2020-12-03T21:08:46.218Z,1607029726.218 [CommandLine](IMPORTANT): got command restart logs
2020-12-03T21:09:09.043Z,1607029749.043 [DataOverHttps](IMPORTANT): SBD MTMSN=20201203T210806
2020-12-03T21:09:16.377Z,1607029756.377 [DataOverHttps](INFO): Received command:load Engineering/lineCaptureDepthUSBLMode.xml;set LineCapture.DetachTimeout 3 second;run
2020-12-03T21:09:16.442Z,1607029756.442 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepthUSBLMode.xml
2020-12-03T21:09:16.443Z,1607029756.443 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepthUSBLMode.xml
2020-12-03T21:09:16.524Z,1607029756.524 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MissionTimeout = 4.000000 h
2020-12-03T21:09:16.526Z,1607029756.526 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.NeedCommsTime = 240.000000 min
2020-12-03T21:09:16.529Z,1607029756.529 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MicromodemCommsInterval = 5.000000 min
2020-12-03T21:09:16.531Z,1607029756.531 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.Repeat = 1.000000 count
2020-12-03T21:09:16.533Z,1607029756.533 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.WaitOnDockTimeout = 5.000000 min
2020-12-03T21:09:16.535Z,1607029756.535 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.TransponderCode = 50.000000 count
2020-12-03T21:09:16.537Z,1607029756.537 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.TrackingUpdatePeriod = 2.500000 s
2020-12-03T21:09:16.539Z,1607029756.539 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.NumberOfPings = 1.000000 count
2020-12-03T21:09:16.541Z,1607029756.541 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.NumberOfUSBLPings = 254.000000 count
2020-12-03T21:09:16.543Z,1607029756.543 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MinAltitude = 5.000000 m
2020-12-03T21:09:16.581Z,1607029756.581 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MaxDepth = 205.000000 m
2020-12-03T21:09:16.583Z,1607029756.583 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MinOffshore = 2.000000 km
2020-12-03T21:09:16.586Z,1607029756.586 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode.Mode = -1.000000 count
2020-12-03T21:09:16.586Z,1607029756.586 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-03T21:09:16.918Z,1607029756.918 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectChlActive = 0 bool
2020-12-03T21:09:16.920Z,1607029756.920 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.TimeWindowPeakReport = nan min
2020-12-03T21:09:16.922Z,1607029756.922 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.HighestChlPeakReportActive = 0 bool
2020-12-03T21:09:16.924Z,1607029756.924 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PatchTracking = 0 bool
2020-12-03T21:09:16.926Z,1607029756.926 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.FilterWidthHorizontal = 3.000000 count
2020-12-03T21:09:16.928Z,1607029756.928 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-03T21:09:16.930Z,1607029756.930 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-03T21:09:16.932Z,1607029756.932 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectNO3Active = 0 bool
2020-12-03T21:09:16.934Z,1607029756.934 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectOilActive = 0 bool
2020-12-03T21:09:16.936Z,1607029756.936 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectFDOMActive = 0 bool
2020-12-03T21:09:16.943Z,1607029756.943 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-03T21:09:16.974Z,1607029756.974 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-03T21:09:16.977Z,1607029756.977 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledNeilBrown = 0.000000 bool
2020-12-03T21:09:16.980Z,1607029756.980 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledSeabird = 1.000000 bool
2020-12-03T21:09:16.982Z,1607029756.982 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledWetLabsBB2FL = 1.000000 bool
2020-12-03T21:09:16.985Z,1607029756.985 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2020-12-03T21:09:16.987Z,1607029756.987 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-03T21:09:17.041Z,1607029757.041 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.LowPassWindowLength = 20.000000 count
2020-12-03T21:09:17.044Z,1607029757.044 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.MedianFilterLen = 5.000000 count
2020-12-03T21:09:17.062Z,1607029757.062 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakShallowBound = nan m
2020-12-03T21:09:17.064Z,1607029757.064 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDeepBound = nan m
2020-12-03T21:09:17.078Z,1607029757.078 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChl = 0.000000 ug/l
2020-12-03T21:09:17.093Z,1607029757.093 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlDepth = 0.000000 m
2020-12-03T21:09:17.095Z,1607029757.095 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlTemperature = 0.000000 degC
2020-12-03T21:09:17.121Z,1607029757.121 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlLatitude = nan arcdeg
2020-12-03T21:09:17.123Z,1607029757.123 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlLongitude = nan arcdeg
2020-12-03T21:09:17.129Z,1607029757.129 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3 = 0.000000 umol/l
2020-12-03T21:09:17.131Z,1607029757.131 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3Depth = 0.000000 m
2020-12-03T21:09:17.140Z,1607029757.140 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3Latitude = nan arcdeg
2020-12-03T21:09:17.142Z,1607029757.142 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3Longitude = nan arcdeg
2020-12-03T21:09:17.144Z,1607029757.144 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChl = 0.000000 m
2020-12-03T21:09:17.151Z,1607029757.151 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlDepth = 0.000000 m
2020-12-03T21:09:17.157Z,1607029757.157 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlLatitude = nan arcdeg
2020-12-03T21:09:17.159Z,1607029757.159 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlLongitude = nan arcdeg
2020-12-03T21:09:17.166Z,1607029757.166 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlDistance = nan m
2020-12-03T21:09:17.168Z,1607029757.168 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOil = 0.000000 kg/m3
2020-12-03T21:09:17.174Z,1607029757.174 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOilDepth = 0.000000 m
2020-12-03T21:09:17.181Z,1607029757.181 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOilLatitude = nan arcdeg
2020-12-03T21:09:17.183Z,1607029757.183 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOilLongitude = nan arcdeg
2020-12-03T21:09:17.189Z,1607029757.189 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOM = 0.000000 ppb
2020-12-03T21:09:17.191Z,1607029757.191 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOMDepth = 0.000000 m
2020-12-03T21:09:17.196Z,1607029757.196 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOMLatitude = nan arcdeg
2020-12-03T21:09:17.206Z,1607029757.206 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOMLongitude = nan arcdeg
2020-12-03T21:09:17.209Z,1607029757.209 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchFDOMDistance = nan m
