2020-11-19T19:32:06.922Z,1605814326.922 [CommandLine](IMPORTANT): got command restart logs
2020-11-19T19:32:06.969Z,1605814326.969 [DAT](INFO): DAT read: 19:30:05.7110 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 424,-0.05, 2.427, 2.452, 2.405, 2.716, PHS=-0.305,-0.189,-0.263, RAW= 309.2,  69.2, CAL= 310.8,  71.7, ROT= 184.2, -71.7

2020-11-19T19:32:06.970Z,1605814326.970 [DAT](INFO): got valid direction response:
 19:30:05.7110 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 424,-0.05, 2.427, 2.452, 2.405, 2.716, PHS=-0.305,-0.189,-0.263, RAW= 309.2,  69.2, CAL= 310.8,  71.7, ROT= 184.2, -71.7

2020-11-19T19:32:06.971Z,1605814326.971 [DAT](INFO): DAT read: Azimuth 184.2, -71.7 (Local)

2020-11-19T19:32:06.971Z,1605814326.971 [DAT](INFO): got valid azimuth response:
 Azimuth 184.2, -71.7 (Local)

2020-11-19T19:32:06.977Z,1605814326.977 [DAT](INFO): DAT read: Range 5 to 9 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2020-11-19T19:32:06.977Z,1605814326.977 [DAT](INFO): Read range and messages.
2020-11-19T19:32:06.978Z,1605814326.978 [DAT](INFO): direction in vehicle frame: [ -0.313149 forward, -0.022996 starboard, -0.949425 keelward ]
2020-11-19T19:32:06.978Z,1605814326.978 [DAT](INFO): publishing direction and range info
2020-11-19T19:32:17.487Z,1605814337.487 [Default:A.Wait](INFO): Done Waiting.
2020-11-19T19:32:17.487Z,1605814337.487 [Default:A.Wait] Stopped
2020-11-19T19:32:17.487Z,1605814337.487 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-19T19:32:17.883Z,1605814337.883 [Default:CheckIn] Running Loop=1
2020-11-19T19:32:17.883Z,1605814337.883 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-11-19T19:32:17.883Z,1605814337.883 [Default:CheckIn:Read_GPS] Running Loop=1
2020-11-19T19:32:23.122Z,1605814343.122 [NAL9602](FAULT): GPS failed to acquire within timeout.
2020-11-19T19:32:23.122Z,1605814343.122 [NAL9602] Data Fault, FailCount= 1
2020-11-19T19:32:23.122Z,1605814343.122 [NAL9602](ERROR): Data Fault
2020-11-19T19:32:23.201Z,1605814343.201 [CBIT](ERROR): Data Fault in component: NAL9602
2020-11-19T19:32:23.514Z,1605814343.514 [NAL9602](INFO): Powering down
2020-11-19T19:32:24.398Z,1605814344.398 [CBIT](INFO): Clearing failed state for component NAL9602
2020-11-19T19:32:24.398Z,1605814344.398 [NAL9602] No Fault, FailCount= 1
2020-11-19T19:32:53.818Z,1605814373.818 [NAL9602](INFO): Powering up NAL9602
2020-11-19T19:33:04.730Z,1605814384.730 [NAL9602](INFO): NAL9602 initialized
2020-11-19T19:33:31.498Z,1605814411.498 [CommandLine](IMPORTANT): got command failComponent
2020-11-19T19:33:31.498Z,1605814411.498 [CommandLine](IMPORTANT): Failed components:
2020-11-19T19:33:31.499Z,1605814411.499 [CommandLine](IMPORTANT): No failed Components.
2020-11-19T19:33:44.340Z,1605814424.340 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2020-11-19T19:33:44.340Z,1605814424.340 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-11-19T19:33:44.350Z,1605814424.350 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-11-19T19:33:44.810Z,1605814424.810 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-11-19T19:33:44.811Z,1605814424.811 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2020-11-19T19:33:54.539Z,1605814434.539 [DataOverHttps](IMPORTANT): SBD MTMSN=20201119T193236
2020-11-19T19:34:01.656Z,1605814441.656 [DataOverHttps](INFO): Received command:load Maintenance/line_capture_homing_lab.xml;set lineCaptureHoming.TransponderCode 9 count;set lineCaptureHoming.TrackingUpdatePeriod 5 second;set lineCaptureHoming.NumberOfPings 10 count;run
2020-11-19T19:34:01.710Z,1605814441.710 [CommandLine](IMPORTANT): got command load ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:34:01.711Z,1605814441.711 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:34:01.951Z,1605814441.951 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2020-11-19T19:34:01.954Z,1605814441.954 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2020-11-19T19:34:01.955Z,1605814441.955 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2020-11-19T19:34:01.958Z,1605814441.958 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2020-11-19T19:34:01.960Z,1605814441.960 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2020-11-19T19:34:01.962Z,1605814441.962 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2020-11-19T19:34:01.963Z,1605814441.963 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2020-11-19T19:34:01.966Z,1605814441.966 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2020-11-19T19:34:01.968Z,1605814441.968 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2020-11-19T19:34:01.970Z,1605814441.970 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 1.000000 m
2020-11-19T19:34:01.972Z,1605814441.972 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2020-11-19T19:34:01.974Z,1605814441.974 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2020-11-19T19:34:01.975Z,1605814441.975 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2020-11-19T19:34:01.978Z,1605814441.978 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2020-11-19T19:34:01.979Z,1605814441.979 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 0.000000 m
2020-11-19T19:34:01.982Z,1605814441.982 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2020-11-19T19:34:01.983Z,1605814441.983 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2020-11-19T19:34:02.020Z,1605814442.020 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2020-11-19T19:34:02.022Z,1605814442.022 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2020-11-19T19:34:02.024Z,1605814442.024 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2020-11-19T19:34:02.034Z,1605814442.034 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2020-11-19T19:34:02.036Z,1605814442.036 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2020-11-19T19:34:02.042Z,1605814442.042 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.500000 s
2020-11-19T19:34:02.044Z,1605814442.044 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2020-11-19T19:34:02.050Z,1605814442.050 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 0.000000 m/s
2020-11-19T19:34:02.052Z,1605814442.052 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2020-11-19T19:34:02.058Z,1605814442.058 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2020-11-19T19:34:02.065Z,1605814442.065 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2020-11-19T19:34:02.067Z,1605814442.067 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2020-11-19T19:34:02.073Z,1605814442.073 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2020-11-19T19:34:02.075Z,1605814442.075 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2020-11-19T19:34:02.081Z,1605814442.081 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2020-11-19T19:34:02.083Z,1605814442.083 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2020-11-19T19:34:02.093Z,1605814442.093 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2020-11-19T19:34:02.107Z,1605814442.107 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2020-11-19T19:34:02.113Z,1605814442.113 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2020-11-19T19:34:02.115Z,1605814442.115 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2020-11-19T19:34:02.118Z,1605814442.118 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2020-11-19T19:34:02.120Z,1605814442.120 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2020-11-19T19:34:02.142Z,1605814442.142 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2020-11-19T19:34:02.144Z,1605814442.144 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2020-11-19T19:34:02.150Z,1605814442.150 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2020-11-19T19:34:02.177Z,1605814442.177 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2020-11-19T19:34:02.179Z,1605814442.179 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2020-11-19T19:34:02.219Z,1605814442.219 [lineCaptureHoming:B.Mass](DEBUG): Construct.
2020-11-19T19:34:02.236Z,1605814442.236 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2020-11-19T19:34:02.244Z,1605814442.244 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2020-11-19T19:34:02.269Z,1605814442.269 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2020-11-19T19:34:02.272Z,1605814442.272 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2020-11-19T19:34:02.291Z,1605814442.291 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2020-11-19T19:34:02.302Z,1605814442.302 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2020-11-19T19:34:02.319Z,1605814442.319 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct.
2020-11-19T19:34:02.334Z,1605814442.334 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-19T19:34:02.334Z,1605814442.334 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:34:02.381Z,1605814442.381 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2020-11-19T19:34:02.384Z,1605814442.384 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2020-11-19T19:34:02.391Z,1605814442.391 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2020-11-19T19:34:02.391Z,1605814442.391 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Initializing internal variables to default values.
2020-11-19T19:34:02.404Z,1605814442.404 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2020-11-19T19:34:02.411Z,1605814442.411 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2020-11-19T19:34:02.434Z,1605814442.434 [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>


