2019-03-25T23:33:44.089Z,1553556824.089 [Supervisor](DEBUG): Initializing supervisor.
2019-03-25T23:33:44.093Z,1553556824.093 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-03-25T23:33:44.093Z,1553556824.093 [SyncHandler](INFO): Protected caller Thread ID is 1001
2019-03-25T23:33:44.094Z,1553556824.094 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-03-25T23:33:44.095Z,1553556824.095 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-03-25T23:33:44.095Z,1553556824.095 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 1002
2019-03-25T23:33:44.100Z,1553556824.100 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-03-25T23:33:44.112Z,1553556824.112 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-03-25T23:33:44.113Z,1553556824.113 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-03-25T23:33:44.113Z,1553556824.113 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 1003
2019-03-25T23:33:44.114Z,1553556824.114 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-03-25T23:33:44.115Z,1553556824.115 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-03-25T23:33:44.115Z,1553556824.115 [logger ThreadHandler](INFO): Protected caller Thread ID is 1004
2019-03-25T23:33:44.117Z,1553556824.117 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-03-25T23:33:44.117Z,1553556824.117 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-03-25T23:33:44.119Z,1553556824.119 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-03-25T23:33:44.548Z,1553556824.548 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-03-25T23:33:44.549Z,1553556824.549 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-03-25T23:33:44.647Z,1553556824.647 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-03-25T23:33:44.647Z,1553556824.647 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-03-25T23:33:44.982Z,1553556824.982 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-03-25T23:33:44.982Z,1553556824.982 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-03-25T23:33:45.126Z,1553556825.126 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-03-25T23:33:45.127Z,1553556825.127 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-03-25T23:33:45.322Z,1553556825.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-03-25T23:33:45.323Z,1553556825.323 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-03-25T23:33:45.793Z,1553556825.793 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-03-25T23:33:45.794Z,1553556825.794 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-03-25T23:33:46.008Z,1553556826.008 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-03-25T23:33:46.009Z,1553556826.009 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-03-25T23:33:46.157Z,1553556826.157 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-03-25T23:33:46.158Z,1553556826.158 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-03-25T23:33:46.359Z,1553556826.359 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-03-25T23:33:46.359Z,1553556826.359 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-03-25T23:33:46.493Z,1553556826.493 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-03-25T23:33:46.494Z,1553556826.494 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-03-25T23:33:47.219Z,1553556827.219 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-03-25T23:33:47.219Z,1553556827.219 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-03-25T23:33:47.300Z,1553556827.300 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-03-25T23:33:47.404Z,1553556827.404 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-03-25T23:33:47.404Z,1553556827.404 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-03-25T23:33:47.909Z,1553556827.909 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-03-25T23:33:47.909Z,1553556827.909 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-03-25T23:33:48.317Z,1553556828.317 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-03-25T23:33:48.319Z,1553556828.319 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-03-25T23:33:48.320Z,1553556828.320 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-03-25T23:33:48.533Z,1553556828.533 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-03-25T23:33:48.634Z,1553556828.634 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-03-25T23:33:48.734Z,1553556828.734 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-03-25T23:33:48.962Z,1553556828.962 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-03-25T23:33:48.962Z,1553556828.962 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-03-25T23:33:49.047Z,1553556829.047 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-03-25T23:33:49.142Z,1553556829.142 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-03-25T23:33:49.241Z,1553556829.241 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-03-25T23:33:49.323Z,1553556829.323 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-03-25T23:33:49.433Z,1553556829.433 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-03-25T23:33:49.609Z,1553556829.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-03-25T23:33:49.745Z,1553556829.745 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-03-25T23:33:49.745Z,1553556829.745 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-03-25T23:33:49.752Z,1553556829.752 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-03-25T23:33:50.074Z,1553556830.074 [DataOverHttps] Loaded
2019-03-25T23:33:50.074Z,1553556830.074 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-03-25T23:33:50.075Z,1553556830.075 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407564E0
2019-03-25T23:33:50.076Z,1553556830.076 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 1083
2019-03-25T23:33:50.114Z,1553556830.114 [Depth_Keller] Loaded
2019-03-25T23:33:50.114Z,1553556830.114 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-03-25T23:33:50.119Z,1553556830.119 [DropWeight] Loaded
2019-03-25T23:33:50.119Z,1553556830.119 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-03-25T23:33:50.172Z,1553556830.172 [DUSBL_Hydroid] Loaded
2019-03-25T23:33:50.172Z,1553556830.172 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-03-25T23:33:50.212Z,1553556830.212 [Micromodem] Loaded
2019-03-25T23:33:50.213Z,1553556830.213 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-03-25T23:33:50.308Z,1553556830.308 [NAL9602] Loaded
2019-03-25T23:33:50.308Z,1553556830.308 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-03-25T23:33:50.324Z,1553556830.324 [Onboard] Loaded
2019-03-25T23:33:50.324Z,1553556830.324 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-03-25T23:33:50.330Z,1553556830.330 [Radio_Surface] Loaded
2019-03-25T23:33:50.331Z,1553556830.331 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-03-25T23:33:50.332Z,1553556830.332 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407864E0
2019-03-25T23:33:50.332Z,1553556830.332 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 1084