2020-12-03T21:09:17.242Z,1607029757.242 [lineCaptureDepthUSBLMode:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:09:17.265Z,1607029757.265 [lineCaptureDepthUSBLMode:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-03T21:09:17.290Z,1607029757.290 [lineCaptureDepthUSBLMode:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:09:17.314Z,1607029757.314 [lineCaptureDepthUSBLMode:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:09:17.326Z,1607029757.326 [lineCaptureDepthUSBLMode:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:09:17.334Z,1607029757.334 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-03T21:09:17.352Z,1607029757.352 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-03T21:09:17.354Z,1607029757.354 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-03T21:09:17.356Z,1607029757.356 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-03T21:09:17.357Z,1607029757.357 [lineCaptureDepthUSBLMode:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-03T21:09:17.362Z,1607029757.362 [lineCaptureDepthUSBLMode:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-03T21:09:17.369Z,1607029757.369 [lineCaptureDepthUSBLMode:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-03T21:09:17.378Z,1607029757.378 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-03T21:09:17.557Z,1607029757.557 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.DiveInterval = 3.000000 h
2020-12-03T21:09:17.560Z,1607029757.560 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-03T21:09:17.566Z,1607029757.566 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-03T21:09:17.568Z,1607029757.568 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.SurfaceDepthRate = nan m/s
2020-12-03T21:09:17.590Z,1607029757.590 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-03T21:09:17.592Z,1607029757.592 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.GPSTimeout = 7.000000 min
2020-12-03T21:09:17.598Z,1607029757.598 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.CommsTimeout = 30.000000 min
2020-12-03T21:09:17.612Z,1607029757.612 [lineCaptureDepthUSBLMode:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-03T21:09:17.649Z,1607029757.649 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2020-12-03T21:09:17.679Z,1607029757.679 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:MicromodemComms.Timeout = 10.000000 min
2020-12-03T21:09:17.681Z,1607029757.681 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:MicromodemComms.CommsInterval = 5.000000 min
2020-12-03T21:09:17.685Z,1607029757.685 [MissionManager](INFO): RedefineArg lineCaptureDepthUSBLMode:MicromodemComms.CommsInterval = reader:lineCaptureDepthUSBLMode.MicromodemCommsInterval
2020-12-03T21:09:17.708Z,1607029757.708 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-12-03T21:09:17.851Z,1607029757.851 [DAT](INFO): ****** received valid address query ******
2020-12-03T21:09:17.851Z,1607029757.851 [DAT](INFO): ****** received valid ping request ******
2020-12-03T21:09:17.852Z,1607029757.852 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2020-12-03T21:09:17.857Z,1607029757.857 [DAT](INFO): ****** ping requested ******
2020-12-03T21:09:17.900Z,1607029757.900 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DockLat = 36.803400 arcdeg
2020-12-03T21:09:17.906Z,1607029757.906 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DockLon = -121.822300 arcdeg
2020-12-03T21:09:17.908Z,1607029757.908 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DetachTimeout = 30.000000 min
2020-12-03T21:09:17.911Z,1607029757.911 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MidcourseDepth = 6.000000 m
2020-12-03T21:09:17.913Z,1607029757.913 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-12-03T21:09:17.916Z,1607029757.916 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MidcourseTimeout = 6.000000 h
2020-12-03T21:09:17.918Z,1607029757.918 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.TerminalRange = 650.000000 m
2020-12-03T21:09:17.921Z,1607029757.921 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.AcousticTimeout = 5.000000 min
2020-12-03T21:09:17.923Z,1607029757.923 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.SearchTimeout = 1.000000 h
2020-12-03T21:09:17.927Z,1607029757.927 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.CircleRadius = 25.000000 m
2020-12-03T21:09:17.930Z,1607029757.930 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.CircleMaxError = 1.000000 m
2020-12-03T21:09:17.932Z,1607029757.932 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.CircleTurnToPort = 0 bool
2020-12-03T21:09:17.934Z,1607029757.934 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DepthDeadband = 0.010000 m
2020-12-03T21:09:17.937Z,1607029757.937 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-12-03T21:09:17.939Z,1607029757.939 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MinAltitude = 2.000000 m
2020-12-03T21:09:17.942Z,1607029757.942 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MaxDepth = 8.000000 m
2020-12-03T21:09:17.945Z,1607029757.945 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MinOffshore = 1.000000 m
2020-12-03T21:09:17.948Z,1607029757.948 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.DoneTimeout = -1.000000 count
2020-12-03T21:09:17.950Z,1607029757.950 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.Done = 0.000000 count
2020-12-03T21:09:17.953Z,1607029757.953 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.DetachFromDock = 1.000000 count
2020-12-03T21:09:17.955Z,1607029757.955 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.Midcourse = 2.000000 count
2020-12-03T21:09:17.957Z,1607029757.957 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.Terminal = 3.000000 count
2020-12-03T21:09:17.959Z,1607029757.959 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.GuidanceMode = 1.000000 n/a
2020-12-03T21:09:17.962Z,1607029757.962 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.DockingDepth = 1.000000 m
2020-12-03T21:09:17.964Z,1607029757.964 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.ElapsedRange = 0.000000 min
2020-12-03T21:09:17.966Z,1607029757.966 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.Range = nan m
2020-12-03T21:09:17.971Z,1607029757.971 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-03T21:09:17.987Z,1607029757.987 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-03T21:09:17.989Z,1607029757.989 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-03T21:09:18.017Z,1607029758.017 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-03T21:09:18.018Z,1607029758.018 [lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-03T21:09:18.023Z,1607029758.023 [lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-03T21:09:18.045Z,1607029758.045 [lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-03T21:09:18.088Z,1607029758.088 [lineCaptureDepthUSBLMode:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2020-12-03T21:09:18.090Z,1607029758.090 [lineCaptureDepthUSBLMode:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-03T21:09:18.116Z,1607029758.116 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-12-03T21:09:18.116Z,1607029758.116 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-03T21:09:18.171Z,1607029758.171 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2020-12-03T21:09:18.173Z,1607029758.173 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2020-12-03T21:09:18.177Z,1607029758.177 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-12-03T21:09:18.194Z,1607029758.194 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-12-03T21:09:18.225Z,1607029758.225 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2020-12-03T21:09:18.254Z,1607029758.254 [DAT](INFO): DAT read: user:31>

