT](IMPORTANT): git: 2020-10-07_A-8-g2edcf16
2020-11-19T19:21:41.085Z,1605813701.085 [SBIT](INFO): git hash: 2edcf162c99e1cdac7c4e1eb7e8495acc35f264a
2020-11-19T19:21:41.086Z,1605813701.086 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2020-11-19T19:21:41.087Z,1605813701.087 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018
Kernel Reported: #1 PREEMPT Tue May 26 08:17:09 PDT 2020
2020-11-19T19:21:41.088Z,1605813701.088 [SBIT](INFO): Beginning SBIT in 34.000000 seconds.
2020-11-19T19:21:41.089Z,1605813701.089 [IBIT](INFO): Initialize IBIT Component.
2020-11-19T19:21:41.089Z,1605813701.089 [CBIT](DEBUG): Initialize CBIT Component.
2020-11-19T19:21:41.090Z,1605813701.090 [logger ThreadHandler](INFO): Handler Thread ID is 1083
2020-11-19T19:21:41.101Z,1605813701.101 [CBIT](DEBUG): Initialized mux pins.
2020-11-19T19:21:41.101Z,1605813701.101 [CBIT](DEBUG): Initializing the watchdog timer.
2020-11-19T19:21:41.109Z,1605813701.109 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1084
2020-11-19T19:21:41.110Z,1605813701.110 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2020-11-19T19:21:41.121Z,1605813701.121 [Onboard ThreadHandler](INFO): Handler Thread ID is 1085
2020-11-19T19:21:41.125Z,1605813701.125 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2020-11-19T19:21:41.125Z,1605813701.125 [CBIT](DEBUG): Initializing heartbeat.
2020-11-19T19:21:41.139Z,1605813701.139 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1086
2020-11-19T19:21:41.154Z,1605813701.154 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 1087
2020-11-19T19:21:41.155Z,1605813701.155 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2020-11-19T19:21:41.158Z,1605813701.158 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 1089
2020-11-19T19:21:41.159Z,1605813701.159 [WetLabsBB2FL](INFO): Powering down
2020-11-19T19:21:41.181Z,1605813701.181 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1090
2020-11-19T19:21:41.184Z,1605813701.184 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2020-11-19T19:21:41.184Z,1605813701.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2020-11-19T19:21:41.185Z,1605813701.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2020-11-19T19:21:41.185Z,1605813701.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2020-11-19T19:21:41.185Z,1605813701.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2020-11-19T19:21:41.185Z,1605813701.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2020-11-19T19:21:41.185Z,1605813701.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2020-11-19T19:21:41.185Z,1605813701.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2020-11-19T19:21:41.186Z,1605813701.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2020-11-19T19:21:41.186Z,1605813701.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2020-11-19T19:21:41.186Z,1605813701.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2020-11-19T19:21:41.186Z,1605813701.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2020-11-19T19:21:41.186Z,1605813701.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2020-11-19T19:21:41.186Z,1605813701.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2020-11-19T19:21:41.187Z,1605813701.187 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2020-11-19T19:21:41.187Z,1605813701.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2020-11-19T19:21:41.196Z,1605813701.196 [CBIT](DEBUG): Deactivating GF circuits.
2020-11-19T19:21:41.197Z,1605813701.197 [CBIT](DEBUG): Deactivating emergency mode.
2020-11-19T19:21:41.233Z,1605813701.233 [CBIT](DEBUG): Backplane powered.
2020-11-19T19:21:41.234Z,1605813701.234 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2020-11-19T19:21:41.244Z,1605813701.244 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2020-11-19T19:21:41.255Z,1605813701.255 [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>


2020-11-19T19:21:41.255Z,1605813701.255 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2020-11-19T19:21:41.335Z,1605813701.335 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2020-11-19T19:21:41.336Z,1605813701.336 [Default:A.Wait](DEBUG): Construct Wait.
2020-11-19T19:21:41.354Z,1605813701.354 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-11-19T19:21:41.381Z,1605813701.381 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2020-11-19T19:21:41.383Z,1605813701.383 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2020-11-19T19:21:41.406Z,1605813701.406 [Default:E.Execute](DEBUG): Construct Execute.
2020-11-19T19:21:41.427Z,1605813701.427 [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>


2020-11-19T19:21:41.432Z,1605813701.432 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,NAL9602,DAT,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2020-11-19T19:21:41.453Z,1605813701.453 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2020-11-19T19:21:41.505Z,1605813701.505 [Depth_Keller](ERROR): Pressure reading out of range: 1925.893799 decibar
2020-11-19T19:21:41.534Z,1605813701.534 [DAT](INFO): Powered 24V power converter LCB with command: ! echo 1 > /dev/loadB2
2020-11-19T19:21:41.534Z,1605813701.534 [DAT](INFO): Powering up
2020-11-19T19:21:41.534Z,1605813701.534 [DAT](DEBUG): Initializing DAT.
2020-11-19T19:21:41.545Z,1605813701.545 [Radio_Surface](INFO): Powering up
2020-11-19T19:21:41.565Z,1605813701.565 [CommandLine](IMPORTANT): got command ! echo 1 > /dev/loadB2
2020-11-19T19:21:41.593Z,1605813701.593 [DepthRateCalculator](ERROR): Depth measurement is not active
2020-11-19T19:21:41.663Z,1605813701.663 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2020-11-19T19:21:41.677Z,1605813701.677 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2020-11-19T19:21:41.678Z,1605813701.678 [ElevatorServo](DEBUG): Initializing EZServoServo.
2020-11-19T19:21:41.689Z,1605813701.689 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2020-11-19T19:21:41.690Z,1605813701.690 [MassServo](DEBUG): Initializing EZServoServo.
2020-11-19T19:21:41.705Z,1605813701.705 [MassServo](DEBUG): Initializing MassServo.
2020-11-19T19:21:41.706Z,1605813701.706 [RudderServo](DEBUG): Initializing EZServoServo.
2020-11-19T19:21:41.762Z,1605813701.762 [RudderServo](DEBUG): Initializing RudderServo.
2020-11-19T19:21:41.763Z,1605813701.763 [ThrusterServo](DEBUG): Initializing EZServoServo.
2020-11-19T19:21:41.805Z,1605813701.805 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2020-11-19T19:21:42.601Z,1605813702.601 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2020-11-19T19:21:42.601Z,1605813702.601 [RudderServo](FAULT): Rudder failed to initialize
2020-11-19T19:21:42.601Z,1605813702.601 [RudderServo] Communications Fault, FailCount= 1
2020-11-19T19:21:42.601Z,1605813702.601 [RudderServo](ERROR): Communications Fault
2020-11-19T19:21:42.736Z,1605813702.736 [CBIT](ERROR): Communications Fault in component: RudderServo
2020-11-19T19:21:42.938Z,1605813702.938 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-11-19T19:21:42.938Z,1605813702.938 [RudderServo](INFO): Powering down
2020-11-19T19:21:43.573Z,1605813703.573 [RudderServo](DEBUG): Initializing EZServoServo.
2020-11-19T19:21:43.694Z,1605813703.694 [RudderServo](DEBUG): Initializing RudderServo.
2020-11-19T19:21:43.697Z,1605813703.697 [CBIT](INFO): Clearing failed state for component RudderServo
2020-11-19T19:21:43.698Z,1605813703.698 [RudderServo] No Fault, FailCount= 1
2020-11-19T19:21:48.185Z,1605813708.185 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit.
2020-11-19T19:21:52.042Z,1605813712.042 [DAT](INFO): DAT read: 

2020-11-19T19:21:52.044Z,1605813712.044 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series

2020-11-19T19:21:53.254Z,1605813713.254 [DAT](INFO): DAT read: MF Frequency Band

2020-11-19T19:21:53.256Z,1605813713.256 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.12.21

2020-11-19T19:21:53.256Z,1605813713.256 [DAT](INFO): DAT read: Nov 19 2020 19:19:49 

2020-11-19T19:21:54.059Z,1605813714.059 [DAT](INFO): DAT read: Features enabled [Bearing]

2020-11-19T19:21:54.060Z,1605813714.060 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP

2020-11-19T19:21:54.061Z,1605813714.061 [DAT](INFO): commRate: 800
2020-11-19T19:21:56.082Z,1605813716.082 [DAT](INFO): entering command mode
2020-11-19T19:21:56.486Z,1605813716.486 [DAT](INFO): DAT read: 

2020-11-19T19:21:56.486Z,1605813716.486 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:56.890Z,1605813716.890 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:57.294Z,1605813717.294 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:57.698Z,1605813717.698 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:58.102Z,1605813718.102 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:58.506Z,1605813718.506 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:58.906Z,1605813718.906 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:59.314Z,1605813719.314 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:21:59.714Z,1605813719.714 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:00.118Z,1605813720.118 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:00.527Z,1605813720.527 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:00.926Z,1605813720.926 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:01.330Z,1605813721.330 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:01.734Z,1605813721.734 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:02.138Z,1605813722.138 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:02.542Z,1605813722.542 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:02.946Z,1605813722.946 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:03.350Z,1605813723.350 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:03.758Z,1605813723.758 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:04.158Z,1605813724.158 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:04.562Z,1605813724.562 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:04.966Z,1605813724.966 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:05.374Z,1605813725.374 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:05.774Z,1605813725.774 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:06.178Z,1605813726.178 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:06.582Z,1605813726.582 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:06.990Z,1605813726.990 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:07.390Z,1605813727.390 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:07.794Z,1605813727.794 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:08.198Z,1605813728.198 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:08.606Z,1605813728.606 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:09.011Z,1605813729.011 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:09.410Z,1605813729.410 [NAL9602](INFO): Powering up NAL9602
2020-11-19T19:22:09.411Z,1605813729.411 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:09.814Z,1605813729.814 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:10.218Z,1605813730.218 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:10.622Z,1605813730.622 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:11.026Z,1605813731.026 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:11.430Z,1605813731.430 [DAT](DEBUG): checking for command mode acknowledgment
2020-11-19T19:22:11.430Z,1605813731.430 [DAT](FAULT): failed to enter command mode
2020-11-19T19:22:11.834Z,1605813731.834 [DAT](INFO): entering command mode
2020-11-19T19:22:12.242Z,1605813732.242 [DAT](INFO): DAT read: user:1>

2020-11-19T19:22:12.243Z,1605813732.243 [DAT](INFO): DAT read: Command '+++' not found

2020-11-19T19:22:12.244Z,1605813732.244 [DAT](INFO): DAT read: Error

2020-11-19T19:22:12.244Z,1605813732.244 [DAT](INFO): setting verbose to 3
2020-11-19T19:22:12.642Z,1605813732.642 [DAT](INFO): DAT read: user:2>

2020-11-19T19:22:12.643Z,1605813732.643 [DAT](INFO): DAT read: Verbose         | 3           

2020-11-19T19:22:12.644Z,1605813732.644 [DAT](INFO): set verbose to 3
2020-11-19T19:22:12.644Z,1605813732.644 [DAT](INFO): setting DatVerbose to 27440
2020-11-19T19:22:13.050Z,1605813733.050 [DAT](INFO): DAT read: user:3>

2020-11-19T19:22:13.051Z,1605813733.051 [DAT](INFO): DAT read: DatVerbose      | 27440       

2020-11-19T19:22:13.052Z,1605813733.052 [DAT](INFO): set DatVerbose to 27440
2020-11-19T19:22:13.052Z,1605813733.052 [DAT](INFO): setting transmit power to 8
2020-11-19T19:22:13.450Z,1605813733.450 [DAT](INFO): DAT read: user:4>

2020-11-19T19:22:13.451Z,1605813733.451 [DAT](INFO): DAT read: TxPower         | 8 (Max)     

2020-11-19T19:22:13.452Z,1605813733.452 [DAT](INFO): set transmit power to 8
2020-11-19T19:22:13.452Z,1605813733.452 [DAT](INFO): setting local address to 5
2020-11-19T19:22:13.854Z,1605813733.854 [DAT](INFO): DAT read: user:5>

2020-11-19T19:22:13.855Z,1605813733.855 [DAT](INFO): DAT read: LocalAddr       | 5           

2020-11-19T19:22:13.855Z,1605813733.855 [DAT](INFO): set local address to 5
2020-11-19T19:22:15.513Z,1605813735.513 [SBIT](IMPORTANT): Beginning Startup BIT
2020-11-19T19:22:15.521Z,1605813735.521 [CBIT](IMPORTANT): Beginning ground fault scan
2020-11-19T19:22:20.322Z,1605813740.322 [NAL9602](INFO): NAL9602 initialized
2020-11-19T19:22:26.405Z,1605813746.405 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.024784
CHAN A1 (24V): -0.007595
CHAN A2 (12V): -0.005167
CHAN A3 (5V): -0.002499
CHAN B0 (3.3V): -0.000845
CHAN B1 (3.15aV): -0.000460
CHAN B2 (3.15bV): -0.000770
CHAN B3 (GND): 0.002581
OPEN: 0.004475
Full Scale Calc: 4.765 mA, -1.589 mA
2020-11-19T19:23:09.647Z,1605813789.647 [SBIT](IMPORTANT): SBIT PASSED
2020-11-19T19:23:09.648Z,1605813789.648 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): AHRS_M2.loadAtStartup=1 bool;

2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): BPC1.batteryMissingStickThreshold=2 count;

2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): DAT.loadAtStartup=1 bool;

2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): DAT.verbosity=3 count;

2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2020-11-19T19:23:09.649Z,1605813789.649 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): Express linearApproximation WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water 0.100000 microgram_per_liter;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=168 cubic_centimeter;

2020-11-19T19:23:09.650Z,1605813789.650 [SBIT](IMPORTANT): VerticalControl.massDefault=3.7 millimeter;