2020-11-19T19:34:02.435Z,1605814442.435 [CommandLine](IMPORTANT): Loaded ./Missions/Maintenance/line_capture_homing_lab.xml
2020-11-19T19:34:07.906Z,1605814447.906 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TransponderCode 9.000000 count
2020-11-19T19:34:07.907Z,1605814447.907 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 5.000000 second
2020-11-19T19:34:07.908Z,1605814447.908 [CommandLine](IMPORTANT): got command set lineCaptureHoming.NumberOfPings 10.000000 count
2020-11-19T19:34:07.908Z,1605814447.908 [CommandLine](IMPORTANT): got command run
2020-11-19T19:34:07.910Z,1605814447.910 [CommandLine](IMPORTANT): Running 
2020-11-19T19:34:08.176Z,1605814448.176 [Default] Stopped
2020-11-19T19:34:08.176Z,1605814448.176 [Default](DEBUG): Aggregate::uninitialize Default
2020-11-19T19:34:08.177Z,1605814448.177 [Default:B.GoToSurface] Stopped
2020-11-19T19:34:08.177Z,1605814448.177 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-19T19:34:08.177Z,1605814448.177 [Default:CheckIn] Stopped
2020-11-19T19:34:08.177Z,1605814448.177 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-11-19T19:34:08.177Z,1605814448.177 [Default:CheckIn:Read_GPS] Stopped
2020-11-19T19:34:08.177Z,1605814448.177 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2020-11-19T19:34:08.177Z,1605814448.177 [lineCaptureHoming] Running Loop=1
2020-11-19T19:34:08.177Z,1605814448.177 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2020-11-19T19:34:08.177Z,1605814448.177 [lineCaptureHoming:TrackTransponder] Running Loop=1
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:B.Mass] Running Loop=1
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:B.Mass](DEBUG): Initialize.
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:Lap] Running Loop=1
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2020-11-19T19:34:08.178Z,1605814448.178 [lineCaptureHoming:Lap:A] Running Loop=1
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:Lap:A](IMPORTANT): Initiating homing sequence.
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:Lap:A] Stopped
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:Lap:B] Running Loop=1
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:B.Mass] Running Loop=1
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:TrackTransponder] Running Loop=1
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2020-11-19T19:34:08.179Z,1605814448.179 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:08.180Z,1605814448.180 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:08.180Z,1605814448.180 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:08.181Z,1605814448.181 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:08.181Z,1605814448.181 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:08.192Z,1605814448.192 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.068289 rad
2020-11-19T19:34:08.192Z,1605814448.192 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.036385 rad
2020-11-19T19:34:08.193Z,1605814448.193 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:08.607Z,1605814448.607 [lineCaptureHoming:Lap:B] Stopped
2020-11-19T19:34:08.607Z,1605814448.607 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2020-11-19T19:34:08.607Z,1605814448.607 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2020-11-19T19:34:08.607Z,1605814448.607 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2020-11-19T19:34:08.607Z,1605814448.607 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2020-11-19T19:34:08.609Z,1605814448.609 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:08.609Z,1605814448.609 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:08.610Z,1605814448.610 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2020-11-19T19:34:08.991Z,1605814448.991 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2020-11-19T19:34:08.992Z,1605814448.992 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2020-11-19T19:34:08.992Z,1605814448.992 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:08.992Z,1605814448.992 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:08.993Z,1605814448.993 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:09.411Z,1605814449.411 [lineCaptureHoming:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 1.700000 m .
2020-11-19T19:34:09.411Z,1605814449.411 [lineCaptureHoming:Lap:TerminalGuidance:B] Stopped
2020-11-19T19:34:09.411Z,1605814449.411 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2020-11-19T19:34:09.411Z,1605814449.411 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2020-11-19T19:34:09.412Z,1605814449.412 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:09.412Z,1605814449.412 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:09.413Z,1605814449.413 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:09.803Z,1605814449.803 [lineCaptureHoming:Lap:TerminalGuidance:C] Stopped
2020-11-19T19:34:09.803Z,1605814449.803 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Running Loop=1
2020-11-19T19:34:09.803Z,1605814449.803 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize.
2020-11-19T19:34:09.803Z,1605814449.803 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initializing internal variables to default values.
2020-11-19T19:34:09.803Z,1605814449.803 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:34:09.804Z,1605814449.804 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Rollout timeout adjusted to 625.00 sec to accomodate distance.
2020-11-19T19:34:09.804Z,1605814449.804 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2020-11-19T19:34:09.805Z,1605814449.805 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:09.805Z,1605814449.805 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:09.805Z,1605814449.805 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:10.187Z,1605814450.187 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 345.859360 deg, approachRate: -1.000000 m/s. posRepo size: 1
2020-11-19T19:34:10.188Z,1605814450.188 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Powering the camera and arming the DDM at range: 1.70 m.
2020-11-19T19:34:10.188Z,1605814450.188 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Final approach. Armed for intercept at range: 1.70 m.
2020-11-19T19:34:10.188Z,1605814450.188 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2020-11-19T19:34:10.189Z,1605814450.189 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:10.190Z,1605814450.190 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:10.190Z,1605814450.190 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:10.596Z,1605814450.596 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:10.596Z,1605814450.596 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:10.597Z,1605814450.597 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:11.005Z,1605814451.005 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:11.005Z,1605814451.005 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:11.005Z,1605814451.005 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:11.400Z,1605814451.400 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:11.400Z,1605814451.400 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:11.400Z,1605814451.400 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:11.820Z,1605814451.820 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:11.820Z,1605814451.820 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:11.839Z,1605814451.839 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:12.233Z,1605814452.233 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:12.233Z,1605814452.233 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:12.233Z,1605814452.233 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:12.630Z,1605814452.630 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:12.630Z,1605814452.630 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:12.631Z,1605814452.631 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:13.031Z,1605814453.031 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:13.031Z,1605814453.031 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:13.032Z,1605814453.032 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:13.420Z,1605814453.420 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:13.420Z,1605814453.420 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:13.421Z,1605814453.421 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-19T19:34:13.421Z,1605814453.421 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-19T19:34:13.815Z,1605814453.815 [DAT](INFO): ****** received valid address query ******
2020-11-19T19:34:13.815Z,1605814453.815 [DAT](INFO): ****** received valid ping request ******
2020-11-19T19:34:13.816Z,1605814453.816 [DAT](INFO): Querying Benthos address 9 with 10 pings in terminal homing one-way mode.
2020-11-19T19:34:13.819Z,1605814453.819 [DAT](INFO): ****** ping requested ******
2020-11-19T19:34:13.833Z,1605814453.833 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:13.833Z,1605814453.833 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:13.833Z,1605814453.833 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:14.228Z,1605814454.228 [DAT](INFO): DAT read: user:10>