2020-12-03T21:09:18.255Z,1607029758.255 [DAT](INFO): DAT read: Tx time:21:07:33.7600

2020-12-03T21:09:18.255Z,1607029758.255 [DAT](INFO): Ping request sent.
2020-12-03T21:09:18.255Z,1607029758.255 [DAT](INFO): transmitted an acoustic signal
2020-12-03T21:09:18.256Z,1607029758.256 [DAT](INFO): publishing transmit ping time
2020-12-03T21:09:18.279Z,1607029758.279 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2020-12-03T21:09:18.302Z,1607029758.302 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-03T21:09:18.302Z,1607029758.302 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-03T21:09:18.313Z,1607029758.313 [lineCaptureDepthUSBLMode:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-12-03T21:09:18.315Z,1607029758.315 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-12-03T21:09:18.351Z,1607029758.351 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.DockLat = 36.803400 arcdeg
2020-12-03T21:09:18.354Z,1607029758.354 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.DockLon = -121.822300 arcdeg
2020-12-03T21:09:18.356Z,1607029758.356 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.DockRange = 5.000000 m
2020-12-03T21:09:18.358Z,1607029758.358 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-12-03T21:09:18.365Z,1607029758.365 [lineCaptureDepthUSBLMode:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-12-03T21:09:18.379Z,1607029758.379 [lineCaptureDepthUSBLMode:Lap:Docked:B.Docked](DEBUG): Construct.
2020-12-03T21:09:18.379Z,1607029758.379 [lineCaptureDepthUSBLMode:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2020-12-03T21:09:18.387Z,1607029758.387 [lineCaptureDepthUSBLMode:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2020-12-03T21:09:18.388Z,1607029758.388 [lineCaptureDepthUSBLMode:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-03T21:09:18.428Z,1607029758.428 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureDepthUSBLMode">