2020-11-19T19:23:10.043Z,1605813790.043 [MissionManager](IMPORTANT): Started mission Startup
2020-11-19T19:23:10.043Z,1605813790.043 [Startup] Running Loop=1
2020-11-19T19:23:10.043Z,1605813790.043 [Startup](DEBUG): Aggregate::initialize Startup
2020-11-19T19:23:10.043Z,1605813790.043 [Startup:A.GoToSurface] Running Loop=1
2020-11-19T19:23:10.043Z,1605813790.043 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-19T19:23:10.044Z,1605813790.044 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-19T19:23:10.045Z,1605813790.045 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-19T19:23:10.045Z,1605813790.045 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-19T19:23:10.046Z,1605813790.046 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-19T19:23:10.046Z,1605813790.046 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-19T19:23:10.048Z,1605813790.048 [Startup:StartupSatComms] Running Loop=1
2020-11-19T19:23:10.048Z,1605813790.048 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2020-11-19T19:23:10.048Z,1605813790.048 [Startup:StartupSatComms:A] Running Loop=1
2020-11-19T19:23:10.451Z,1605813790.451 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2020-11-19T19:24:08.847Z,1605813848.847 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004976
2020-11-19T19:24:10.223Z,1605813850.223 [Startup:StartupSatComms:A](INFO): Timed out from 2020-11-19T19:23:10.0Z
2020-11-19T19:24:10.223Z,1605813850.223 [Startup:StartupSatComms:A] Stopped
2020-11-19T19:24:10.223Z,1605813850.223 [Startup:StartupSatComms:B] Running Loop=1
2020-11-19T19:24:10.623Z,1605813850.623 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-19T19:24:19.048Z,1605813859.048 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20201119T185253/Courier0010.lzma
2020-11-19T19:24:20.051Z,1605813860.051 [DataOverHttps](INFO): Moved sent file to Logs/20201119T185253/Courier0010.lzma.bak
2020-11-19T19:24:20.051Z,1605813860.051 [DataOverHttps](INFO): SBD MOMSN=13284022
2020-11-19T19:24:25.982Z,1605813865.982 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2020-11-19T19:24:37.429Z,1605813877.429 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20201119T192132/Courier0000.lzma
2020-11-19T19:24:38.430Z,1605813878.430 [DataOverHttps](INFO): Moved sent file to Logs/20201119T192132/Courier0000.lzma.bak
2020-11-19T19:24:38.431Z,1605813878.431 [DataOverHttps](INFO): SBD MOMSN=13284024
2020-11-19T19:24:41.333Z,1605813881.333 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2020-11-19T19:24:41.333Z,1605813881.333 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-11-19T19:24:41.378Z,1605813881.378 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-11-19T19:24:41.751Z,1605813881.751 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-11-19T19:24:41.751Z,1605813881.751 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2020-11-19T19:24:57.866Z,1605813897.866 [DataOverHttps](INFO): Sending 1381 bytes from file Logs/20201119T185253/Express0011.lzma
2020-11-19T19:24:58.866Z,1605813898.866 [DataOverHttps](INFO): Moved sent file to Logs/20201119T185253/Express0011.lzma.bak
2020-11-19T19:24:58.867Z,1605813898.867 [DataOverHttps](INFO): SBD MOMSN=13284027
2020-11-19T19:25:10.461Z,1605813910.461 [Startup:StartupSatComms:B](INFO): Timed out from 2020-11-19T19:24:10.2Z
2020-11-19T19:25:10.461Z,1605813910.461 [Startup:StartupSatComms:B] Stopped
2020-11-19T19:25:10.462Z,1605813910.462 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2020-11-19T19:25:10.462Z,1605813910.462 [Startup:StartupSatComms] Stopped
2020-11-19T19:25:10.462Z,1605813910.462 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2020-11-19T19:25:10.462Z,1605813910.462 [Startup](INFO): Completed Startup
2020-11-19T19:25:10.463Z,1605813910.463 [MissionManager](INFO): Startup is completed.
2020-11-19T19:25:10.463Z,1605813910.463 [MissionManager](INFO): Uninitializing Mission Startup
2020-11-19T19:25:10.463Z,1605813910.463 [Startup] Stopped
2020-11-19T19:25:10.463Z,1605813910.463 [Startup](DEBUG): Aggregate::uninitialize Startup
2020-11-19T19:25:10.463Z,1605813910.463 [Startup:A.GoToSurface] Stopped
2020-11-19T19:25:10.463Z,1605813910.463 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-19T19:25:10.850Z,1605813910.850 [MissionManager](IMPORTANT): Started mission Default
2020-11-19T19:25:10.850Z,1605813910.850 [Default] Running Loop=1
2020-11-19T19:25:10.850Z,1605813910.850 [Default](DEBUG): Aggregate::initialize Default
2020-11-19T19:25:10.850Z,1605813910.850 [Default:B.GoToSurface] Running Loop=1
2020-11-19T19:25:10.850Z,1605813910.850 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-19T19:25:10.861Z,1605813910.861 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-19T19:25:10.861Z,1605813910.861 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-19T19:25:10.861Z,1605813910.861 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-19T19:25:10.861Z,1605813910.861 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-19T19:25:10.862Z,1605813910.862 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-19T19:25:10.862Z,1605813910.862 [Default:A.Wait] Running Loop=1
2020-11-19T19:25:10.862Z,1605813910.862 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-11-19T19:25:18.314Z,1605813918.314 [DataOverHttps](INFO): Sending 1041 bytes from file Logs/20201119T192132/Express0001.lzma
2020-11-19T19:25:19.314Z,1605813919.314 [DataOverHttps](INFO): Moved sent file to Logs/20201119T192132/Express0001.lzma.bak
2020-11-19T19:25:19.314Z,1605813919.314 [DataOverHttps](INFO): SBD MOMSN=13284117
2020-11-19T19:25:24.159Z,1605813924.159 [Default:A.Wait](INFO): Done Waiting.
2020-11-19T19:25:24.159Z,1605813924.159 [Default:A.Wait] Stopped
2020-11-19T19:25:24.159Z,1605813924.159 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-19T19:25:24.565Z,1605813924.565 [Default:CheckIn] Running Loop=1
2020-11-19T19:25:24.565Z,1605813924.565 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-11-19T19:25:24.565Z,1605813924.565 [Default:CheckIn:Read_GPS] Running Loop=1
2020-11-19T19:25:24.959Z,1605813924.959 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2020-11-19T19:27:22.918Z,1605814042.918 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2020-11-19T19:27:42.333Z,1605814062.333 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2020-11-19T19:27:42.333Z,1605814062.333 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-11-19T19:27:42.342Z,1605814062.342 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-11-19T19:27:42.730Z,1605814062.730 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-11-19T19:27:42.730Z,1605814062.730 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2020-11-19T19:30:04.686Z,1605814204.686 [CommandLine](IMPORTANT): got command show variable trackAcousticContact
2020-11-19T19:30:23.894Z,1605814223.894 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:30:23.895Z,1605814223.895 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:30:24.146Z,1605814224.146 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2020-11-19T19:30:24.166Z,1605814224.166 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2020-11-19T19:30:24.169Z,1605814224.169 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2020-11-19T19:30:24.171Z,1605814224.171 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2020-11-19T19:30:24.174Z,1605814224.174 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2020-11-19T19:30:24.176Z,1605814224.176 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2020-11-19T19:30:24.179Z,1605814224.179 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2020-11-19T19:30:24.182Z,1605814224.182 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2020-11-19T19:30:24.184Z,1605814224.184 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2020-11-19T19:30:24.187Z,1605814224.187 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 1.000000 m
2020-11-19T19:30:24.190Z,1605814224.190 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2020-11-19T19:30:24.192Z,1605814224.192 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2020-11-19T19:30:24.195Z,1605814224.195 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2020-11-19T19:30:24.197Z,1605814224.197 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2020-11-19T19:30:24.200Z,1605814224.200 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 0.000000 m
2020-11-19T19:30:24.243Z,1605814224.243 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2020-11-19T19:30:24.246Z,1605814224.246 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2020-11-19T19:30:24.248Z,1605814224.248 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2020-11-19T19:30:24.251Z,1605814224.251 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2020-11-19T19:30:24.262Z,1605814224.262 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2020-11-19T19:30:24.265Z,1605814224.265 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2020-11-19T19:30:24.268Z,1605814224.268 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2020-11-19T19:30:24.270Z,1605814224.270 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.500000 s
2020-11-19T19:30:24.296Z,1605814224.296 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2020-11-19T19:30:24.299Z,1605814224.299 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 0.000000 m/s
2020-11-19T19:30:24.322Z,1605814224.322 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2020-11-19T19:30:24.341Z,1605814224.341 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2020-11-19T19:30:24.344Z,1605814224.344 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2020-11-19T19:30:24.359Z,1605814224.359 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2020-11-19T19:30:24.370Z,1605814224.370 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2020-11-19T19:30:24.389Z,1605814224.389 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2020-11-19T19:30:24.397Z,1605814224.397 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2020-11-19T19:30:24.407Z,1605814224.407 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2020-11-19T19:30:24.422Z,1605814224.422 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2020-11-19T19:30:24.429Z,1605814224.429 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2020-11-19T19:30:24.432Z,1605814224.432 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2020-11-19T19:30:24.436Z,1605814224.436 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2020-11-19T19:30:24.452Z,1605814224.452 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2020-11-19T19:30:24.460Z,1605814224.460 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2020-11-19T19:30:24.467Z,1605814224.467 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2020-11-19T19:30:24.479Z,1605814224.479 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2020-11-19T19:30:24.487Z,1605814224.487 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2020-11-19T19:30:24.494Z,1605814224.494 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2020-11-19T19:30:24.504Z,1605814224.504 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2020-11-19T19:30:24.603Z,1605814224.603 [lineCaptureHoming:B.Mass](DEBUG): Construct.
2020-11-19T19:30:24.608Z,1605814224.608 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2020-11-19T19:30:24.611Z,1605814224.611 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2020-11-19T19:30:24.619Z,1605814224.619 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-11-19T19:30:24.622Z,1605814224.622 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-11-19T19:30:24.646Z,1605814224.646 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2020-11-19T19:30:24.666Z,1605814224.666 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2020-11-19T19:30:24.688Z,1605814224.688 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct.
2020-11-19T19:30:24.791Z,1605814224.791 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-19T19:30:24.791Z,1605814224.791 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:30:24.831Z,1605814224.831 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2020-11-19T19:30:24.838Z,1605814224.838 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2020-11-19T19:30:24.847Z,1605814224.847 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2020-11-19T19:30:24.847Z,1605814224.847 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Initializing internal variables to default values.
2020-11-19T19:30:24.880Z,1605814224.880 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2020-11-19T19:30:24.914Z,1605814224.914 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2020-11-19T19:30:24.959Z,1605814224.959 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    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/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="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><False/></DefineArg>