2019-03-25T23:33:50.392Z,1553556830.392 [RDI_Pathfinder] Loaded
2019-03-25T23:33:50.392Z,1553556830.392 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-03-25T23:33:50.413Z,1553556830.413 [RDI_PathfinderUp] Loaded
2019-03-25T23:33:50.414Z,1553556830.414 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2019-03-25T23:33:52.108Z,1553556832.108 [BPC1] Loaded
2019-03-25T23:33:52.108Z,1553556832.108 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-03-25T23:33:52.109Z,1553556832.109 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-03-25T23:33:52.109Z,1553556832.109 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-03-25T23:33:52.122Z,1553556832.122 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-03-25T23:33:52.123Z,1553556832.123 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-03-25T23:33:52.321Z,1553556832.321 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-03-25T23:33:52.321Z,1553556832.321 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-03-25T23:33:52.380Z,1553556832.380 [DeadReckonUsingSpeedCalculator] Loaded
2019-03-25T23:33:52.380Z,1553556832.380 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2019-03-25T23:33:52.438Z,1553556832.438 [DeadReckonWithRespectToSeafloor] Loaded
2019-03-25T23:33:52.439Z,1553556832.439 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2019-03-25T23:33:52.459Z,1553556832.459 [NavChart] Loaded
2019-03-25T23:33:52.460Z,1553556832.460 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-03-25T23:33:52.464Z,1553556832.464 [UniversalFixResidualReporter] Loaded
2019-03-25T23:33:52.464Z,1553556832.464 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-03-25T23:33:52.465Z,1553556832.465 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-03-25T23:33:52.465Z,1553556832.465 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-03-25T23:33:52.563Z,1553556832.563 [BuoyancyServo] Loaded
2019-03-25T23:33:52.563Z,1553556832.563 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-03-25T23:33:52.579Z,1553556832.579 [ElevatorServo] Loaded
2019-03-25T23:33:52.579Z,1553556832.579 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-03-25T23:33:52.593Z,1553556832.593 [MassServo] Loaded
2019-03-25T23:33:52.594Z,1553556832.594 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-03-25T23:33:52.609Z,1553556832.609 [RudderServo] Loaded
2019-03-25T23:33:52.609Z,1553556832.609 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-03-25T23:33:52.624Z,1553556832.624 [ThrusterServo] Loaded
2019-03-25T23:33:52.624Z,1553556832.624 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-03-25T23:33:52.625Z,1553556832.625 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-03-25T23:33:52.625Z,1553556832.625 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-03-25T23:33:52.869Z,1553556832.869 [CTD_NeilBrown] Loaded
2019-03-25T23:33:52.870Z,1553556832.870 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-03-25T23:33:52.871Z,1553556832.871 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408CB4E0
2019-03-25T23:33:52.871Z,1553556832.871 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 1085
2019-03-25T23:33:52.916Z,1553556832.916 [WetLabsSeaOWL_UV_A] Loaded
2019-03-25T23:33:52.916Z,1553556832.916 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-03-25T23:33:52.917Z,1553556832.917 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 408FB4E0
2019-03-25T23:33:52.917Z,1553556832.917 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 1086
2019-03-25T23:33:52.918Z,1553556832.918 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-03-25T23:33:52.919Z,1553556832.919 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-03-25T23:33:53.185Z,1553556833.185 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-03-25T23:33:53.186Z,1553556833.186 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-03-25T23:33:53.225Z,1553556833.225 [DepthRateCalculator] Loaded
2019-03-25T23:33:53.226Z,1553556833.226 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-03-25T23:33:53.232Z,1553556833.232 [PitchRateCalculator] Loaded
2019-03-25T23:33:53.232Z,1553556833.232 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-03-25T23:33:53.244Z,1553556833.244 [SpeedCalculator] Loaded
2019-03-25T23:33:53.245Z,1553556833.245 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-03-25T23:33:53.265Z,1553556833.265 [TempGradientCalculator] Loaded
2019-03-25T23:33:53.266Z,1553556833.266 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-03-25T23:33:53.272Z,1553556833.272 [YawRateCalculator] Loaded
2019-03-25T23:33:53.272Z,1553556833.272 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-03-25T23:33:53.312Z,1553556833.312 [ElevatorOffsetCalculator] Loaded
2019-03-25T23:33:53.312Z,1553556833.312 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-03-25T23:33:53.312Z,1553556833.312 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-03-25T23:33:53.313Z,1553556833.313 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-03-25T23:33:53.445Z,1553556833.445 [SBIT](DEBUG): Construct Startup Built In Test.
2019-03-25T23:33:53.467Z,1553556833.467 [SBIT] Loaded
2019-03-25T23:33:53.467Z,1553556833.467 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-03-25T23:33:53.467Z,1553556833.467 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-03-25T23:33:53.479Z,1553556833.479 [IBIT] Loaded
2019-03-25T23:33:53.479Z,1553556833.479 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-03-25T23:33:53.483Z,1553556833.483 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-03-25T23:33:53.622Z,1553556833.622 [CBIT] Loaded
2019-03-25T23:33:53.622Z,1553556833.622 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-03-25T23:33:53.622Z,1553556833.622 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-03-25T23:33:53.623Z,1553556833.623 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-03-25T23:33:53.697Z,1553556833.697 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-03-25T23:33:53.698Z,1553556833.698 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-03-25T23:33:53.791Z,1553556833.791 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-03-25T23:33:53.792Z,1553556833.792 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-03-25T23:33:53.855Z,1553556833.855 [VerticalControl](DEBUG): Construct VerticalControl.
2019-03-25T23:33:53.939Z,1553556833.939 [VerticalControl] Loaded
2019-03-25T23:33:53.939Z,1553556833.939 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-03-25T23:33:53.940Z,1553556833.940 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-03-25T23:33:53.999Z,1553556833.999 [HorizontalControl] Loaded
2019-03-25T23:33:53.999Z,1553556833.999 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-03-25T23:33:53.999Z,1553556833.999 [SpeedControl](DEBUG): Construct SpeedControl.
2019-03-25T23:33:54.001Z,1553556834.001 [SpeedControl] Loaded
2019-03-25T23:33:54.001Z,1553556834.001 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-03-25T23:33:54.002Z,1553556834.002 [LoopControl](DEBUG): Construct LoopControl.