    <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 (4) Dock: final approach using fixed heading.
    </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>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></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 before terminal guidance. Set this to 1.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumberOfUSBLPings"><Description>
        Number of pings requested for Benthos USBL Mode. This should be 2x the distance but max is 255. It will request again after the 255 pings. 
    </Description><Units:count/><Value>254</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>

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

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description> 
    </Insert>

    <!-- Safety nets and surfacing behaviors -->

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

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

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

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

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

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

    <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>

    <!-- Add LineCapture directives. -->

    <Insert Filename="Insert/LineCapture.xml"/>
    
    <!-- Add SetNav directives. -->

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

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

        <!-- Execute the LineCapture sequence. -->
        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Terminal">
            <Sequence/>
                    <When>
                        <Arg Name="Mode"/><Eq><Units:count/><Value>3</Value></Eq>
                    </When>
            <Syslog Severity="Important">Terminal Mode. Requesting multiple pings if available. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
            <Assign><Sequence/><Arg Name="NumberOfPings"/><Arg Name="NumberOfUSBLPings"/></Assign>
        </Aggregate>


        <Aggregate Id="Docked">
            <Sequence/>

            <Break>
                <Arg Name="Mode"/><Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked>
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">
                <Sequence/>

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2020-12-03T21:09:18.429Z,1607029758.429 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepthUSBLMode.xml
2020-12-03T21:09:21.090Z,1607029761.090 [DAT](INFO): DAT read: Rx Time:21:07:36.1652

2020-12-03T21:09:21.090Z,1607029761.090 [DAT](INFO): received an acoustic signal
2020-12-03T21:09:21.911Z,1607029761.911 [DAT](INFO): DAT read: 21:07:36.1652 LVL=  9968, 21681, 32754, 11763, AGC= 59, IDX= 439,-0.37, 0.222,-0.671,-0.885,-1.229, PHS= 1.435, 0.633, 0.392, RAW=  77.3, -42.6, CAL=  80.3, -45.4, ROT=  54.7,  45.4

2020-12-03T21:09:21.912Z,1607029761.912 [DAT](INFO): got valid direction response:
 21:07:36.1652 LVL=  9968, 21681, 32754, 11763, AGC= 59, IDX= 439,-0.37, 0.222,-0.671,-0.885,-1.229, PHS= 1.435, 0.633, 0.392, RAW=  77.3, -42.6, CAL=  80.3, -45.4, ROT=  54.7,  45.4

2020-12-03T21:09:21.917Z,1607029761.917 [DAT](INFO): DAT read: Bearing 333.0,  48.8 (Local)

2020-12-03T21:09:21.917Z,1607029761.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.0,  48.8 (Local)

2020-12-03T21:09:21.918Z,1607029761.918 [DAT](INFO): DAT read: Range 5 to 50 : 0.7 m  (Round-trip  1.0 ms) speed  0.0 m/s

2020-12-03T21:09:21.919Z,1607029761.919 [DAT](INFO): Read range and messages.
2020-12-03T21:09:21.920Z,1607029761.920 [DAT](INFO): direction in vehicle frame: [ 0.405744 forward, 0.573053 starboard, 0.712026 keelward ]
2020-12-03T21:09:21.920Z,1607029761.920 [DAT](INFO): publishing direction and range info
2020-12-03T21:09:23.548Z,1607029763.548 [CommandLine](IMPORTANT): got command set 
2020-12-03T21:09:23.549Z,1607029763.549 [CommandLine](FAULT): Incomplete syntax. Try: help set
2020-12-03T21:09:42.625Z,1607029782.625 [CommandLine](IMPORTANT): got command show stack
2020-12-03T21:09:42.625Z,1607029782.625 [CommandLine](IMPORTANT): Behavior Stack:

2020-12-03T21:09:42.626Z,1607029782.626 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2020-12-03T21:09:42.626Z,1607029782.626 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2020-12-03T21:10:08.206Z,1607029808.206 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepthUSBLMode.xml
2020-12-03T21:10:08.206Z,1607029808.206 [MissionManager](INFO): Uninitializing Mission lineCaptureDepthUSBLMode
2020-12-03T21:10:08.296Z,1607029808.296 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepthUSBLMode.xml
2020-12-03T21:10:08.481Z,1607029808.481 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MissionTimeout = 4.000000 h
2020-12-03T21:10:08.483Z,1607029808.483 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.NeedCommsTime = 240.000000 min
2020-12-03T21:10:08.485Z,1607029808.485 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MicromodemCommsInterval = 5.000000 min
2020-12-03T21:10:08.487Z,1607029808.487 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.Repeat = 1.000000 count
2020-12-03T21:10:08.490Z,1607029808.490 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.WaitOnDockTimeout = 5.000000 min
2020-12-03T21:10:08.492Z,1607029808.492 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.TransponderCode = 50.000000 count
2020-12-03T21:10:08.495Z,1607029808.495 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.TrackingUpdatePeriod = 2.500000 s
2020-12-03T21:10:08.497Z,1607029808.497 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.NumberOfPings = 1.000000 count
2020-12-03T21:10:08.499Z,1607029808.499 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.NumberOfUSBLPings = 254.000000 count
2020-12-03T21:10:08.501Z,1607029808.501 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MinAltitude = 5.000000 m
2020-12-03T21:10:08.503Z,1607029808.503 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MaxDepth = 205.000000 m
2020-12-03T21:10:08.521Z,1607029808.521 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode.MinOffshore = 2.000000 km
2020-12-03T21:10:08.524Z,1607029808.524 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode.Mode = -1.000000 count
2020-12-03T21:10:08.524Z,1607029808.524 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2020-12-03T21:10:08.789Z,1607029808.789 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectChlActive = 0 bool
2020-12-03T21:10:08.791Z,1607029808.791 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.TimeWindowPeakReport = nan min
2020-12-03T21:10:08.797Z,1607029808.797 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.HighestChlPeakReportActive = 0 bool
2020-12-03T21:10:08.799Z,1607029808.799 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PatchTracking = 0 bool
2020-12-03T21:10:08.806Z,1607029808.806 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.FilterWidthHorizontal = 3.000000 count
2020-12-03T21:10:08.808Z,1607029808.808 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.NumProfilesSlidingwindow = 100.000000 count
2020-12-03T21:10:08.811Z,1607029808.811 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.OffPeakFractionHorizontal = 80.000000 %
2020-12-03T21:10:08.813Z,1607029808.813 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectNO3Active = 0 bool
2020-12-03T21:10:08.815Z,1607029808.815 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectOilActive = 0 bool
2020-12-03T21:10:08.838Z,1607029808.838 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDetectFDOMActive = 0 bool
2020-12-03T21:10:08.840Z,1607029808.840 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2020-12-03T21:10:08.846Z,1607029808.846 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledAanderaaO2 = 0.000000 bool
2020-12-03T21:10:08.853Z,1607029808.853 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledNeilBrown = 0.000000 bool
2020-12-03T21:10:08.855Z,1607029808.855 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledSeabird = 1.000000 bool
2020-12-03T21:10:08.862Z,1607029808.862 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledWetLabsBB2FL = 1.000000 bool
2020-12-03T21:10:08.869Z,1607029808.869 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2020-12-03T21:10:08.871Z,1607029808.871 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.EnabledWetLabsUBAT = 0.000000 bool
2020-12-03T21:10:08.875Z,1607029808.875 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.LowPassWindowLength = 20.000000 count
2020-12-03T21:10:08.886Z,1607029808.886 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.MedianFilterLen = 5.000000 count
2020-12-03T21:10:08.893Z,1607029808.893 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakShallowBound = nan m
2020-12-03T21:10:08.895Z,1607029808.895 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:Science.PeakDeepBound = nan m
2020-12-03T21:10:08.901Z,1607029808.901 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChl = 0.000000 ug/l
2020-12-03T21:10:08.903Z,1607029808.903 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlDepth = 0.000000 m
2020-12-03T21:10:08.908Z,1607029808.908 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlTemperature = 0.000000 degC
2020-12-03T21:10:08.921Z,1607029808.921 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlLatitude = nan arcdeg
2020-12-03T21:10:08.930Z,1607029808.930 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakChlLongitude = nan arcdeg
2020-12-03T21:10:08.935Z,1607029808.935 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3 = 0.000000 umol/l
2020-12-03T21:10:08.946Z,1607029808.946 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3Depth = 0.000000 m