    <DefineArg Name="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="RolloutDistance"><Description>
        Distance to move away from the target (rollout) in response to
        missing the target.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="KpHeading"><Description>
        Heading proportional gain to use during Terminal Homing.
    </Description><Units:none/><Value>0.8</Value></DefineArg>

    <DefineArg Name="KiHeading"><Description>
        Heading Integral gain to use during Terminal Homing.
    </Description><Units:reciprocal_second/><Value>0.002</Value></DefineArg>

    <DefineArg Name="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.05</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></DefineArg>

    <!-- Mission Variables (don't change) -->

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change).
        The mission sets this to true to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></DefineOutput>

    <DefineOutput Name="DiveMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to switch between dive modes.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change).
        The mission will run in this to mode when running surface comms.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="InitialDive"><Description>
        Mission variable (don't change).
        The mission will run in this mode when surface comms are done to
        dive the vehicle to DVL bottom range.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="MaintainAltitude"><Description>
        Mission variable (don't change).
        The mission will run in this mode to dive the vehicle at a
        commanded altitude.
    </Description><Units:count/><Value>2</Value></DefineOutput>

    <DefineOutput Name="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</Value></DefineOutput>

    <DefineOutput Name="DetachFromDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to drift away from the dock after is
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Add track acoustic contact directive high in the stack. -->

    <Aggregate Id="TrackTransponder">

        <While>
            <Arg Name="HomingActive"/>
        </While>

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>


    <!-- Callable aggregates (priority matters, so these are done below important safety directives -->

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates
            between 3 dive modes: 1) descend from the surface to initial
            depth. 2) follow commanded altitude. 3) drift away from dock
            to initial depth.
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>

                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>

                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Syslog Severity="Important">Initiating homing sequence.</Syslog>

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>


        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>
        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>

            <Syslog Severity="Important">Terminal guidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

            <Assign><Sequence/><Arg Name="Docked"/><True/></Assign>

            <Guidance:LineCapture>
                <Sequence/>

                <Timeout Duration="TerminalGuidanceTimeout">
                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>
                    <Syslog Severity="Important">Timed out while trying to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                </Timeout>

                <Setting><Guidance:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

                <Break>
                    <Not><Arg Name="Docked"/></Not>
                </Break>

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Dactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="UpdateNav"/></Not>
                    </Break>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Arg Name="WaitOnDockTimeout"/></Setting>
                </Guidance:Wait>


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

                    <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                    </Guidance:Undock>

                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>

                </Aggregate>

            </Aggregate>

        </Aggregate>


        <!-- Homing sequance complete -->
        <Aggregate Id="Rollout">

            <Description>
                Navigate back to the start waypoint or move away from the target
                at the last commanded heading until *RolloutTime* has passed.
            </Description>

            <Sequence/>

            <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Rollout to start WP at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>
            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