2019-03-25T23:33:54.003Z,1553556834.003 [LoopControl] Loaded
2019-03-25T23:33:54.003Z,1553556834.003 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-03-25T23:33:54.003Z,1553556834.003 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-03-25T23:33:54.004Z,1553556834.004 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-03-25T23:33:54.030Z,1553556834.030 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-03-25T23:33:54.034Z,1553556834.034 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-03-25T23:33:54.035Z,1553556834.035 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-03-25T23:33:54.041Z,1553556834.041 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-03-25T23:33:54.042Z,1553556834.042 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACA4E0
2019-03-25T23:33:54.043Z,1553556834.043 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 1087
2019-03-25T23:33:54.048Z,1553556834.048 [Supervisor](INFO): Main Thread ID is 802
2019-03-25T23:33:54.048Z,1553556834.048 [Supervisor](DEBUG): Running supervisor.
2019-03-25T23:33:54.049Z,1553556834.049 [CommandLine ThreadHandler](INFO): Handler Thread ID is 1088
2019-03-25T23:33:54.051Z,1553556834.051 [controlThread ThreadHandler](INFO): Handler Thread ID is 1089
2019-03-25T23:33:54.052Z,1553556834.052 [controlThread](DEBUG): Initializing ControlThread
2019-03-25T23:33:54.058Z,1553556834.058 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:33:54.058Z,1553556834.059 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-03-25T23:33:54.059Z,1553556834.059 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-03-25T23:33:54.060Z,1553556834.060 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-03-25T23:33:54.060Z,1553556834.060 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-03-25T23:33:54.061Z,1553556834.061 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-03-25T23:33:54.061Z,1553556834.061 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-03-25T23:33:54.061Z,1553556834.061 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-03-25T23:33:54.062Z,1553556834.062 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-03-25T23:33:54.062Z,1553556834.062 [SBIT](INFO): Initialize SBIT Component.
2019-03-25T23:33:54.063Z,1553556834.063 [SBIT](IMPORTANT): git: 2019-03-18-23-g65e543b
2019-03-25T23:33:54.063Z,1553556834.063 [SBIT](INFO): git hash: 65e543b90c80aeeecc86c4125e453bf1af92ed2c
2019-03-25T23:33:54.063Z,1553556834.063 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-03-25T23:33:54.064Z,1553556834.064 [SBIT](IMPORTANT): Kernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2019-03-25T23:33:54.065Z,1553556834.065 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-03-25T23:33:54.065Z,1553556834.065 [IBIT](INFO): Initialize IBIT Component.
2019-03-25T23:33:54.066Z,1553556834.066 [CBIT](DEBUG): Initialize CBIT Component.
2019-03-25T23:33:54.067Z,1553556834.067 [logger ThreadHandler](INFO): Handler Thread ID is 1090
2019-03-25T23:33:54.078Z,1553556834.078 [CBIT](DEBUG): Initialized mux pins.
2019-03-25T23:33:54.078Z,1553556834.078 [CBIT](DEBUG): Initializing the watchdog timer.
2019-03-25T23:33:54.087Z,1553556834.087 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 1091
2019-03-25T23:33:54.088Z,1553556834.088 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-03-25T23:33:54.099Z,1553556834.099 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 1092
2019-03-25T23:33:54.102Z,1553556834.102 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-03-25T23:33:54.103Z,1553556834.103 [CBIT](DEBUG): Initializing heartbeat.
2019-03-25T23:33:54.119Z,1553556834.119 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 1093
2019-03-25T23:33:54.120Z,1553556834.120 [CTD_NeilBrown](INFO): Powering down
2019-03-25T23:33:54.147Z,1553556834.147 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 1094
2019-03-25T23:33:54.148Z,1553556834.148 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-03-25T23:33:54.174Z,1553556834.174 [CBIT](DEBUG): Deactivating GF circuits.
2019-03-25T23:33:54.174Z,1553556834.174 [CBIT](DEBUG): Deactivating emergency mode.
2019-03-25T23:33:54.176Z,1553556834.176 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 1095
2019-03-25T23:33:54.179Z,1553556834.179 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-03-25T23:33:54.179Z,1553556834.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-03-25T23:33:54.179Z,1553556834.179 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-03-25T23:33:54.179Z,1553556834.179 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-03-25T23:33:54.180Z,1553556834.180 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-03-25T23:33:54.180Z,1553556834.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-03-25T23:33:54.180Z,1553556834.180 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-03-25T23:33:54.180Z,1553556834.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-03-25T23:33:54.180Z,1553556834.180 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-03-25T23:33:54.180Z,1553556834.180 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-03-25T23:33:54.181Z,1553556834.181 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-03-25T23:33:54.181Z,1553556834.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-03-25T23:33:54.181Z,1553556834.181 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-03-25T23:33:54.181Z,1553556834.181 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-03-25T23:33:54.181Z,1553556834.181 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-03-25T23:33:54.182Z,1553556834.182 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-03-25T23:33:54.210Z,1553556834.210 [CBIT](DEBUG): Backplane powered.
2019-03-25T23:33:54.211Z,1553556834.211 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-03-25T23:33:54.212Z,1553556834.212 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-03-25T23:33:54.213Z,1553556834.213 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-03-25T23:33:54.213Z,1553556834.213 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-03-25T23:33:54.214Z,1553556834.214 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-03-25T23:33:54.225Z,1553556834.225 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T23:33:54.236Z,1553556834.236 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2019-03-25T23:33:54.237Z,1553556834.237 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-03-25T23:33:54.308Z,1553556834.308 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-03-25T23:33:54.309Z,1553556834.309 [Default:A.Wait](DEBUG): Construct Wait.
2019-03-25T23:33:54.331Z,1553556834.331 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T23:33:54.353Z,1553556834.353 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-03-25T23:33:54.356Z,1553556834.356 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-03-25T23:33:54.370Z,1553556834.370 [Default:E.Execute](DEBUG): Construct Execute.
2019-03-25T23:33:54.373Z,1553556834.373 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