2020-12-03T21:10:08.948Z,1607029808.948 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3Latitude = nan arcdeg
2020-12-03T21:10:08.950Z,1607029808.950 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakNO3Longitude = nan arcdeg
2020-12-03T21:10:08.952Z,1607029808.952 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChl = 0.000000 m
2020-12-03T21:10:08.967Z,1607029808.967 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlDepth = 0.000000 m
2020-12-03T21:10:08.969Z,1607029808.969 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlLatitude = nan arcdeg
2020-12-03T21:10:08.971Z,1607029808.971 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlLongitude = nan arcdeg
2020-12-03T21:10:08.973Z,1607029808.973 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchChlDistance = nan m
2020-12-03T21:10:09.006Z,1607029809.006 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOil = 0.000000 kg/m3
2020-12-03T21:10:09.008Z,1607029809.008 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOilDepth = 0.000000 m
2020-12-03T21:10:09.018Z,1607029809.018 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOilLatitude = nan arcdeg
2020-12-03T21:10:09.020Z,1607029809.020 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakOilLongitude = nan arcdeg
2020-12-03T21:10:09.022Z,1607029809.022 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOM = 0.000000 ppb
2020-12-03T21:10:09.037Z,1607029809.037 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOMDepth = 0.000000 m
2020-12-03T21:10:09.039Z,1607029809.039 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOMLatitude = nan arcdeg
2020-12-03T21:10:09.041Z,1607029809.041 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PeakFDOMLongitude = nan arcdeg
2020-12-03T21:10:09.043Z,1607029809.043 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:Science.PatchFDOMDistance = nan m
2020-12-03T21:10:09.102Z,1607029809.102 [lineCaptureDepthUSBLMode:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:10:09.126Z,1607029809.126 [lineCaptureDepthUSBLMode:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2020-12-03T21:10:09.181Z,1607029809.181 [lineCaptureDepthUSBLMode:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:10:09.203Z,1607029809.203 [lineCaptureDepthUSBLMode:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:10:09.243Z,1607029809.243 [lineCaptureDepthUSBLMode:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2020-12-03T21:10:09.253Z,1607029809.253 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-03T21:10:09.270Z,1607029809.270 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-03T21:10:09.272Z,1607029809.272 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-03T21:10:09.274Z,1607029809.274 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-03T21:10:09.275Z,1607029809.275 [lineCaptureDepthUSBLMode:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-03T21:10:09.281Z,1607029809.281 [lineCaptureDepthUSBLMode:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-03T21:10:09.287Z,1607029809.287 [lineCaptureDepthUSBLMode:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-03T21:10:09.295Z,1607029809.295 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2020-12-03T21:10:09.334Z,1607029809.334 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.DiveInterval = 3.000000 h
2020-12-03T21:10:09.336Z,1607029809.336 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.WaitForPitchUp = 10.000000 min
2020-12-03T21:10:09.338Z,1607029809.338 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.SurfacePitch = 20.000000 arcdeg
2020-12-03T21:10:09.341Z,1607029809.341 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.SurfaceDepthRate = nan m/s
2020-12-03T21:10:09.343Z,1607029809.343 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.SurfaceSpeed = 1.000000 m/s
2020-12-03T21:10:09.345Z,1607029809.345 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.GPSTimeout = 7.000000 min
2020-12-03T21:10:09.347Z,1607029809.347 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:NeedComms.CommsTimeout = 30.000000 min
2020-12-03T21:10:09.352Z,1607029809.352 [lineCaptureDepthUSBLMode:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2020-12-03T21:10:09.366Z,1607029809.366 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2020-12-03T21:10:09.380Z,1607029809.380 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:MicromodemComms.Timeout = 10.000000 min
2020-12-03T21:10:09.382Z,1607029809.382 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:MicromodemComms.CommsInterval = 5.000000 min
2020-12-03T21:10:09.387Z,1607029809.387 [MissionManager](INFO): RedefineArg lineCaptureDepthUSBLMode:MicromodemComms.CommsInterval = reader:lineCaptureDepthUSBLMode.MicromodemCommsInterval
2020-12-03T21:10:09.396Z,1607029809.396 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2020-12-03T21:10:09.531Z,1607029809.531 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DockLat = 36.803400 arcdeg
2020-12-03T21:10:09.534Z,1607029809.534 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DockLon = -121.822300 arcdeg
2020-12-03T21:10:09.536Z,1607029809.536 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DetachTimeout = 30.000000 min
2020-12-03T21:10:09.564Z,1607029809.564 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MidcourseDepth = 6.000000 m
2020-12-03T21:10:09.567Z,1607029809.567 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MidcourseSpeed = 1.000000 m/s
2020-12-03T21:10:09.569Z,1607029809.569 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MidcourseTimeout = 6.000000 h
2020-12-03T21:10:09.572Z,1607029809.572 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.TerminalRange = 650.000000 m