2020-11-19T19:34:14.229Z,1605814454.229 [DAT](INFO): DAT read: Tx time:19:32:14.2043

2020-11-19T19:34:14.229Z,1605814454.229 [DAT](INFO): Ping request sent.
2020-11-19T19:34:14.229Z,1605814454.229 [DAT](INFO): transmitted an acoustic signal
2020-11-19T19:34:14.229Z,1605814454.229 [DAT](INFO): publishing transmit ping time
2020-11-19T19:34:14.241Z,1605814454.241 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:14.241Z,1605814454.241 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:14.241Z,1605814454.241 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:14.659Z,1605814454.659 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:14.660Z,1605814454.660 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:14.660Z,1605814454.660 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:15.056Z,1605814455.056 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:15.056Z,1605814455.056 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:15.057Z,1605814455.057 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:15.464Z,1605814455.464 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:15.464Z,1605814455.464 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:15.465Z,1605814455.465 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:15.863Z,1605814455.863 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:15.863Z,1605814455.863 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:15.863Z,1605814455.863 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:16.251Z,1605814456.251 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:16.251Z,1605814456.251 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:16.252Z,1605814456.252 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:16.644Z,1605814456.644 [DAT](INFO): DAT read: Rx Time:19:32:16.3358 

2020-11-19T19:34:16.645Z,1605814456.645 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:16.646Z,1605814456.646 [DAT](INFO): DAT read: Bearing 327.2, -73.6 (Local)

2020-11-19T19:34:16.646Z,1605814456.646 [DAT](INFO): unknown deviceResponse_: Bearing 327.2, -73.6 (Local)

2020-11-19T19:34:16.649Z,1605814456.649 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:16.649Z,1605814456.649 [DAT](ERROR): Read range message, but no direction.
2020-11-19T19:34:16.706Z,1605814456.706 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:16.706Z,1605814456.706 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:16.707Z,1605814456.707 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:17.065Z,1605814457.065 [DAT](INFO): DAT read: 19:32:16.3358 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 168,-0.00, 0.346, 0.368, 0.324, 0.662, PHS=-0.332,-0.220,-0.290, RAW= 308.3,  71.7, CAL= 309.8,  73.9, ROT= 185.2, -73.9

2020-11-19T19:34:17.066Z,1605814457.066 [DAT](INFO): got valid direction response:
 19:32:16.3358 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 168,-0.00, 0.346, 0.368, 0.324, 0.662, PHS=-0.332,-0.220,-0.290, RAW= 308.3,  71.7, CAL= 309.8,  73.9, ROT= 185.2, -73.9

2020-11-19T19:34:17.067Z,1605814457.067 [DAT](INFO): DAT read: Rx Time:19:32:16.8358 

2020-11-19T19:34:17.068Z,1605814457.068 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:17.069Z,1605814457.069 [DAT](INFO): DAT read: Bearing 326.8, -73.6 (Local)

2020-11-19T19:34:17.069Z,1605814457.069 [DAT](INFO): unknown deviceResponse_: Bearing 326.8, -73.6 (Local)