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

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

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

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

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

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

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

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

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

    </Aggregate>

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

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

</Mission>


2019-03-25T23:33:54.394Z,1553556834.394 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-25T23:33:54.411Z,1553556834.411 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2019-03-25T23:33:54.427Z,1553556834.427 [DUSBL_Hydroid](INFO): Powering up
2019-03-25T23:33:54.427Z,1553556834.427 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-25T23:33:54.502Z,1553556834.502 [Radio_Surface](INFO): Powering up
2019-03-25T23:33:54.515Z,1553556834.515 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-25T23:33:54.552Z,1553556834.552 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:33:54.563Z,1553556834.563 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-03-25T23:33:54.564Z,1553556834.564 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:33:54.571Z,1553556834.571 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-03-25T23:33:54.572Z,1553556834.572 [MassServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:33:54.590Z,1553556834.590 [MassServo](DEBUG): Initializing MassServo.
2019-03-25T23:33:54.591Z,1553556834.591 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:33:54.599Z,1553556834.599 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-25T23:33:54.599Z,1553556834.599 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:33:54.607Z,1553556834.607 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-03-25T23:33:54.820Z,1553556834.820 [Micromodem](INFO): Powering up
2019-03-25T23:33:54.821Z,1553556834.821 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T23:33:54.922Z,1553556834.922 [RDI_PathfinderUp](INFO): Powering down
2019-03-25T23:33:54.950Z,1553556834.950 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-25T23:33:55.231Z,1553556835.231 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-25T23:33:55.554Z,1553556835.554 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-03-25T23:33:55.555Z,1553556835.555 [RudderServo](FAULT): Rudder failed to initialize
2019-03-25T23:33:55.555Z,1553556835.555 [RudderServo] Communications Fault, FailCount= 1
2019-03-25T23:33:55.555Z,1553556835.555 [RudderServo](ERROR): Communications Fault
2019-03-25T23:33:55.666Z,1553556835.666 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-03-25T23:33:55.851Z,1553556835.852 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-03-25T23:33:55.852Z,1553556835.852 [RudderServo](INFO): Powering down
2019-03-25T23:33:56.512Z,1553556836.512 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:33:56.631Z,1553556836.631 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-25T23:33:56.635Z,1553556836.635 [CBIT](INFO): Clearing failed state for component RudderServo
2019-03-25T23:33:56.636Z,1553556836.636 [RudderServo] No Fault, FailCount= 1
2019-03-25T23:33:59.716Z,1553556839.716 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T23:34:07.821Z,1553556847.821 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-03-25T23:34:11.028Z,1553556851.028 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T23:34:12.652Z,1553556852.652 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-25T23:34:19.108Z,1553556859.108 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T23:34:20.320Z,1553556860.320 [NAL9602](INFO): Powering up NAL9602
2019-03-25T23:34:22.844Z,1553556862.844 [SBIT](IMPORTANT): Beginning Startup BIT
2019-03-25T23:34:22.848Z,1553556862.848 [CBIT](IMPORTANT): Beginning ground fault scan
2019-03-25T23:34:29.209Z,1553556869.209 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T23:34:31.228Z,1553556871.228 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:34:32.050Z,1553556872.050 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:34:33.770Z,1553556873.770 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.019283
CHAN A1 (24V): -0.026793
CHAN A2 (12V): -0.007095
CHAN A3 (5V): -0.002248
CHAN B0 (3.3V): -0.000121
CHAN B1 (3.15aV): 0.000031
CHAN B2 (3.15bV): 0.000451
CHAN B3 (GND): 0.002283
OPEN: 0.007027
Full Scale Calc: 4.765 mA, -1.589 mA
2019-03-25T23:34:36.205Z,1553556876.205 [SBIT](FAULT): Mass: EXPECTED:0.008600 ACTUAL:0.000003
2019-03-25T23:34:39.308Z,1553556879.308 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T23:34:49.005Z,1553556889.005 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T23:34:50Z,0*79

2019-03-25T23:34:49.409Z,1553556889.409 [Micromodem](ERROR): Response from modem unexpected: $CADQF,197,1*5F

2019-03-25T23:34:49.813Z,1553556889.813 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-25T23:34:50.221Z,1553556890.221 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190325233448.299244,05,444,26,0099,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,197,0.00,-999,9760,4000*58

2019-03-25T23:35:00.722Z,1553556900.722 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:35:00.723Z,1553556900.723 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:35:16.614Z,1553556916.614 [SBIT](CRITICAL): SBIT FAILED
2019-03-25T23:35:16.669Z,1553556916.669 [CommandLine](FAULT): Scheduling is paused
2019-03-25T23:35:16.670Z,1553556916.670 [CBIT](INFO): Critical error at 20190325T233516
2019-03-25T23:35:16.670Z,1553556916.670 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-03-25T23:35:16.703Z,1553556916.703 [CommandLine](IMPORTANT): got command configSet list
2019-03-25T23:35:16.704Z,1553556916.704 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-03-25T23:35:16.704Z,1553556916.704 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-03-25T23:35:16.705Z,1553556916.705 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-03-25T23:35:16.705Z,1553556916.705 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=20 count;

2019-03-25T23:35:16.705Z,1553556916.705 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.range 2.000000 meter;

2019-03-25T23:35:16.705Z,1553556916.705 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 angular_degree;