2020-12-03T21:10:09.610Z,1607029809.610 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.AcousticTimeout = 5.000000 min
2020-12-03T21:10:09.612Z,1607029809.612 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.SearchTimeout = 1.000000 h
2020-12-03T21:10:09.627Z,1607029809.627 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.CircleRadius = 25.000000 m
2020-12-03T21:10:09.641Z,1607029809.641 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.CircleMaxError = 1.000000 m
2020-12-03T21:10:09.643Z,1607029809.643 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.CircleTurnToPort = 0 bool
2020-12-03T21:10:09.657Z,1607029809.657 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.DepthDeadband = 0.010000 m
2020-12-03T21:10:09.659Z,1607029809.659 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.RudderDeadband = 0.001000 arcdeg
2020-12-03T21:10:09.674Z,1607029809.674 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MinAltitude = 2.000000 m
2020-12-03T21:10:09.676Z,1607029809.676 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MaxDepth = 8.000000 m
2020-12-03T21:10:09.690Z,1607029809.690 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.MinOffshore = 1.000000 m
2020-12-03T21:10:09.692Z,1607029809.692 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.DoneTimeout = -1.000000 count
2020-12-03T21:10:09.706Z,1607029809.706 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.Done = 0.000000 count
2020-12-03T21:10:09.721Z,1607029809.721 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.DetachFromDock = 1.000000 count
2020-12-03T21:10:09.723Z,1607029809.723 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.Midcourse = 2.000000 count
2020-12-03T21:10:09.738Z,1607029809.738 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.Terminal = 3.000000 count
2020-12-03T21:10:09.740Z,1607029809.740 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.GuidanceMode = 1.000000 n/a
2020-12-03T21:10:09.751Z,1607029809.751 [MissionManager](INFO): DefineOutput lineCaptureDepthUSBLMode:LineCapture.DockingDepth = 1.000000 m
2020-12-03T21:10:09.769Z,1607029809.769 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.ElapsedRange = 0.000000 min
2020-12-03T21:10:09.771Z,1607029809.771 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture.Range = nan m
2020-12-03T21:10:09.801Z,1607029809.801 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2020-12-03T21:10:09.853Z,1607029809.853 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2020-12-03T21:10:09.856Z,1607029809.856 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2020-12-03T21:10:09.874Z,1607029809.874 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2020-12-03T21:10:09.875Z,1607029809.875 [lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2020-12-03T21:10:09.884Z,1607029809.884 [lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2020-12-03T21:10:09.902Z,1607029809.902 [lineCaptureDepthUSBLMode:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2020-12-03T21:10:09.927Z,1607029809.927 [lineCaptureDepthUSBLMode:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2020-12-03T21:10:09.965Z,1607029809.965 [lineCaptureDepthUSBLMode:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2020-12-03T21:10:09.975Z,1607029809.975 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2020-12-03T21:10:09.975Z,1607029809.975 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2020-12-03T21:10:10.008Z,1607029810.008 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2020-12-03T21:10:10.019Z,1607029810.019 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2020-12-03T21:10:10.033Z,1607029810.033 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2020-12-03T21:10:10.046Z,1607029810.046 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2020-12-03T21:10:10.062Z,1607029810.062 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2020-12-03T21:10:10.068Z,1607029810.068 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2020-12-03T21:10:10.075Z,1607029810.075 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2020-12-03T21:10:10.075Z,1607029810.075 [lineCaptureDepthUSBLMode:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2020-12-03T21:10:10.078Z,1607029810.078 [lineCaptureDepthUSBLMode:LineCapture:K.Wait](DEBUG): Construct Wait.
2020-12-03T21:10:10.080Z,1607029810.080 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2020-12-03T21:10:10.105Z,1607029810.105 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.DockLat = 36.803400 arcdeg
2020-12-03T21:10:10.108Z,1607029810.108 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.DockLon = -121.822300 arcdeg
2020-12-03T21:10:10.110Z,1607029810.110 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.DockRange = 5.000000 m
2020-12-03T21:10:10.113Z,1607029810.113 [MissionManager](INFO): DefineArg lineCaptureDepthUSBLMode:SetNavAcoustic.RangeTimeout = 5.000000 min
2020-12-03T21:10:10.118Z,1607029810.118 [lineCaptureDepthUSBLMode:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2020-12-03T21:10:10.133Z,1607029810.133 [lineCaptureDepthUSBLMode:Lap:Docked:B.Docked](DEBUG): Construct.
2020-12-03T21:10:10.133Z,1607029810.133 [lineCaptureDepthUSBLMode:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2020-12-03T21:10:10.140Z,1607029810.140 [lineCaptureDepthUSBLMode:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2020-12-03T21:10:10.140Z,1607029810.140 [lineCaptureDepthUSBLMode:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2020-12-03T21:10:10.182Z,1607029810.182 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureDepthUSBLMode">