2020-11-19T19:34:17.071Z,1605814457.071 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:17.072Z,1605814457.072 [DAT](INFO): Read range and messages.
2020-11-19T19:34:17.073Z,1605814457.073 [DAT](INFO): direction in vehicle frame: [ -0.276173 forward, -0.025134 starboard, -0.960779 keelward ]
2020-11-19T19:34:17.073Z,1605814457.073 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-19T19:34:17.074Z,1605814457.074 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:17.142Z,1605814457.142 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:17.142Z,1605814457.142 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:17.143Z,1605814457.143 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:17.143Z,1605814457.143 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:17.144Z,1605814457.144 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:17.198Z,1605814457.198 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.050836 rad
2020-11-19T19:34:17.199Z,1605814457.199 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.037929 rad
2020-11-19T19:34:17.199Z,1605814457.199 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:17.462Z,1605814457.462 [DAT](INFO): DAT read: 19:32:16.8358 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 488,-0.02, 0.203, 0.224, 0.180, 0.519, PHS=-0.332,-0.220,-0.291, RAW= 309.0,  71.8, CAL= 310.4,  74.0, ROT= 184.6, -74.0

2020-11-19T19:34:17.463Z,1605814457.463 [DAT](INFO): got valid direction response:
 19:32:16.8358 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 488,-0.02, 0.203, 0.224, 0.180, 0.519, PHS=-0.332,-0.220,-0.291, RAW= 309.0,  71.8, CAL= 310.4,  74.0, ROT= 184.6, -74.0

2020-11-19T19:34:17.464Z,1605814457.464 [DAT](INFO): DAT read: Rx Time:19:32:17.3358 

2020-11-19T19:34:17.464Z,1605814457.464 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:17.481Z,1605814457.481 [DAT](INFO): Read direction message, but no range.
2020-11-19T19:34:17.513Z,1605814457.513 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 345.947852 deg, approachRate: -0.000000 m/s. posRepo size: 2
2020-11-19T19:34:17.514Z,1605814457.514 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Intercept lockout. Range: 1.70 m.
2020-11-19T19:34:17.514Z,1605814457.514 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2020-11-19T19:34:17.515Z,1605814457.515 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:17.516Z,1605814457.516 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:17.516Z,1605814457.516 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:17.870Z,1605814457.870 [DAT](INFO): DAT read: Bearing 330.1, -70.6 (Local)

2020-11-19T19:34:17.871Z,1605814457.871 [DAT](INFO): unknown deviceResponse_: Bearing 330.1, -70.6 (Local)

2020-11-19T19:34:17.873Z,1605814457.873 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:17.878Z,1605814457.878 [DAT](INFO): DAT read: 19:32:17.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.01, 0.081, 0.110, 0.062, 0.367, PHS=-0.302,-0.182,-0.257, RAW= 308.3,  68.2, CAL= 310.1,  70.8, ROT= 184.9, -70.8

2020-11-19T19:34:17.879Z,1605814457.879 [DAT](INFO): got valid direction response:
 19:32:17.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.01, 0.081, 0.110, 0.062, 0.367, PHS=-0.302,-0.182,-0.257, RAW= 308.3,  68.2, CAL= 310.1,  70.8, ROT= 184.9, -70.8

2020-11-19T19:34:17.880Z,1605814457.880 [DAT](INFO): Read range and messages.
2020-11-19T19:34:17.905Z,1605814457.905 [DAT](INFO): direction in vehicle frame: [ -0.327665 forward, -0.028091 starboard, -0.944376 keelward ]
2020-11-19T19:34:17.905Z,1605814457.905 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:17.932Z,1605814457.932 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:17.932Z,1605814457.932 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:17.937Z,1605814457.937 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:17.937Z,1605814457.937 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:17.937Z,1605814457.937 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:17.990Z,1605814457.990 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.056072 rad
2020-11-19T19:34:17.991Z,1605814457.991 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.041976 rad
2020-11-19T19:34:17.992Z,1605814457.992 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:18.278Z,1605814458.278 [DAT](INFO): DAT read: Rx Time:19:32:17.8358 

2020-11-19T19:34:18.278Z,1605814458.278 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:18.280Z,1605814458.280 [DAT](INFO): DAT read: Bearing 330.1, -70.6 (Local)

2020-11-19T19:34:18.280Z,1605814458.280 [DAT](INFO): unknown deviceResponse_: Bearing 330.1, -70.6 (Local)

2020-11-19T19:34:18.282Z,1605814458.282 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:18.288Z,1605814458.288 [DAT](INFO): DAT read: 19:32:17.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.02,-0.125,-0.096,-0.144, 0.160, PHS=-0.301,-0.181,-0.256, RAW= 308.4,  68.0, CAL= 310.1,  70.7, ROT= 184.9, -70.7

2020-11-19T19:34:18.289Z,1605814458.289 [DAT](INFO): got valid direction response:
 19:32:17.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.02,-0.125,-0.096,-0.144, 0.160, PHS=-0.301,-0.181,-0.256, RAW= 308.4,  68.0, CAL= 310.1,  70.7, ROT= 184.9, -70.7

2020-11-19T19:34:18.290Z,1605814458.290 [DAT](INFO): Read range and messages.
2020-11-19T19:34:18.291Z,1605814458.291 [DAT](INFO): direction in vehicle frame: [ -0.329306 forward, -0.028232 starboard, -0.943801 keelward ]
2020-11-19T19:34:18.291Z,1605814458.291 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-19T19:34:18.291Z,1605814458.291 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:18.303Z,1605814458.303 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 346.179723 deg, approachRate: -0.000000 m/s. posRepo size: 3
2020-11-19T19:34:18.304Z,1605814458.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:18.304Z,1605814458.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:18.305Z,1605814458.305 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:18.306Z,1605814458.306 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:18.306Z,1605814458.306 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:18.365Z,1605814458.365 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.056072 rad
2020-11-19T19:34:18.366Z,1605814458.366 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.042127 rad
2020-11-19T19:34:18.367Z,1605814458.367 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:18.675Z,1605814458.675 [DAT](INFO): DAT read: Rx Time:19:32:18.3358 

2020-11-19T19:34:18.675Z,1605814458.675 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:18.677Z,1605814458.677 [DAT](INFO): DAT read: Bearing 328.0, -71.6 (Local)

2020-11-19T19:34:18.677Z,1605814458.677 [DAT](INFO): unknown deviceResponse_: Bearing 328.0, -71.6 (Local)