2019-03-25T23:35:17.024Z,1553556917.024 [MissionManager](IMPORTANT): Started mission Startup
2019-03-25T23:35:17.025Z,1553556917.025 [Startup] Running Loop=1
2019-03-25T23:35:17.025Z,1553556917.025 [Startup](DEBUG): Aggregate::initialize Startup
2019-03-25T23:35:17.025Z,1553556917.025 [Startup:A.GoToSurface] Running Loop=1
2019-03-25T23:35:17.025Z,1553556917.025 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:35:17.025Z,1553556917.025 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T23:35:17.026Z,1553556917.026 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T23:35:17.026Z,1553556917.026 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T23:35:17.027Z,1553556917.027 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:35:17.027Z,1553556917.027 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:35:17.029Z,1553556917.029 [Startup:StartupSatComms] Running Loop=1
2019-03-25T23:35:17.029Z,1553556917.029 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-03-25T23:35:17.029Z,1553556917.029 [Startup:StartupSatComms:A] Running Loop=1
2019-03-25T23:35:17.409Z,1553556917.409 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-03-25T23:35:23.038Z,1553556923.038 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:35:23.038Z,1553556923.038 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:35:50.106Z,1553556950.106 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:35:50.106Z,1553556950.106 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:35:54.186Z,1553556954.186 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:35:54.186Z,1553556954.186 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T23:35:54.186Z,1553556954.186 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:35:54.188Z,1553556954.188 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:35:54.188Z,1553556954.188 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T23:35:54.188Z,1553556954.188 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:35:54.189Z,1553556954.189 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:35:54.189Z,1553556954.189 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T23:35:54.189Z,1553556954.189 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:35:54.200Z,1553556954.200 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:35:54.200Z,1553556954.200 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:35:54.201Z,1553556954.201 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:35:54.599Z,1553556954.599 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:35:54.599Z,1553556954.599 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T23:35:54.600Z,1553556954.600 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:35:54.600Z,1553556954.600 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T23:35:54.600Z,1553556954.600 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:35:54.600Z,1553556954.600 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T23:35:54.989Z,1553556954.989 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:36:02.647Z,1553556962.647 [CommandLine](IMPORTANT): got command show stack
2019-03-25T23:36:02.647Z,1553556962.647 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-25T23:36:02.648Z,1553556962.648 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2019-03-25T23:36:02.648Z,1553556962.648 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:A
2019-03-25T23:36:10.595Z,1553556970.595 [CommandLine](IMPORTANT): got command get latitude
2019-03-25T23:36:10.595Z,1553556970.595 [CommandLine](FAULT): Element has no value
2019-03-25T23:36:10.596Z,1553556970.596 [CommandLine](IMPORTANT): got command get longitude
2019-03-25T23:36:10.596Z,1553556970.596 [CommandLine](FAULT): Element has no value
2019-03-25T23:36:17.196Z,1553556977.196 [Startup:StartupSatComms:A](INFO): Timed out from 2019-03-25T23:35:17.0Z
2019-03-25T23:36:17.196Z,1553556977.196 [Startup:StartupSatComms:A] Stopped
2019-03-25T23:36:17.196Z,1553556977.196 [Startup:StartupSatComms:B] Running Loop=1
2019-03-25T23:36:17.604Z,1553556977.604 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-25T23:36:20.321Z,1553556980.321 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004913
2019-03-25T23:36:23.745Z,1553556983.745 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:36:23.745Z,1553556983.745 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:36:26.346Z,1553556986.346 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190325T224151/Courier0019.lzma
2019-03-25T23:36:27.152Z,1553556987.152 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Courier0019.lzma.bak
2019-03-25T23:36:27.152Z,1553556987.152 [DataOverHttps](INFO): SBD MOMSN=10244048
2019-03-25T23:36:27.252Z,1553556987.252 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 3.000000 centimeter
2019-03-25T23:36:27.254Z,1553556987.254 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2019-03-25T23:36:27.425Z,1553556987.425 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-25T23:36:29.001Z,1553556989.001 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CACST,6,1,20190325233628.061011,06,913,29,0116,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,.99,-999,-9.99,190,0.05,-999,9760,4000*5C