                <Syslog Severity="Important">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Arg Name="RolloutTime"/></Setting>
                </Guidance:Wait>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2020-11-19T19:30:24.959Z,1605814224.959 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:30:25.147Z,1605814225.147 [Default:CheckIn:Read_GPS](INFO): Timed out from 2020-11-19T19:25:24.6Z
2020-11-19T19:30:25.147Z,1605814225.147 [Default:CheckIn:Read_GPS] Stopped
2020-11-19T19:30:25.147Z,1605814225.147 [Default:CheckIn:Read_Iridium] Running Loop=1
2020-11-19T19:30:25.538Z,1605814225.538 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2020-11-19T19:30:29.945Z,1605814229.945 [CommandLine](IMPORTANT): got command show variable trackacousticContact
2020-11-19T19:30:30.506Z,1605814230.506 [CommandLine](IMPORTANT): TrackAcousticContact.contact_label (enum)
2020-11-19T19:30:30.507Z,1605814230.507 [CommandLine](IMPORTANT): TrackAcousticContact.contact_latitude (degree)
2020-11-19T19:30:30.507Z,1605814230.507 [CommandLine](IMPORTANT): TrackAcousticContact.contact_latitude_lowpass (degree)
2020-11-19T19:30:30.508Z,1605814230.508 [CommandLine](IMPORTANT): TrackAcousticContact.contact_longitude (degree)
2020-11-19T19:30:30.508Z,1605814230.508 [CommandLine](IMPORTANT): TrackAcousticContact.contact_longitude_lowpass (degree)
2020-11-19T19:30:30.553Z,1605814230.553 [CommandLine](IMPORTANT): TrackAcousticContact.eastings_to_contact (meter)
2020-11-19T19:30:30.557Z,1605814230.557 [CommandLine](IMPORTANT): TrackAcousticContact.northings_to_contact (meter)
2020-11-19T19:30:30.557Z,1605814230.557 [CommandLine](IMPORTANT): TrackAcousticContact.contact_depth (meter)
2020-11-19T19:30:30.558Z,1605814230.558 [CommandLine](IMPORTANT): TrackAcousticContact.contact_depth_lowpass (meter)
2020-11-19T19:30:30.558Z,1605814230.558 [CommandLine](IMPORTANT): TrackAcousticContact.range_to_contact (meter)
2020-11-19T19:30:30.559Z,1605814230.559 [CommandLine](IMPORTANT): TrackAcousticContact.azimuth_to_contact_vehicle_frame (radian)
2020-11-19T19:30:30.559Z,1605814230.559 [CommandLine](IMPORTANT): TrackAcousticContact.elevation_to_contact_vehicle_frame (radian)
2020-11-19T19:30:30.559Z,1605814230.559 [CommandLine](IMPORTANT): TrackAcousticContact.heading_to_contact (radian)
2020-11-19T19:30:30.560Z,1605814230.560 [CommandLine](IMPORTANT): TrackAcousticContact.direction_vehicle_frame (none)
2020-11-19T19:30:30.560Z,1605814230.560 [CommandLine](IMPORTANT): TrackAcousticContact.direction_navigation_frame (none)
2020-11-19T19:30:30.561Z,1605814230.561 [CommandLine](IMPORTANT): TrackAcousticContact.relativePosition_vehicleFrame (meter)
2020-11-19T19:30:30.561Z,1605814230.561 [CommandLine](IMPORTANT): TrackAcousticContact.relativePosition_navigationFrame (meter)
2020-11-19T19:30:34.492Z,1605814234.492 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20201119T192132/Courier0004.lzma
2020-11-19T19:30:35.494Z,1605814235.494 [DataOverHttps](INFO): Moved sent file to Logs/20201119T192132/Courier0004.lzma.bak
2020-11-19T19:30:35.495Z,1605814235.495 [DataOverHttps](INFO): SBD MOMSN=13284145
2020-11-19T19:30:43.479Z,1605814243.479 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2020-11-19T19:30:43.479Z,1605814243.479 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-11-19T19:30:43.514Z,1605814243.514 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-11-19T19:30:43.790Z,1605814243.790 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-11-19T19:30:43.790Z,1605814243.790 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2020-11-19T19:30:57.312Z,1605814257.312 [DataOverHttps](INFO): Sending 292 bytes from file Logs/20201119T192132/Express0005.lzma
2020-11-19T19:30:58.326Z,1605814258.326 [DataOverHttps](INFO): Moved sent file to Logs/20201119T192132/Express0005.lzma.bak
2020-11-19T19:30:58.326Z,1605814258.326 [DataOverHttps](INFO): SBD MOMSN=13284147
2020-11-19T19:31:04.734Z,1605814264.734 [Default:CheckIn:Read_Iridium] Stopped
2020-11-19T19:31:04.734Z,1605814264.734 [Default:CheckIn:C.Wait] Running Loop=1
2020-11-19T19:31:04.734Z,1605814264.734 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2020-11-19T19:31:06.076Z,1605814266.076 [CommandLine](IMPORTANT): got command report touch TrackAcousticContact.azimuth_to_contact_vehicle_frame
2020-11-19T19:31:06.081Z,1605814266.081 [CommandLine](IMPORTANT): got command report touch TrackAcousticContact.heading_to_contact
2020-11-19T19:31:06.082Z,1605814266.082 [CommandLine](IMPORTANT): got command report touch TrackAcousticContact.range_to_contact
2020-11-19T19:31:23.782Z,1605814283.782 [DataOverHttps](IMPORTANT): SBD MTMSN=20201119T193005
2020-11-19T19:31:30.965Z,1605814290.965 [DataOverHttps](INFO): Received command:load Maintenance/line_capture_homing_lab.xml;set lineCaptureHoming.TransponderCode 9 count;set lineCaptureHoming.TrackingUpdatePeriod 5 second;run
2020-11-19T19:31:31.016Z,1605814291.016 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:31:31.016Z,1605814291.016 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2020-11-19T19:31:31.034Z,1605814291.034 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:31:31.283Z,1605814291.283 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2020-11-19T19:31:31.285Z,1605814291.285 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2020-11-19T19:31:31.287Z,1605814291.287 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2020-11-19T19:31:31.289Z,1605814291.289 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2020-11-19T19:31:31.291Z,1605814291.291 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2020-11-19T19:31:31.293Z,1605814291.293 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2020-11-19T19:31:31.294Z,1605814291.294 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2020-11-19T19:31:31.296Z,1605814291.296 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2020-11-19T19:31:31.298Z,1605814291.298 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2020-11-19T19:31:31.300Z,1605814291.300 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 1.000000 m
2020-11-19T19:31:31.328Z,1605814291.328 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2020-11-19T19:31:31.330Z,1605814291.330 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2020-11-19T19:31:31.332Z,1605814291.332 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2020-11-19T19:31:31.346Z,1605814291.346 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2020-11-19T19:31:31.348Z,1605814291.348 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 0.000000 m
2020-11-19T19:31:31.350Z,1605814291.350 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2020-11-19T19:31:31.351Z,1605814291.351 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2020-11-19T19:31:31.353Z,1605814291.353 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2020-11-19T19:31:31.355Z,1605814291.355 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2020-11-19T19:31:31.369Z,1605814291.369 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2020-11-19T19:31:31.371Z,1605814291.371 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2020-11-19T19:31:31.373Z,1605814291.373 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2020-11-19T19:31:31.375Z,1605814291.375 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.500000 s
2020-11-19T19:31:31.377Z,1605814291.377 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2020-11-19T19:31:31.379Z,1605814291.379 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 0.000000 m/s
2020-11-19T19:31:31.437Z,1605814291.437 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2020-11-19T19:31:31.439Z,1605814291.439 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2020-11-19T19:31:31.453Z,1605814291.453 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2020-11-19T19:31:31.455Z,1605814291.455 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2020-11-19T19:31:31.465Z,1605814291.465 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2020-11-19T19:31:31.467Z,1605814291.467 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2020-11-19T19:31:31.473Z,1605814291.473 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2020-11-19T19:31:31.475Z,1605814291.475 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2020-11-19T19:31:31.481Z,1605814291.481 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2020-11-19T19:31:31.483Z,1605814291.483 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2020-11-19T19:31:31.489Z,1605814291.489 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2020-11-19T19:31:31.491Z,1605814291.491 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2020-11-19T19:31:31.497Z,1605814291.497 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2020-11-19T19:31:31.499Z,1605814291.499 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2020-11-19T19:31:31.501Z,1605814291.501 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2020-11-19T19:31:31.503Z,1605814291.503 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2020-11-19T19:31:31.514Z,1605814291.514 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2020-11-19T19:31:31.522Z,1605814291.522 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2020-11-19T19:31:31.524Z,1605814291.524 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2020-11-19T19:31:31.548Z,1605814291.548 [lineCaptureHoming:B.Mass](DEBUG): Construct.
2020-11-19T19:31:31.561Z,1605814291.561 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2020-11-19T19:31:31.563Z,1605814291.563 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2020-11-19T19:31:31.572Z,1605814291.572 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-11-19T19:31:31.579Z,1605814291.579 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-11-19T19:31:31.584Z,1605814291.584 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2020-11-19T19:31:31.603Z,1605814291.603 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2020-11-19T19:31:31.620Z,1605814291.620 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct.
2020-11-19T19:31:31.661Z,1605814291.661 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-19T19:31:31.661Z,1605814291.661 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:31:31.685Z,1605814291.685 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2020-11-19T19:31:31.688Z,1605814291.688 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2020-11-19T19:31:31.693Z,1605814291.693 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2020-11-19T19:31:31.694Z,1605814291.694 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Initializing internal variables to default values.
2020-11-19T19:31:31.723Z,1605814291.723 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2020-11-19T19:31:31.743Z,1605814291.743 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2020-11-19T19:31:31.827Z,1605814291.827 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    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/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="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><False/></DefineArg>

    <DefineArg Name="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="RolloutDistance"><Description>
        Distance to move away from the target (rollout) in response to
        missing the target.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="KpHeading"><Description>
        Heading proportional gain to use during Terminal Homing.
    </Description><Units:none/><Value>0.8</Value></DefineArg>

    <DefineArg Name="KiHeading"><Description>
        Heading Integral gain to use during Terminal Homing.
    </Description><Units:reciprocal_second/><Value>0.002</Value></DefineArg>

    <DefineArg Name="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.05</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></DefineArg>

    <!-- Mission Variables (don't change) -->

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change).
        The mission sets this to true to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></DefineOutput>

    <DefineOutput Name="DiveMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to switch between dive modes.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change).
        The mission will run in this to mode when running surface comms.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="InitialDive"><Description>
        Mission variable (don't change).
        The mission will run in this mode when surface comms are done to
        dive the vehicle to DVL bottom range.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="MaintainAltitude"><Description>
        Mission variable (don't change).
        The mission will run in this mode to dive the vehicle at a
        commanded altitude.
    </Description><Units:count/><Value>2</Value></DefineOutput>

    <DefineOutput Name="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</Value></DefineOutput>

    <DefineOutput Name="DetachFromDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to drift away from the dock after is
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Add track acoustic contact directive high in the stack. -->

    <Aggregate Id="TrackTransponder">

        <While>
            <Arg Name="HomingActive"/>
        </While>

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>


    <!-- Callable aggregates (priority matters, so these are done below important safety directives -->

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates
            between 3 dive modes: 1) descend from the surface to initial
            depth. 2) follow commanded altitude. 3) drift away from dock
            to initial depth.
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>

                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>

                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Syslog Severity="Important">Initiating homing sequence.</Syslog>

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>


        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>
        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>

            <Syslog Severity="Important">Terminal guidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

            <Assign><Sequence/><Arg Name="Docked"/><True/></Assign>

            <Guidance:LineCapture>
                <Sequence/>

                <Timeout Duration="TerminalGuidanceTimeout">
                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>
                    <Syslog Severity="Important">Timed out while trying to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                </Timeout>

                <Setting><Guidance:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

                <Break>
                    <Not><Arg Name="Docked"/></Not>
                </Break>

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Dactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

                    <Break>
                        <Not><Arg Name="UpdateNav"/></Not>
                    </Break>

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Arg Name="WaitOnDockTimeout"/></Setting>
                </Guidance:Wait>


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

                    <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                    </Guidance:Undock>

                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>

                </Aggregate>

            </Aggregate>

        </Aggregate>


        <!-- Homing sequance complete -->
        <Aggregate Id="Rollout">

            <Description>
                Navigate back to the start waypoint or move away from the target
                at the last commanded heading until *RolloutTime* has passed.
            </Description>

            <Sequence/>

            <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Rollout to start WP at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>
            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