2020-11-19T19:34:18.679Z,1605814458.679 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:18.680Z,1605814458.680 [DAT](ERROR): Read range message, but no direction.
2020-11-19T19:34:18.784Z,1605814458.784 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 346.188384 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-19T19:34:18.786Z,1605814458.786 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:18.786Z,1605814458.786 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:18.786Z,1605814458.786 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:19.080Z,1605814459.080 [DAT](INFO): DAT read: 19:32:18.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.05,-0.263,-0.239,-0.287, 0.026, PHS=-0.305,-0.190,-0.265, RAW= 309.9,  69.5, CAL= 311.4,  72.0, ROT= 183.6, -72.0

2020-11-19T19:34:19.081Z,1605814459.081 [DAT](INFO): got valid direction response:
 19:32:18.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.05,-0.263,-0.239,-0.287, 0.026, PHS=-0.305,-0.190,-0.265, RAW= 309.9,  69.5, CAL= 311.4,  72.0, ROT= 183.6, -72.0

2020-11-19T19:34:19.082Z,1605814459.082 [DAT](INFO): DAT read: Rx Time:19:32:18.8358 

2020-11-19T19:34:19.083Z,1605814459.083 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:19.084Z,1605814459.084 [DAT](INFO): DAT read: Bearing 330.1, -70.6 (Local)

2020-11-19T19:34:19.084Z,1605814459.084 [DAT](INFO): unknown deviceResponse_: Bearing 330.1, -70.6 (Local)

2020-11-19T19:34:19.086Z,1605814459.086 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:19.087Z,1605814459.087 [DAT](INFO): Read range and messages.
2020-11-19T19:34:19.088Z,1605814459.088 [DAT](INFO): direction in vehicle frame: [ -0.308407 forward, -0.019403 starboard, -0.951057 keelward ]
2020-11-19T19:34:19.088Z,1605814459.088 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-19T19:34:19.089Z,1605814459.089 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:19.140Z,1605814459.140 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:19.140Z,1605814459.140 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:19.145Z,1605814459.145 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:19.146Z,1605814459.146 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:19.146Z,1605814459.146 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:19.200Z,1605814459.200 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.078761 rad
2020-11-19T19:34:19.201Z,1605814459.201 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.032356 rad
2020-11-19T19:34:19.201Z,1605814459.201 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:19.481Z,1605814459.481 [DAT](INFO): DAT read: 19:32:18.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.05,-0.509,-0.480,-0.528,-0.223, PHS=-0.301,-0.182,-0.257, RAW= 308.6,  68.2, CAL= 310.3,  70.8, ROT= 184.7, -70.8

2020-11-19T19:34:19.482Z,1605814459.482 [DAT](INFO): got valid direction response:
 19:32:18.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.05,-0.509,-0.480,-0.528,-0.223, PHS=-0.301,-0.182,-0.257, RAW= 308.6,  68.2, CAL= 310.3,  70.8, ROT= 184.7, -70.8

2020-11-19T19:34:19.483Z,1605814459.483 [DAT](INFO): DAT read: Rx Time:19:32:19.3358 

2020-11-19T19:34:19.484Z,1605814459.484 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:19.489Z,1605814459.489 [DAT](INFO): DAT read: Bearing 330.6, -70.4 (Local)

2020-11-19T19:34:19.489Z,1605814459.489 [DAT](INFO): unknown deviceResponse_: Bearing 330.6, -70.4 (Local)

2020-11-19T19:34:19.490Z,1605814459.490 [DAT](INFO): Read direction message, but no range.
2020-11-19T19:34:19.550Z,1605814459.550 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 345.628527 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-19T19:34:19.551Z,1605814459.551 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Starting intercept timer at range: 1.70 m.
2020-11-19T19:34:19.557Z,1605814459.557 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:19.557Z,1605814459.557 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:19.558Z,1605814459.558 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:19.877Z,1605814459.877 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:19.882Z,1605814459.882 [DAT](INFO): DAT read: 19:32:19.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.06,-0.711,-0.682,-0.730,-0.428, PHS=-0.299,-0.179,-0.255, RAW= 308.5,  67.9, CAL= 310.2,  70.6, ROT= 184.8, -70.6

2020-11-19T19:34:19.883Z,1605814459.883 [DAT](INFO): got valid direction response:
 19:32:19.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.06,-0.711,-0.682,-0.730,-0.428, PHS=-0.299,-0.179,-0.255, RAW= 308.5,  67.9, CAL= 310.2,  70.6, ROT= 184.8, -70.6

2020-11-19T19:34:19.883Z,1605814459.883 [DAT](INFO): Read range and messages.
2020-11-19T19:34:19.884Z,1605814459.884 [DAT](INFO): direction in vehicle frame: [ -0.330996 forward, -0.027795 starboard, -0.943223 keelward ]
2020-11-19T19:34:19.884Z,1605814459.884 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:19.938Z,1605814459.938 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:19.938Z,1605814459.938 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:19.938Z,1605814459.938 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:19.939Z,1605814459.939 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:19.939Z,1605814459.939 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:19.994Z,1605814459.994 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.057817 rad
2020-11-19T19:34:19.995Z,1605814459.995 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.041625 rad
2020-11-19T19:34:19.995Z,1605814459.995 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:20.280Z,1605814460.280 [DAT](INFO): DAT read: Rx Time:19:32:19.8358 

2020-11-19T19:34:20.280Z,1605814460.280 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:20.281Z,1605814460.281 [DAT](INFO): DAT read: Bearing 330.8, -70.5 (Local)

2020-11-19T19:34:20.282Z,1605814460.282 [DAT](INFO): unknown deviceResponse_: Bearing 330.8, -70.5 (Local)

2020-11-19T19:34:20.284Z,1605814460.284 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:20.289Z,1605814460.289 [DAT](INFO): DAT read: 19:32:19.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.08,-0.190,-0.161,-0.209, 0.094, PHS=-0.300,-0.180,-0.255, RAW= 308.3,  68.0, CAL= 310.0,  70.6, ROT= 185.0, -70.6