2019-03-25T23:36:29.042Z,1553556989.042 [RDI_Pathfinder](ERROR): Failed to parse:
:B,   -3,   -12,A
2019-03-25T23:36:38.238Z,1553556998.238 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20190325T233344/Courier0000.lzma
2019-03-25T23:36:39.044Z,1553556999.044 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0000.lzma.bak
2019-03-25T23:36:39.044Z,1553556999.044 [DataOverHttps](INFO): SBD MOMSN=10244050
2019-03-25T23:36:43.962Z,1553557003.962 [NAL9602](INFO): SBD MO Status=2, MOMSN=2447, MT Status=2, MTMSN=0
2019-03-25T23:36:43.962Z,1553557003.962 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:36:47.332Z,1553557007.332 [CommandLine](IMPORTANT): got command show variable acoustic_contact
2019-03-25T23:36:47.335Z,1553557007.335 [CommandLine](IMPORTANT): acoustic_contact_direction_vehicle_frame (unknown)
2019-03-25T23:36:47.336Z,1553557007.336 [CommandLine](IMPORTANT): acoustic_contact_address (unknown)
2019-03-25T23:36:47.336Z,1553557007.336 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-03-25T23:36:47.575Z,1553557007.575 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-03-25T23:36:47.576Z,1553557007.576 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2019-03-25T23:36:47.576Z,1553557007.576 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2019-03-25T23:36:51.214Z,1553557011.214 [DataOverHttps](INFO): Sending 258 bytes from file Logs/20190325T224151/Express0020.lzma
2019-03-25T23:36:52.020Z,1553557012.020 [DataOverHttps](INFO): Moved sent file to Logs/20190325T224151/Express0020.lzma.bak
2019-03-25T23:36:52.020Z,1553557012.020 [DataOverHttps](INFO): SBD MOMSN=10244054
2019-03-25T23:36:57.856Z,1553557017.856 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.acoustic_contact_range
2019-03-25T23:37:00.530Z,1553557020.530 [NAL9602](INFO): SBD MO Status=0, MOMSN=2447, MT Status=0, MTMSN=0
2019-03-25T23:37:00.530Z,1553557020.530 [NAL9602](INFO): No messages in MT queue
2019-03-25T23:37:01.346Z,1553557021.346 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:03.770Z,1553557023.770 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:05.100Z,1553557025.100 [DataOverHttps](INFO): Sending 1104 bytes from file Logs/20190325T233344/Express0001.lzma
2019-03-25T23:37:05.688Z,1553557025.688 [CommandLine](IMPORTANT): got command show variable DUSBL
2019-03-25T23:37:05.727Z,1553557025.727 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadAtStartup (bool)
2019-03-25T23:37:05.727Z,1553557025.727 [CommandLine](IMPORTANT): DUSBL_Hydroid.simulateHardware (bool)
2019-03-25T23:37:05.727Z,1553557025.727 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultTurnAroundTime (second)
2019-03-25T23:37:05.728Z,1553557025.728 [CommandLine](IMPORTANT): DUSBL_Hydroid.defaultSoundSpeed (meter_per_second)
2019-03-25T23:37:05.728Z,1553557025.728 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2019-03-25T23:37:05.728Z,1553557025.728 [CommandLine](IMPORTANT): DUSBL_Hydroid.recieveTimeout (millisecond)
2019-03-25T23:37:05.729Z,1553557025.729 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout (millisecond)
2019-03-25T23:37:05.729Z,1553557025.729 [CommandLine](IMPORTANT): DUSBL_Hydroid.transponderCode (enum)
2019-03-25T23:37:05.729Z,1553557025.729 [CommandLine](IMPORTANT): DUSBL_Hydroid.numberOfPingsRequested (count)
2019-03-25T23:37:05.730Z,1553557025.730 [CommandLine](IMPORTANT): DUSBL_Hydroid.verbosity (enum)
2019-03-25T23:37:05.730Z,1553557025.730 [CommandLine](IMPORTANT): DUSBL_Hydroid.xCenter (angular_degree)
2019-03-25T23:37:05.731Z,1553557025.731 [CommandLine](IMPORTANT): DUSBL_Hydroid.yCenter (angular_degree)
2019-03-25T23:37:05.742Z,1553557025.742 [CommandLine](IMPORTANT): DUSBL_Hydroid.loadControl (none)
2019-03-25T23:37:05.743Z,1553557025.743 [CommandLine](IMPORTANT): DUSBL_Hydroid.uart (none)
2019-03-25T23:37:05.743Z,1553557025.743 [CommandLine](IMPORTANT): DUSBL_Hydroid.baud (bit_per_second)
2019-03-25T23:37:05.746Z,1553557025.746 [CommandLine](IMPORTANT): Micromodem.dusblPingCode (enum)
2019-03-25T23:37:05.747Z,1553557025.747 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2019-03-25T23:37:05.747Z,1553557025.747 [CommandLine](IMPORTANT): DUSBL_Hydroid.yAngle (angular_degree)
2019-03-25T23:37:05.747Z,1553557025.747 [CommandLine](IMPORTANT): DUSBL_Hydroid.travelTime (microsecond)
2019-03-25T23:37:05.748Z,1553557025.748 [CommandLine](IMPORTANT): DUSBL_Hydroid.latency (microsecond)
2019-03-25T23:37:05.748Z,1553557025.748 [CommandLine](IMPORTANT): DUSBL_Hydroid.gain (ratio)
2019-03-25T23:37:05.748Z,1553557025.748 [CommandLine](IMPORTANT): DUSBL_Hydroid.inBandSignalToNoise (ratio)
2019-03-25T23:37:05.749Z,1553557025.749 [CommandLine](IMPORTANT): DUSBL_Hydroid.outBandSignalToNoise (ratio)
2019-03-25T23:37:05.749Z,1553557025.749 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-03-25T23:37:05.749Z,1553557025.749 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2019-03-25T23:37:05.750Z,1553557025.750 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2019-03-25T23:37:05.905Z,1553557025.905 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0001.lzma.bak
2019-03-25T23:37:05.905Z,1553557025.905 [DataOverHttps](INFO): SBD MOMSN=10244070
2019-03-25T23:37:07.002Z,1553557027.002 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:07.444Z,1553557027.444 [Startup:StartupSatComms:B] Stopped
2019-03-25T23:37:07.444Z,1553557027.444 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-03-25T23:37:07.444Z,1553557027.444 [Startup:StartupSatComms] Stopped
2019-03-25T23:37:07.444Z,1553557027.444 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-03-25T23:37:07.445Z,1553557027.445 [Startup](INFO): Completed Startup
2019-03-25T23:37:07.445Z,1553557027.445 [MissionManager](INFO): Startup is completed.
2019-03-25T23:37:07.445Z,1553557027.445 [MissionManager](INFO): Uninitializing Mission Startup
2019-03-25T23:37:07.445Z,1553557027.445 [Startup] Stopped
2019-03-25T23:37:07.445Z,1553557027.445 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-03-25T23:37:07.445Z,1553557027.445 [Startup:A.GoToSurface] Stopped
2019-03-25T23:37:07.445Z,1553557027.445 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:37:07.860Z,1553557027.860 [MissionManager](IMPORTANT): Started mission Default
2019-03-25T23:37:07.860Z,1553557027.860 [Default] Running Loop=1
2019-03-25T23:37:07.860Z,1553557027.860 [Default](DEBUG): Aggregate::initialize Default
2019-03-25T23:37:07.860Z,1553557027.860 [Default:B.GoToSurface] Running Loop=1
2019-03-25T23:37:07.860Z,1553557027.860 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:37:07.861Z,1553557027.861 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T23:37:07.861Z,1553557027.861 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T23:37:07.861Z,1553557027.861 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T23:37:07.862Z,1553557027.862 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:37:07.862Z,1553557027.862 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:37:07.866Z,1553557027.866 [Default:A.Wait] Running Loop=1
2019-03-25T23:37:07.866Z,1553557027.866 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:37:09.830Z,1553557029.830 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:12.712Z,1553557032.712 [CommandLine](IMPORTANT): got command report touch DUSBL_Hydroid.xAngle
2019-03-25T23:37:13.062Z,1553557033.062 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:15.894Z,1553557035.894 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:19.122Z,1553557039.122 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:21.157Z,1553557041.157 [Default:A.Wait](INFO): Done Waiting.
2019-03-25T23:37:21.157Z,1553557041.157 [Default:A.Wait] Stopped