                <Syslog Severity="Important">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <Guidance:Wait>
                    <Sequence/>
                    <Setting><Guidance:Wait.duration/><Arg Name="RolloutTime"/></Setting>
                </Guidance:Wait>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2020-11-19T19:31:31.828Z,1605814291.828 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:31:35.530Z,1605814295.530 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TransponderCode 9.000000 count
2020-11-19T19:31:35.530Z,1605814295.530 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 5.000000 second
2020-11-19T19:31:35.531Z,1605814295.531 [CommandLine](IMPORTANT): got command run
2020-11-19T19:31:35.533Z,1605814295.533 [CommandLine](IMPORTANT): Running 
2020-11-19T19:31:35.865Z,1605814295.865 [Default] Stopped
2020-11-19T19:31:35.865Z,1605814295.865 [Default](DEBUG): Aggregate::uninitialize Default
2020-11-19T19:31:35.865Z,1605814295.865 [Default:B.GoToSurface] Stopped
2020-11-19T19:31:35.865Z,1605814295.865 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-19T19:31:35.866Z,1605814295.866 [Default:CheckIn] Stopped
2020-11-19T19:31:35.866Z,1605814295.866 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-11-19T19:31:35.866Z,1605814295.866 [Default:CheckIn:C.Wait] Stopped
2020-11-19T19:31:35.866Z,1605814295.866 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2020-11-19T19:31:35.866Z,1605814295.866 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2020-11-19T19:31:35.866Z,1605814295.866 [lineCaptureHoming] Running Loop=1
2020-11-19T19:31:35.866Z,1605814295.866 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2020-11-19T19:31:35.866Z,1605814295.866 [lineCaptureHoming:TrackTransponder] Running Loop=1
2020-11-19T19:31:35.866Z,1605814295.866 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2020-11-19T19:31:35.867Z,1605814295.867 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2020-11-19T19:31:35.867Z,1605814295.867 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2020-11-19T19:31:35.867Z,1605814295.867 [lineCaptureHoming:B.Mass] Running Loop=1
2020-11-19T19:31:35.867Z,1605814295.867 [lineCaptureHoming:B.Mass](DEBUG): Initialize.
2020-11-19T19:31:35.867Z,1605814295.867 [lineCaptureHoming:Lap] Running Loop=1
2020-11-19T19:31:35.867Z,1605814295.867 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2020-11-19T19:31:35.868Z,1605814295.868 [lineCaptureHoming:Lap:A] Running Loop=1
2020-11-19T19:31:35.868Z,1605814295.868 [lineCaptureHoming:Lap:A](IMPORTANT): Initiating homing sequence.
2020-11-19T19:31:35.868Z,1605814295.868 [lineCaptureHoming:Lap:A] Stopped
2020-11-19T19:31:35.868Z,1605814295.868 [lineCaptureHoming:Lap:B] Running Loop=1
2020-11-19T19:31:35.868Z,1605814295.868 [lineCaptureHoming:B.Mass] Running Loop=1
2020-11-19T19:31:35.869Z,1605814295.869 [lineCaptureHoming:TrackTransponder] Running Loop=1
2020-11-19T19:31:35.869Z,1605814295.869 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2020-11-19T19:31:35.869Z,1605814295.869 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:35.869Z,1605814295.869 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:35.870Z,1605814295.870 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:36.304Z,1605814296.304 [lineCaptureHoming:Lap:B] Stopped
2020-11-19T19:31:36.304Z,1605814296.304 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2020-11-19T19:31:36.304Z,1605814296.304 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2020-11-19T19:31:36.304Z,1605814296.304 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2020-11-19T19:31:36.304Z,1605814296.304 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:36.307Z,1605814296.307 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:36.307Z,1605814296.307 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:36.307Z,1605814296.307 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:36.700Z,1605814296.700 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:36.703Z,1605814296.703 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:36.703Z,1605814296.703 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:36.704Z,1605814296.704 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:37.087Z,1605814297.087 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:37.090Z,1605814297.090 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:37.090Z,1605814297.090 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:37.090Z,1605814297.090 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:37.537Z,1605814297.537 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:37.540Z,1605814297.540 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:37.540Z,1605814297.540 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:37.540Z,1605814297.540 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:37.877Z,1605814297.877 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:37.880Z,1605814297.880 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:37.881Z,1605814297.881 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:37.881Z,1605814297.881 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:38.291Z,1605814298.291 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:38.293Z,1605814298.293 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:38.293Z,1605814298.293 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:38.294Z,1605814298.294 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:38.703Z,1605814298.703 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:38.706Z,1605814298.706 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:38.706Z,1605814298.706 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:38.706Z,1605814298.706 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:39.083Z,1605814299.083 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:39.098Z,1605814299.098 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:39.098Z,1605814299.098 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:39.098Z,1605814299.098 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:39.499Z,1605814299.499 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:39.514Z,1605814299.514 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:39.514Z,1605814299.514 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:39.515Z,1605814299.515 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:39.905Z,1605814299.905 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:39.907Z,1605814299.907 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:39.908Z,1605814299.908 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:39.908Z,1605814299.908 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:40.319Z,1605814300.319 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:40.322Z,1605814300.322 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:40.322Z,1605814300.322 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:40.323Z,1605814300.323 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:40.714Z,1605814300.714 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:40.717Z,1605814300.717 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:40.717Z,1605814300.717 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:40.717Z,1605814300.717 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:41.103Z,1605814301.103 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:41.105Z,1605814301.105 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:41.106Z,1605814301.106 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:41.106Z,1605814301.106 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-19T19:31:41.106Z,1605814301.106 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-19T19:31:41.496Z,1605814301.496 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:31:41.496Z,1605814301.496 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:31:41.496Z,1605814301.496 [DAT](INFO): setting remote address to 0
2020-11-19T19:31:41.515Z,1605814301.515 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:41.518Z,1605814301.518 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:41.518Z,1605814301.518 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:41.518Z,1605814301.518 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:41.907Z,1605814301.907 [DAT](INFO): DAT read: user:6>

2020-11-19T19:31:41.908Z,1605814301.908 [DAT](INFO): DAT read: RemoteAddr      | 0           

2020-11-19T19:31:41.909Z,1605814301.909 [DAT](INFO): set remote address to 0
2020-11-19T19:31:41.909Z,1605814301.909 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:31:41.909Z,1605814301.909 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:31:41.910Z,1605814301.910 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-11-19T19:31:41.911Z,1605814301.911 [DAT](INFO): ****** ping requested ******
2020-11-19T19:31:41.921Z,1605814301.921 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:41.924Z,1605814301.924 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:41.924Z,1605814301.924 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:41.925Z,1605814301.925 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:42.313Z,1605814302.313 [DAT](INFO): DAT read: user:7>

2020-11-19T19:31:42.314Z,1605814302.314 [DAT](INFO): DAT read: Tx time:19:29:42.3046

2020-11-19T19:31:42.314Z,1605814302.314 [DAT](INFO): Ping request sent.
2020-11-19T19:31:42.314Z,1605814302.314 [DAT](INFO): transmitted an acoustic signal
2020-11-19T19:31:42.315Z,1605814302.315 [DAT](INFO): publishing transmit ping time
2020-11-19T19:31:42.375Z,1605814302.375 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:42.376Z,1605814302.376 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:42.376Z,1605814302.376 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:42.386Z,1605814302.386 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:42.740Z,1605814302.740 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:42.742Z,1605814302.742 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:42.743Z,1605814302.743 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:42.743Z,1605814302.743 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:43.143Z,1605814303.143 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:43.146Z,1605814303.146 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:43.147Z,1605814303.147 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:43.147Z,1605814303.147 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:43.527Z,1605814303.527 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:43.533Z,1605814303.533 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:43.534Z,1605814303.534 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:43.535Z,1605814303.535 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:43.986Z,1605814303.986 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:43.989Z,1605814303.989 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:43.990Z,1605814303.990 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:43.990Z,1605814303.990 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:44.351Z,1605814304.351 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:44.353Z,1605814304.353 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:44.354Z,1605814304.354 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:44.354Z,1605814304.354 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:44.831Z,1605814304.831 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:44.834Z,1605814304.834 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:44.834Z,1605814304.834 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:44.835Z,1605814304.835 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:45.150Z,1605814305.150 [DAT](INFO): DAT read: Rx Time:19:29:44.7110