    <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 (4) Dock: final approach using fixed heading.
    </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>240</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description>
        How often to trigger Umodem communications
    </Description><Units:minute/><Value>5</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Dock:Dock.transponderCode/></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 before terminal guidance. Set this to 1.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumberOfUSBLPings"><Description>
        Number of pings requested for Benthos USBL Mode. This should be 2x the distance but max is 255. It will request again after the 255 pings. 
    </Description><Units:count/><Value>254</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>

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

    <DefineOutput Name="Mode"><Description>
        Mission variable (don't change).
        The mission sets this variable to reflect the termination status of the LineCapture insert.
    </Description><Units:count/><Value>-1</Value></DefineOutput>

    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description> 
    </Insert>

    <!-- Safety nets and surfacing behaviors -->

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

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

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

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

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <!-- Micromodem comms -->

    <Insert Filename="Insert/MicromodemComms.xml" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

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

    <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>

    <!-- Add LineCapture directives. -->

    <Insert Filename="Insert/LineCapture.xml"/>
    
    <!-- Add SetNav directives. -->

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

    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Assign><Sequence/><Arg Name="Mode"/><Units:count/><Value>-99</Value></Assign>

        <!-- Execute the LineCapture sequence. -->
        <Call RefId="LineCapture"/>

        <Assign><Sequence/><Arg Name="Mode"/><Arg Name="LineCapture:GuidanceMode"/></Assign>

        <Syslog Severity="Info">Mode<Arg Name="Mode"/><Units:count/></Syslog>

        <Aggregate Id="Terminal">
            <Sequence/>
                    <When>
                        <Arg Name="Mode"/><Eq><Units:count/><Value>3</Value></Eq>
                    </When>
            <Syslog Severity="Important">Terminal Mode. Requesting multiple pings if available. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
            <Assign><Sequence/><Arg Name="NumberOfPings"/><Arg Name="NumberOfUSBLPings"/></Assign>
        </Aggregate>


        <Aggregate Id="Docked">
            <Sequence/>

            <Break>
                <Arg Name="Mode"/><Lt><Units:count/><Value>0</Value></Lt>
            </Break>

            <Syslog Severity="Info">Waiting on dock for <Arg Name="WaitOnDockTimeout"/><Units:minute/></Syslog>

            <Guidance:Docked>
                <Sequence/>
                <Timeout Duration="WaitOnDockTimeout"/>
            </Guidance:Docked>

            <Aggregate Id="Detach">
                <Sequence/>

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

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

            </Aggregate>
        </Aggregate>

    </Aggregate>

</Mission>


2020-12-03T21:10:10.183Z,1607029810.183 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepthUSBLMode.xml
2020-12-03T21:10:14.522Z,1607029814.522 [CommandLine](IMPORTANT): got command show variable detach
2020-12-03T21:10:14.550Z,1607029814.550 [CommandLine](IMPORTANT): Docked.detachTimeout (second)
2020-12-03T21:10:14.642Z,1607029814.642 [CommandLine](IMPORTANT): lineCaptureDepthUSBLMode:LineCapture.DetachTimeout (minute)
2020-12-03T21:10:14.645Z,1607029814.645 [CommandLine](IMPORTANT): lineCaptureDepthUSBLMode:LineCapture.DetachFromDock (count)
2020-12-03T21:10:27.946Z,1607029827.946 [CommandLine](IMPORTANT): got command get lineCaptureDepthUSBLMode:LineCapture.DetachTimeout
2020-12-03T21:10:27.946Z,1607029827.946 [CommandLine](IMPORTANT): lineCaptureDepthUSBLMode:LineCapture.DetachTimeout 30.000000 min