2019-03-25T23:37:21.157Z,1553557041.157 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:37:21.560Z,1553557041.560 [Default:CheckIn] Running Loop=1
2019-03-25T23:37:21.560Z,1553557041.560 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:37:21.561Z,1553557041.561 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:37:21.953Z,1553557041.953 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:21.985Z,1553557041.985 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-25T23:37:24.778Z,1553557044.778 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:28.010Z,1553557048.010 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:30.838Z,1553557050.838 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:33.032Z,1553557053.032 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:37:33.033Z,1553557053.033 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:37:33.199Z,1553557053.199 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-25T23:37:33.202Z,1553557053.202 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-25T23:37:33.205Z,1553557053.205 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-25T23:37:33.208Z,1553557053.208 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-25T23:37:33.211Z,1553557053.211 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-25T23:37:33.214Z,1553557053.214 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-25T23:37:33.216Z,1553557053.216 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-25T23:37:33.219Z,1553557053.219 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-25T23:37:33.222Z,1553557053.222 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-25T23:37:33.225Z,1553557053.225 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-25T23:37:33.228Z,1553557053.228 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-25T23:37:33.231Z,1553557053.231 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-25T23:37:33.234Z,1553557053.234 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-25T23:37:33.238Z,1553557053.238 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-25T23:37:33.279Z,1553557053.279 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-25T23:37:33.292Z,1553557053.292 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-25T23:37:33.295Z,1553557053.295 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-25T23:37:33.298Z,1553557053.298 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-25T23:37:33.321Z,1553557053.321 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-25T23:37:33.324Z,1553557053.324 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-25T23:37:33.340Z,1553557053.340 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-25T23:37:33.347Z,1553557053.347 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-25T23:37:33.350Z,1553557053.350 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-25T23:37:33.364Z,1553557053.364 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-25T23:37:33.367Z,1553557053.367 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-25T23:37:33.374Z,1553557053.374 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-25T23:37:33.377Z,1553557053.377 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-25T23:37:33.380Z,1553557053.380 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-25T23:37:33.397Z,1553557053.397 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-25T23:37:33.416Z,1553557053.416 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-25T23:37:33.417Z,1553557053.417 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-25T23:37:33.450Z,1553557053.450 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-25T23:37:33.457Z,1553557053.457 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-25T23:37:33.460Z,1553557053.460 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-25T23:37:33.461Z,1553557053.461 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-25T23:37:33.488Z,1553557053.488 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-25T23:37:33.503Z,1553557053.503 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-25T23:37:33.541Z,1553557053.541 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-25T23:37:33.710Z,1553557053.710 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-25T23:37:33.717Z,1553557053.717 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-25T23:37:33.735Z,1553557053.735 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-25T23:37:33.742Z,1553557053.742 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-25T23:37:33.745Z,1553557053.745 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-25T23:37:33.752Z,1553557053.752 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-25T23:37:33.764Z,1553557053.764 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-25T23:37:33.778Z,1553557053.778 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T23:37:33.837Z,1553557053.837 [lineCaptureHoming:I.Mass](DEBUG): Construct.
2019-03-25T23:37:33.841Z,1553557053.841 [lineCaptureHoming:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-25T23:37:33.867Z,1553557053.867 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-25T23:37:33.879Z,1553557053.879 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-25T23:37:33.905Z,1553557053.905 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-25T23:37:33.908Z,1553557053.908 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-25T23:37:33.957Z,1553557053.957 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-25T23:37:33.992Z,1553557053.992 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-25T23:37:34.002Z,1553557054.002 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-25T23:37:34.030Z,1553557054.030 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-25T23:37:34.070Z,1553557054.070 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:34.107Z,1553557054.107 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-25T23:37:34.124Z,1553557054.124 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-25T23:37:34.150Z,1553557054.150 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-25T23:37:34.206Z,1553557054.206 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-25T23:37:34.220Z,1553557054.220 [CommandLine](IMPORTANT): Running ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:37:34.504Z,1553557054.504 [Default] Stopped
2019-03-25T23:37:34.504Z,1553557054.504 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-25T23:37:34.505Z,1553557054.505 [Default:B.GoToSurface] Stopped
2019-03-25T23:37:34.505Z,1553557054.505 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:37:34.505Z,1553557054.505 [Default:CheckIn] Stopped
2019-03-25T23:37:34.505Z,1553557054.505 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:37:34.505Z,1553557054.505 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:37:34.505Z,1553557054.505 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-25T23:37:34.505Z,1553557054.505 [lineCaptureHoming] Running Loop=1
2019-03-25T23:37:34.505Z,1553557054.505 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-25T23:37:34.505Z,1553557054.505 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-25T23:37:34.506Z,1553557054.506 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-25T23:37:34.506Z,1553557054.506 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-25T23:37:34.506Z,1553557054.506 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-25T23:37:34.506Z,1553557054.506 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-25T23:37:34.506Z,1553557054.506 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:I.Mass](DEBUG): Initialize.
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:K] Running Loop=1