2020-11-19T19:34:20.290Z,1605814460.290 [DAT](INFO): got valid direction response:
 19:32:19.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.08,-0.190,-0.161,-0.209, 0.094, PHS=-0.300,-0.180,-0.255, RAW= 308.3,  68.0, CAL= 310.0,  70.6, ROT= 185.0, -70.6

2020-11-19T19:34:20.290Z,1605814460.290 [DAT](INFO): Read range and messages.
2020-11-19T19:34:20.291Z,1605814460.291 [DAT](INFO): direction in vehicle frame: [ -0.330897 forward, -0.028950 starboard, -0.943223 keelward ]
2020-11-19T19:34:20.291Z,1605814460.291 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-19T19:34:20.291Z,1605814460.291 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:20.303Z,1605814460.303 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 346.159588 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-19T19:34:20.304Z,1605814460.304 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:20.305Z,1605814460.305 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:20.305Z,1605814460.305 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:20.306Z,1605814460.306 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:20.306Z,1605814460.306 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:20.365Z,1605814460.365 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.054326 rad
2020-11-19T19:34:20.366Z,1605814460.366 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.042940 rad
2020-11-19T19:34:20.366Z,1605814460.366 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:20.706Z,1605814460.706 [DAT](INFO): DAT read: Rx Time:19:32:20.3358 

2020-11-19T19:34:20.707Z,1605814460.707 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:20.708Z,1605814460.708 [DAT](INFO): DAT read: Bearing 329.0, -71.6 (Local)

2020-11-19T19:34:20.709Z,1605814460.709 [DAT](INFO): unknown deviceResponse_: Bearing 329.0, -71.6 (Local)

2020-11-19T19:34:20.711Z,1605814460.711 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:20.712Z,1605814460.712 [DAT](ERROR): Read range message, but no direction.
2020-11-19T19:34:20.723Z,1605814460.723 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 346.234939 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-19T19:34:20.724Z,1605814460.724 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:20.724Z,1605814460.724 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:20.725Z,1605814460.725 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:21.117Z,1605814461.117 [DAT](INFO): DAT read: 19:32:20.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.10,-0.300,-0.276,-0.323,-0.011, PHS=-0.305,-0.190,-0.264, RAW= 309.5,  69.3, CAL= 311.1,  71.8, ROT= 183.9, -71.8

2020-11-19T19:34:21.119Z,1605814461.119 [DAT](INFO): got valid direction response:
 19:32:20.3358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.10,-0.300,-0.276,-0.323,-0.011, PHS=-0.305,-0.190,-0.264, RAW= 309.5,  69.3, CAL= 311.1,  71.8, ROT= 183.9, -71.8

2020-11-19T19:34:21.120Z,1605814461.120 [DAT](INFO): DAT read: Rx Time:19:32:20.8358 

2020-11-19T19:34:21.120Z,1605814461.120 [DAT](INFO): received an acoustic signal
2020-11-19T19:34:21.122Z,1605814461.122 [DAT](INFO): DAT read: Bearing 330.6, -70.6 (Local)

2020-11-19T19:34:21.122Z,1605814461.122 [DAT](INFO): unknown deviceResponse_: Bearing 330.6, -70.6 (Local)

2020-11-19T19:34:21.124Z,1605814461.124 [DAT](INFO): DAT read: Range 5 to 9 :     1.7 m (trip time 1.1 ms) speed 0.0

2020-11-19T19:34:21.125Z,1605814461.125 [DAT](INFO): Read range and messages.
2020-11-19T19:34:21.126Z,1605814461.126 [DAT](INFO): direction in vehicle frame: [ -0.311612 forward, -0.021243 starboard, -0.949972 keelward ]
2020-11-19T19:34:21.127Z,1605814461.127 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone
2020-11-19T19:34:21.127Z,1605814461.127 [DAT](INFO): publishing direction and range info
2020-11-19T19:34:21.142Z,1605814461.142 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:21.142Z,1605814461.142 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:21.142Z,1605814461.142 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Processing response from acoustic contact.
2020-11-19T19:34:21.143Z,1605814461.143 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Combining 10 samples.
2020-11-19T19:34:21.143Z,1605814461.143 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Could not read vehicle position; cannot calculate contact position.
2020-11-19T19:34:21.198Z,1605814461.198 [Reporter](INFO): TrackAcousticContact.azimuth_to_contact_vehicle_frame -3.073525 rad
2020-11-19T19:34:21.199Z,1605814461.199 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.034448 rad
2020-11-19T19:34:21.199Z,1605814461.199 [Reporter](INFO): TrackAcousticContact.range_to_contact 1.700000 m
2020-11-19T19:34:21.510Z,1605814461.510 [DAT](INFO): DAT read: 19:32:20.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.10,-0.451,-0.422,-0.470,-0.165, PHS=-0.301,-0.182,-0.257, RAW= 308.5,  68.2, CAL= 310.2,  70.8, ROT= 184.8, -70.8

2020-11-19T19:34:21.511Z,1605814461.511 [DAT](INFO): got valid direction response:
 19:32:20.8358 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 488,-0.10,-0.451,-0.422,-0.470,-0.165, PHS=-0.301,-0.182,-0.257, RAW= 308.5,  68.2, CAL= 310.2,  70.8, ROT= 184.8, -70.8