2020-11-19T19:31:45.150Z,1605814305.150 [DAT](INFO): received an acoustic signal
2020-11-19T19:31:45.223Z,1605814305.223 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:45.225Z,1605814305.225 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:45.226Z,1605814305.226 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:45.226Z,1605814305.226 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:45.620Z,1605814305.620 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:45.633Z,1605814305.633 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:45.633Z,1605814305.633 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:45.634Z,1605814305.634 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:45.963Z,1605814305.963 [DAT](INFO): DAT read: 19:29:44.7110 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 311, 0.26, 2.764, 2.789, 2.743, 3.058, PHS=-0.310,-0.193,-0.266, RAW= 308.4,  69.5, CAL= 310.1,  72.0, ROT= 184.9, -72.0

2020-11-19T19:31:45.964Z,1605814305.964 [DAT](INFO): got valid direction response:
 19:29:44.7110 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 311, 0.26, 2.764, 2.789, 2.743, 3.058, PHS=-0.310,-0.193,-0.266, RAW= 308.4,  69.5, CAL= 310.1,  72.0, ROT= 184.9, -72.0

2020-11-19T19:31:45.965Z,1605814305.965 [DAT](INFO): DAT read: Azimuth 184.9, -72.0 (Local)

2020-11-19T19:31:45.981Z,1605814305.981 [DAT](INFO): got valid azimuth response:
 Azimuth 184.9, -72.0 (Local)

2020-11-19T19:31:45.982Z,1605814305.982 [DAT](INFO): DAT read: Range 5 to 9 : 1.6 m  (Round-trip  2.2 ms) speed  0.0 m/s

2020-11-19T19:31:45.983Z,1605814305.983 [DAT](INFO): Read range and messages.
2020-11-19T19:31:45.984Z,1605814305.984 [DAT](INFO): direction in vehicle frame: [ -0.307888 forward, -0.026395 starboard, -0.951057 keelward ]
2020-11-19T19:31:46.025Z,1605814306.025 [DAT](INFO): publishing direction and range info
2020-11-19T19:31:46.114Z,1605814306.114 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:31:46.115Z,1605814306.115 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:46.115Z,1605814306.115 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:46.116Z,1605814306.116 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:31:46.133Z,1605814306.133 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:31:46.175Z,1605814306.175 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.056072 rad
2020-11-19T19:31:46.176Z,1605814306.176 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.039799 rad
2020-11-19T19:31:46.176Z,1605814306.176 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.600000 m
2020-11-19T19:31:46.367Z,1605814306.367 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2020-11-19T19:31:46.367Z,1605814306.367 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2020-11-19T19:31:46.367Z,1605814306.367 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2020-11-19T19:31:46.367Z,1605814306.367 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-11-19T19:31:46.368Z,1605814306.368 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2020-11-19T19:31:46.368Z,1605814306.368 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2020-11-19T19:31:46.368Z,1605814306.368 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2020-11-19T19:31:46.368Z,1605814306.368 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2020-11-19T19:31:46.369Z,1605814306.369 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:46.369Z,1605814306.369 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:46.370Z,1605814306.370 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:46.767Z,1605814306.767 [lineCaptureHoming:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 1.600000 m .
2020-11-19T19:31:46.767Z,1605814306.767 [lineCaptureHoming:Lap:TerminalGuidance:B] Stopped
2020-11-19T19:31:46.767Z,1605814306.767 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2020-11-19T19:31:46.767Z,1605814306.767 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2020-11-19T19:31:46.768Z,1605814306.768 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:46.768Z,1605814306.768 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:46.768Z,1605814306.768 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:47.177Z,1605814307.177 [lineCaptureHoming:Lap:TerminalGuidance:C] Stopped
2020-11-19T19:31:47.178Z,1605814307.178 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Running Loop=1
2020-11-19T19:31:47.178Z,1605814307.178 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize.
2020-11-19T19:31:47.178Z,1605814307.178 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-19T19:31:47.178Z,1605814307.178 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:31:47.179Z,1605814307.179 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Rollout timeout adjusted to 625.00 sec to accomodate distance.
2020-11-19T19:31:47.179Z,1605814307.179 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-11-19T19:31:47.180Z,1605814307.180 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:47.180Z,1605814307.180 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:47.185Z,1605814307.185 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:47.595Z,1605814307.595 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.600000 m, heading: 346.054977 deg, approachRate: -1.000000 m/s. posRepo size: 1
2020-11-19T19:31:47.596Z,1605814307.596 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Powering the camera and arming the DDM at range: 1.60 m.
2020-11-19T19:31:47.597Z,1605814307.597 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Final approach. Armed for intercept at range: 1.60 m.
2020-11-19T19:31:47.597Z,1605814307.597 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-11-19T19:31:47.598Z,1605814307.598 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:47.598Z,1605814307.598 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:47.599Z,1605814307.599 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:47.988Z,1605814307.988 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:47.988Z,1605814307.988 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:47.989Z,1605814307.989 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:48.377Z,1605814308.377 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:48.377Z,1605814308.377 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:48.378Z,1605814308.378 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:48.790Z,1605814308.790 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:48.790Z,1605814308.790 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:48.790Z,1605814308.790 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:49.183Z,1605814309.183 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:49.183Z,1605814309.183 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:49.184Z,1605814309.184 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:49.604Z,1605814309.604 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:49.604Z,1605814309.604 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:49.605Z,1605814309.605 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:49.996Z,1605814309.996 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:49.996Z,1605814309.996 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:49.997Z,1605814309.997 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:50.412Z,1605814310.412 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:50.412Z,1605814310.412 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:50.413Z,1605814310.413 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:50.824Z,1605814310.824 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:50.824Z,1605814310.824 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:50.825Z,1605814310.825 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:51.220Z,1605814311.220 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:51.220Z,1605814311.220 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:51.222Z,1605814311.222 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-19T19:31:51.222Z,1605814311.222 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-19T19:31:51.599Z,1605814311.599 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:31:51.599Z,1605814311.599 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:31:51.607Z,1605814311.607 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:51.608Z,1605814311.608 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:51.608Z,1605814311.608 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:52.003Z,1605814312.003 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:31:52.003Z,1605814312.003 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:31:52.016Z,1605814312.016 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:52.016Z,1605814312.016 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:52.017Z,1605814312.017 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:52.412Z,1605814312.412 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:31:52.412Z,1605814312.412 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:31:52.412Z,1605814312.412 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-11-19T19:31:52.414Z,1605814312.414 [DAT](INFO): ****** ping requested ******
2020-11-19T19:31:52.425Z,1605814312.425 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:52.425Z,1605814312.425 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:52.426Z,1605814312.426 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:52.811Z,1605814312.811 [DAT](INFO): DAT read: user:8>

2020-11-19T19:31:52.811Z,1605814312.811 [DAT](INFO): DAT read: Tx time:19:29:52.8046

2020-11-19T19:31:52.812Z,1605814312.812 [DAT](INFO): Ping request sent.
2020-11-19T19:31:52.812Z,1605814312.812 [DAT](INFO): transmitted an acoustic signal
2020-11-19T19:31:52.812Z,1605814312.812 [DAT](INFO): publishing transmit ping time
2020-11-19T19:31:52.882Z,1605814312.882 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:52.882Z,1605814312.882 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:52.882Z,1605814312.882 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:53.244Z,1605814313.244 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:53.261Z,1605814313.261 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:53.261Z,1605814313.261 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:53.656Z,1605814313.656 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:53.656Z,1605814313.656 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:53.657Z,1605814313.657 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:54.055Z,1605814314.055 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:54.055Z,1605814314.055 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:54.056Z,1605814314.056 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:54.437Z,1605814314.437 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:54.437Z,1605814314.437 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:54.438Z,1605814314.438 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:54.840Z,1605814314.840 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:54.840Z,1605814314.840 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:54.840Z,1605814314.840 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:55.245Z,1605814315.245 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:55.245Z,1605814315.245 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:55.246Z,1605814315.246 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:55.640Z,1605814315.640 [DAT](INFO): DAT read: Rx Time:19:29:55.2111