2020-11-19T19:34:21.511Z,1605814461.511 [DAT](INFO): Read direction message, but no range.
2020-11-19T19:34:21.540Z,1605814461.540 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Added pos range: 1.700000 m, heading: 345.748411 deg, approachRate: -0.000000 m/s. posRepo size: 4
2020-11-19T19:34:21.542Z,1605814461.542 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:21.542Z,1605814461.542 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:21.542Z,1605814461.542 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:21.915Z,1605814461.915 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:21.915Z,1605814461.915 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:21.916Z,1605814461.916 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:22.311Z,1605814462.311 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:22.311Z,1605814462.311 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:22.312Z,1605814462.312 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:22.716Z,1605814462.716 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:22.716Z,1605814462.716 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:22.717Z,1605814462.717 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:23.120Z,1605814463.120 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:23.120Z,1605814463.120 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:23.121Z,1605814463.121 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:23.527Z,1605814463.527 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:23.527Z,1605814463.527 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:23.527Z,1605814463.527 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:23.943Z,1605814463.943 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:23.943Z,1605814463.943 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:23.943Z,1605814463.943 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:24.359Z,1605814464.359 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:24.359Z,1605814464.359 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:24.360Z,1605814464.360 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:24.746Z,1605814464.746 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:24.746Z,1605814464.746 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:24.747Z,1605814464.747 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:25.140Z,1605814465.140 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:25.141Z,1605814465.141 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:25.141Z,1605814465.141 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:25.559Z,1605814465.559 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:25.559Z,1605814465.559 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:25.559Z,1605814465.559 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:25.951Z,1605814465.951 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:25.951Z,1605814465.951 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:25.952Z,1605814465.952 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:26.352Z,1605814466.352 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:26.352Z,1605814466.352 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:26.353Z,1605814466.353 [lineCaptureHoming:TrackTransponder:A.](INFO): update period (5.000000 s) has elapsed, querying...
2020-11-19T19:34:26.353Z,1605814466.353 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2020-11-19T19:34:26.772Z,1605814466.772 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:26.772Z,1605814466.772 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:26.773Z,1605814466.773 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:27.173Z,1605814467.173 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:27.173Z,1605814467.173 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:27.173Z,1605814467.173 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:27.586Z,1605814467.586 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:27.587Z,1605814467.587 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:27.587Z,1605814467.587 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:27.968Z,1605814467.968 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:27.969Z,1605814467.969 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:27.969Z,1605814467.969 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:28.373Z,1605814468.373 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:28.374Z,1605814468.374 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:28.374Z,1605814468.374 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:28.783Z,1605814468.783 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:28.783Z,1605814468.783 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:28.783Z,1605814468.783 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:29.245Z,1605814469.245 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:29.246Z,1605814469.246 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:29.246Z,1605814469.246 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:29.597Z,1605814469.597 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:29.598Z,1605814469.598 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:29.598Z,1605814469.598 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:29.866Z,1605814469.866 [CommandLine](IMPORTANT): got command stop
2020-11-19T19:34:29.866Z,1605814469.866 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2020-11-19T19:34:30.020Z,1605814470.020 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking...
2020-11-19T19:34:30.020Z,1605814470.020 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Tracking contact label: 9
2020-11-19T19:34:30.032Z,1605814470.032 [lineCaptureHoming:TrackTransponder:A.](INFO): waiting for update period (5.000000 s) to elapse
2020-11-19T19:34:30.032Z,1605814470.032 [MissionManager](INFO): MissionManager is completed.
2020-11-19T19:34:30.032Z,1605814470.032 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2020-11-19T19:34:30.032Z,1605814470.032 [lineCaptureHoming] Stopped
2020-11-19T19:34:30.032Z,1605814470.032 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:TrackTransponder] Stopped
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:TrackTransponder:A.] Stopped
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:TrackTransponder:A.](DEBUG): Uninitializing TrackAcousticContact.
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:B.Mass] Stopped
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:B.Mass](DEBUG): Uninitialize.
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:Lap] Stopped
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2020-11-19T19:34:30.033Z,1605814470.033 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Stopped
2020-11-19T19:34:30.034Z,1605814470.034 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-11-19T19:34:30.415Z,1605814470.415 [MissionManager](IMPORTANT): Started mission Default
2020-11-19T19:34:30.415Z,1605814470.415 [Default] Running Loop=1
2020-11-19T19:34:30.415Z,1605814470.415 [Default](DEBUG): Aggregate::initialize Default
2020-11-19T19:34:30.415Z,1605814470.415 [Default:B.GoToSurface] Running Loop=1
2020-11-19T19:34:30.415Z,1605814470.415 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2020-11-19T19:34:30.415Z,1605814470.415 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2020-11-19T19:34:30.416Z,1605814470.416 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2020-11-19T19:34:30.416Z,1605814470.416 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2020-11-19T19:34:30.416Z,1605814470.416 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2020-11-19T19:34:30.417Z,1605814470.417 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2020-11-19T19:34:30.417Z,1605814470.417 [Default:A.Wait] Running Loop=1
2020-11-19T19:34:30.417Z,1605814470.417 [Default:A.Wait](DEBUG): Initialize Wait Component.
2020-11-19T19:34:43.739Z,1605814483.739 [Default:A.Wait](INFO): Done Waiting.
2020-11-19T19:34:43.739Z,1605814483.739 [Default:A.Wait] Stopped
2020-11-19T19:34:43.739Z,1605814483.739 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2020-11-19T19:34:44.127Z,1605814484.127 [Default:CheckIn] Running Loop=1
2020-11-19T19:34:44.127Z,1605814484.127 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2020-11-19T19:34:44.127Z,1605814484.127 [Default:CheckIn:Read_GPS] Running Loop=1