2020-11-19T19:31:55.640Z,1605814315.640 [DAT](INFO): received an acoustic signal
2020-11-19T19:31:55.674Z,1605814315.674 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:55.674Z,1605814315.674 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:55.675Z,1605814315.675 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:56.058Z,1605814316.058 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:56.058Z,1605814316.058 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:56.059Z,1605814316.059 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:56.467Z,1605814316.467 [DAT](INFO): DAT read: 19:29:55.2111 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 424, 0.09,-2.425,-2.399,-2.446,-2.132, PHS=-0.309,-0.192,-0.266, RAW= 308.7,  69.3, CAL= 310.3,  71.8, ROT= 184.7, -71.8

2020-11-19T19:31:56.468Z,1605814316.468 [DAT](INFO): got valid direction response:
 19:29:55.2111 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 424, 0.09,-2.425,-2.399,-2.446,-2.132, PHS=-0.309,-0.192,-0.266, RAW= 308.7,  69.3, CAL= 310.3,  71.8, ROT= 184.7, -71.8

2020-11-19T19:31:56.469Z,1605814316.469 [DAT](INFO): DAT read: Azimuth 184.7, -71.8 (Local)

2020-11-19T19:31:56.470Z,1605814316.470 [DAT](INFO): got valid azimuth response:
 Azimuth 184.7, -71.8 (Local)

2020-11-19T19:31:56.471Z,1605814316.471 [DAT](INFO): DAT read: Range 5 to 9 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2020-11-19T19:31:56.472Z,1605814316.472 [DAT](INFO): Read range and messages.
2020-11-19T19:31:56.473Z,1605814316.473 [DAT](INFO): direction in vehicle frame: [ -0.311285 forward, -0.025592 starboard, -0.949972 keelward ]
2020-11-19T19:31:56.473Z,1605814316.473 [DAT](INFO): publishing direction and range info
2020-11-19T19:31:56.607Z,1605814316.607 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:56.607Z,1605814316.607 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:56.607Z,1605814316.607 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:31:56.608Z,1605814316.608 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:31:56.686Z,1605814316.686 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.059562 rad
2020-11-19T19:31:56.686Z,1605814316.686 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.038964 rad
2020-11-19T19:31:56.687Z,1605814316.687 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:31:56.880Z,1605814316.880 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 346.007165 deg, approachRate: 0.009547 m/s. posRepo size: 2
2020-11-19T19:31:56.881Z,1605814316.881 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Intercept lockout. Range: 1.70 m.
2020-11-19T19:31:56.881Z,1605814316.881 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2020-11-19T19:31:56.882Z,1605814316.882 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:56.882Z,1605814316.882 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:56.883Z,1605814316.883 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:57.304Z,1605814317.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:57.304Z,1605814317.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:57.305Z,1605814317.305 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:57.699Z,1605814317.699 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:57.699Z,1605814317.699 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:57.700Z,1605814317.700 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:58.075Z,1605814318.075 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:58.076Z,1605814318.076 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:58.076Z,1605814318.076 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:58.486Z,1605814318.486 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:58.487Z,1605814318.487 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:58.487Z,1605814318.487 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:58.880Z,1605814318.880 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:58.880Z,1605814318.880 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:58.897Z,1605814318.897 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:59.295Z,1605814319.295 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:59.295Z,1605814319.295 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:59.295Z,1605814319.295 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:31:59.708Z,1605814319.708 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:31:59.708Z,1605814319.708 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:31:59.709Z,1605814319.709 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:00.116Z,1605814320.116 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:00.116Z,1605814320.116 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:00.117Z,1605814320.117 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:00.512Z,1605814320.512 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:00.512Z,1605814320.512 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:00.513Z,1605814320.513 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:00.900Z,1605814320.900 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:00.900Z,1605814320.900 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:00.901Z,1605814320.901 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:01.309Z,1605814321.309 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:01.309Z,1605814321.309 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:01.309Z,1605814321.309 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:01.720Z,1605814321.720 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:01.720Z,1605814321.720 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:01.722Z,1605814321.722 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-19T19:32:01.722Z,1605814321.722 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-19T19:32:02.107Z,1605814322.107 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:32:02.107Z,1605814322.107 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:32:02.148Z,1605814322.148 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:02.148Z,1605814322.148 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:02.150Z,1605814322.150 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:02.518Z,1605814322.518 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:32:02.518Z,1605814322.518 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:32:02.559Z,1605814322.559 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:02.559Z,1605814322.559 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:02.560Z,1605814322.560 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:02.925Z,1605814322.925 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:32:02.925Z,1605814322.925 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:32:02.926Z,1605814322.926 [DAT](INFO): Querying Benthos address 9 with one ping in standard two-way mode.
2020-11-19T19:32:02.926Z,1605814322.926 [DAT](INFO): ****** ping requested ******
2020-11-19T19:32:02.939Z,1605814322.939 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:02.940Z,1605814322.940 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:02.940Z,1605814322.940 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:03.337Z,1605814323.337 [DAT](INFO): DAT read: user:9>

2020-11-19T19:32:03.338Z,1605814323.338 [DAT](INFO): DAT read: Tx time:19:30:03.3045

2020-11-19T19:32:03.339Z,1605814323.339 [DAT](INFO): Ping request sent.
2020-11-19T19:32:03.339Z,1605814323.339 [DAT](INFO): transmitted an acoustic signal
2020-11-19T19:32:03.339Z,1605814323.339 [DAT](INFO): publishing transmit ping time
2020-11-19T19:32:03.359Z,1605814323.359 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:03.360Z,1605814323.360 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:03.360Z,1605814323.360 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:03.473Z,1605814323.473 [CommandLine](IMPORTANT): got command stop
2020-11-19T19:32:03.473Z,1605814323.473 [CommandLine](IMPORTANT): Scheduling is paused
2020-11-19T19:32:03.474Z,1605814323.474 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-11-19T19:32:03.751Z,1605814323.751 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:32:03.751Z,1605814323.751 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:32:03.751Z,1605814323.751 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:32:03.751Z,1605814323.751 [MissionManager](INFO): MissionManager is completed.
2020-11-19T19:32:03.752Z,1605814323.752 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming] Stopped
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:TrackTransponder] Stopped
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:TrackTransponder:A.] Stopped
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Uninitializing TrackAcousticContact.
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:B.Mass] Stopped
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:B.Mass](DEBUG): Uninitialize.
2020-11-19T19:32:03.752Z,1605814323.752 [lineCaptureHoming:Lap] Stopped
2020-11-19T19:32:03.756Z,1605814323.756 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2020-11-19T19:32:03.757Z,1605814323.757 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2020-11-19T19:32:03.757Z,1605814323.757 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2020-11-19T19:32:03.757Z,1605814323.757 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2020-11-19T19:32:03.757Z,1605814323.757 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Stopped
2020-11-19T19:32:03.757Z,1605814323.757 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:32:04.143Z,1605814324.143 [MissionManager](IMPORTANT): Started mission Default
2020-11-19T19:32:04.143Z,1605814324.143 [Default] Running Loop=1
2020-11-19T19:32:04.143Z,1605814324.143 [Default](DEBUG): Aggregate::initialize Default
2020-11-19T19:32:04.143Z,1605814324.143 [Default:B.GoToSurface] Running Loop=1
2020-11-19T19:32:04.143Z,1605814324.143 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-19T19:32:04.143Z,1605814324.143 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-19T19:32:04.144Z,1605814324.144 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-19T19:32:04.144Z,1605814324.144 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-19T19:32:04.144Z,1605814324.144 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-19T19:32:04.149Z,1605814324.149 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-19T19:32:04.149Z,1605814324.149 [Default:A.Wait] Running Loop=1
2020-11-19T19:32:04.149Z,1605814324.149 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-11-19T19:32:06.170Z,1605814326.170 [DAT](INFO): DAT read: Rx Time:19:30:05.7110

2020-11-19T19:32:06.170Z,1605814326.170 [DAT](INFO): received an acoustic signal