2020-11-19T19:36:45.342Z,1605814605.342 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2020-11-19T19:36:45.342Z,1605814605.342 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2020-11-19T19:36:45.352Z,1605814605.352 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2020-11-19T19:36:45.757Z,1605814605.757 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2020-11-19T19:36:45.757Z,1605814605.757 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2020-11-19T19:38:20.862Z,1605814700.862 [CommandLine](IMPORTANT): got command quit
2020-11-19T19:38:21.869Z,1605814701.869 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:21.869Z,1605814701.869 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:21.996Z,1605814701.996 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2020-11-19T19:38:21.997Z,1605814701.997 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:21.997Z,1605814701.997 [CommandLine](INFO): Join timeout helper Thread ID is 1132
2020-11-19T19:38:21.998Z,1605814701.998 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2020-11-19T19:38:21.998Z,1605814701.998 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:21.998Z,1605814701.998 [NavChartDb](INFO): Join timeout helper Thread ID is 1133
2020-11-19T19:38:22.013Z,1605814702.013 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:22.013Z,1605814702.013 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:22.022Z,1605814702.022 [ComponentRegistry](INFO): Shutting down WetLabsBB2FL ThreadHandler
2020-11-19T19:38:22.022Z,1605814702.022 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:22.022Z,1605814702.022 [WetLabsBB2FL](INFO): Join timeout helper Thread ID is 1134
2020-11-19T19:38:22.485Z,1605814702.485 [WetLabsBB2FL ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:22.485Z,1605814702.485 [WetLabsBB2FL](INFO): Powering down
2020-11-19T19:38:22.486Z,1605814702.486 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:22.505Z,1605814702.505 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2020-11-19T19:38:22.505Z,1605814702.505 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:22.505Z,1605814702.505 [CTD_Seabird](INFO): Join timeout helper Thread ID is 1135
2020-11-19T19:38:23.261Z,1605814703.261 [CTD_Seabird](INFO): Powering down
2020-11-19T19:38:23.273Z,1605814703.273 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:23.273Z,1605814703.273 [CTD_Seabird](INFO): Powering down
2020-11-19T19:38:23.285Z,1605814703.285 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:23.289Z,1605814703.289 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2020-11-19T19:38:23.289Z,1605814703.289 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:23.289Z,1605814703.289 [Radio_Surface](INFO): Join timeout helper Thread ID is 1136
2020-11-19T19:38:23.625Z,1605814703.625 [Radio_Surface](INFO): Powering down
2020-11-19T19:38:23.625Z,1605814703.625 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:23.626Z,1605814703.626 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:23.633Z,1605814703.633 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2020-11-19T19:38:23.634Z,1605814703.634 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:23.634Z,1605814703.634 [Onboard](INFO): Join timeout helper Thread ID is 1137
2020-11-19T19:38:24.057Z,1605814704.057 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2020-11-19T19:38:27.049Z,1605814707.049 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:27.049Z,1605814707.049 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.065Z,1605814707.065 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2020-11-19T19:38:27.065Z,1605814707.065 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.066Z,1605814707.066 [DataOverHttps](INFO): Join timeout helper Thread ID is 1138
2020-11-19T19:38:27.069Z,1605814707.069 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:27.069Z,1605814707.069 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.085Z,1605814707.085 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2020-11-19T19:38:27.085Z,1605814707.085 [logger ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.086Z,1605814707.086 [logger](INFO): Join timeout helper Thread ID is 1139
2020-11-19T19:38:27.109Z,1605814707.109 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:27.109Z,1605814707.109 [logger ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.129Z,1605814707.129 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2020-11-19T19:38:27.130Z,1605814707.130 [CommandLine ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.130Z,1605814707.130 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2020-11-19T19:38:27.130Z,1605814707.130 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.130Z,1605814707.130 [controlThread](INFO): Join timeout helper Thread ID is 1140
2020-11-19T19:38:27.152Z,1605814707.152 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2020-11-19T19:38:27.152Z,1605814707.152 [controlThread](DEBUG): Uninitializing ControlThread
2020-11-19T19:38:27.153Z,1605814707.153 [AHRS_M2](INFO): Powering down
2020-11-19T19:38:27.225Z,1605814707.225 [NAL9602](INFO): Powering down
2020-11-19T19:38:27.226Z,1605814707.226 [DAT](INFO): Powering down
2020-11-19T19:38:27.347Z,1605814707.347 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2020-11-19T19:38:27.348Z,1605814707.348 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2020-11-19T19:38:27.349Z,1605814707.349 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2020-11-19T19:38:27.349Z,1605814707.349 [MissionManager](INFO): Uninitializing Mission Default
2020-11-19T19:38:27.349Z,1605814707.349 [Default] Stopped
2020-11-19T19:38:27.349Z,1605814707.349 [Default](DEBUG): Aggregate::uninitialize Default
2020-11-19T19:38:27.349Z,1605814707.349 [Default:B.GoToSurface] Stopped
2020-11-19T19:38:27.349Z,1605814707.349 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2020-11-19T19:38:27.350Z,1605814707.350 [Default:CheckIn] Stopped
2020-11-19T19:38:27.350Z,1605814707.350 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2020-11-19T19:38:27.350Z,1605814707.350 [Default:CheckIn:Read_GPS] Stopped
2020-11-19T19:38:27.352Z,1605814707.352 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2020-11-19T19:38:27.352Z,1605814707.352 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2020-11-19T19:38:27.352Z,1605814707.352 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2020-11-19T19:38:27.353Z,1605814707.353 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2020-11-19T19:38:27.353Z,1605814707.353 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2020-11-19T19:38:27.353Z,1605814707.353 [BuoyancyServo](INFO): Powering down
2020-11-19T19:38:27.365Z,1605814707.365 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2020-11-19T19:38:27.365Z,1605814707.365 [ElevatorServo](INFO): Powering down
2020-11-19T19:38:27.366Z,1605814707.366 [MassServo](DEBUG): Uninitialize Mass Servo.
2020-11-19T19:38:27.366Z,1605814707.366 [MassServo](INFO): Powering down
2020-11-19T19:38:27.366Z,1605814707.366 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2020-11-19T19:38:27.367Z,1605814707.367 [RudderServo](INFO): Powering down
2020-11-19T19:38:27.367Z,1605814707.367 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2020-11-19T19:38:27.367Z,1605814707.367 [ThrusterServo](INFO): Powering down
2020-11-19T19:38:27.368Z,1605814707.368 [SBIT](DEBUG): Uninitialize SBIT Component.
2020-11-19T19:38:27.368Z,1605814707.368 [IBIT](DEBUG): Uninitialize IBIT Component.
2020-11-19T19:38:27.369Z,1605814707.369 [CBIT](DEBUG): Uninitialize CBIT Component.
2020-11-19T19:38:27.369Z,1605814707.369 [CBIT](DEBUG): Powering off loads.
2020-11-19T19:38:27.380Z,1605814707.380 [CBIT](DEBUG): Disabling WDT.
2020-11-19T19:38:27.392Z,1605814707.392 [CBIT](DEBUG): Opening all GF detection circuits.
2020-11-19T19:38:27.393Z,1605814707.393 [controlThread ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.472Z,1605814707.472 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.474Z,1605814707.474 [Onboard ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.479Z,1605814707.479 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.519Z,1605814707.519 [WetLabsBB2FL ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.524Z,1605814707.524 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.558Z,1605814707.558 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2020-11-19T19:38:27.617Z,1605814707.617 [logger ThreadHandler](INFO): Thread cancelled.