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:L] Running Loop=1
2019-03-25T23:37:34.507Z,1553557054.507 [lineCaptureHoming:M] Running Loop=1
2019-03-25T23:37:34.508Z,1553557054.508 [lineCaptureHoming:B] Running Loop=1
2019-03-25T23:37:34.508Z,1553557054.508 [lineCaptureHoming:M] Running Loop=1
2019-03-25T23:37:34.509Z,1553557054.509 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-25T23:37:34.510Z,1553557054.510 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-25T23:37:34.510Z,1553557054.510 [lineCaptureHoming:L] Running Loop=1
2019-03-25T23:37:34.511Z,1553557054.511 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-25T23:37:34.511Z,1553557054.511 [lineCaptureHoming:K] Running Loop=1
2019-03-25T23:37:34.511Z,1553557054.511 [lineCaptureHoming:K](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-25T23:37:34.512Z,1553557054.512 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-25T23:37:34.512Z,1553557054.512 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-25T23:37:34.512Z,1553557054.512 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-25T23:37:34.512Z,1553557054.512 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-25T23:37:34.513Z,1553557054.513 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-25T23:37:34.513Z,1553557054.513 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-25T23:37:34.513Z,1553557054.513 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-25T23:37:34.513Z,1553557054.513 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-25T23:37:34.513Z,1553557054.513 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-25T23:37:34.513Z,1553557054.513 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-25T23:37:34.514Z,1553557054.514 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-25T23:37:34.514Z,1553557054.514 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:37:34.514Z,1553557054.514 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-25T23:37:34.523Z,1553557054.523 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-25T23:37:34.523Z,1553557054.523 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-25T23:37:34.523Z,1553557054.523 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:37:34.524Z,1553557054.524 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:37:34.524Z,1553557054.524 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-25T23:37:34.525Z,1553557054.525 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-03-25T23:37:34.525Z,1553557054.525 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-25T23:37:34.530Z,1553557054.530 [lineCaptureHoming:B] Stopped
2019-03-25T23:37:34.530Z,1553557054.530 [lineCaptureHoming:C] Running Loop=1
2019-03-25T23:37:34.530Z,1553557054.530 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-25T23:37:34.531Z,1553557054.531 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-25T23:37:34.531Z,1553557054.531 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:34.531Z,1553557054.531 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-25T23:37:34.532Z,1553557054.532 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-25T23:37:34.926Z,1553557054.926 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-25T23:37:34.931Z,1553557054.931 [lineCaptureHoming:C] Stopped
2019-03-25T23:37:34.931Z,1553557054.931 [lineCaptureHoming:D] Running Loop=1
2019-03-25T23:37:34.931Z,1553557054.931 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:35.302Z,1553557055.302 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-25T23:37:35.303Z,1553557055.303 [lineCaptureHoming:D] Stopped
2019-03-25T23:37:35.303Z,1553557055.303 [lineCaptureHoming:F] Running Loop=1
2019-03-25T23:37:35.303Z,1553557055.303 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:35.705Z,1553557055.705 [lineCaptureHoming:F] Stopped
2019-03-25T23:37:35.705Z,1553557055.705 [lineCaptureHoming:G] Running Loop=1
2019-03-25T23:37:35.719Z,1553557055.719 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:36.111Z,1553557056.111 [lineCaptureHoming:G] Stopped
2019-03-25T23:37:36.111Z,1553557056.111 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-25T23:37:36.111Z,1553557056.111 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-25T23:37:36.113Z,1553557056.113 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:36.513Z,1553557056.513 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:36.914Z,1553557056.914 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:36.947Z,1553557056.947 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:37.337Z,1553557057.337 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:37.739Z,1553557057.739 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:38.137Z,1553557058.137 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:38.537Z,1553557058.537 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:38.957Z,1553557058.957 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:39.345Z,1553557059.345 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:39.752Z,1553557059.752 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:39.887Z,1553557059.887 [CommandLine](IMPORTANT): got command stop
2019-03-25T23:37:39.887Z,1553557059.887 [CommandLine](IMPORTANT): Scheduling is paused
2019-03-25T23:37:39.887Z,1553557059.887 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-25T23:37:40.130Z,1553557060.130 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:40.157Z,1553557060.157 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](ERROR): Location Measurement is not Active.
2019-03-25T23:37:40.158Z,1553557060.158 [MissionManager](INFO): MissionManager is completed.
2019-03-25T23:37:40.158Z,1553557060.158 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming] Stopped
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:NeedComms] Stopped
2019-03-25T23:37:40.159Z,1553557060.159 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:I.Mass] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:I.Mass](DEBUG): Uninitialize.
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:J.Buoyancy] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:K] Stopped
2019-03-25T23:37:40.160Z,1553557060.160 [lineCaptureHoming:L] Stopped
2019-03-25T23:37:40.161Z,1553557060.161 [lineCaptureHoming:M] Stopped
2019-03-25T23:37:40.161Z,1553557060.161 [lineCaptureHoming:StartingMission] Stopped
2019-03-25T23:37:40.161Z,1553557060.161 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-25T23:37:40.560Z,1553557060.560 [MissionManager](IMPORTANT): Started mission Default
2019-03-25T23:37:40.560Z,1553557060.560 [Default] Running Loop=1
2019-03-25T23:37:40.560Z,1553557060.560 [Default](DEBUG): Aggregate::initialize Default
2019-03-25T23:37:40.561Z,1553557060.561 [Default:B.GoToSurface] Running Loop=1
2019-03-25T23:37:40.561Z,1553557060.561 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:37:40.561Z,1553557060.561 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T23:37:40.561Z,1553557060.561 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T23:37:40.561Z,1553557060.561 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T23:37:40.562Z,1553557060.562 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:37:40.567Z,1553557060.567 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:37:40.567Z,1553557060.567 [Default:A.Wait] Running Loop=1
2019-03-25T23:37:40.567Z,1553557060.567 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:37:42.958Z,1553557062.958 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:45.787Z,1553557065.787 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:49.018Z,1553557069.018 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:51.846Z,1553557071.846 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:53.885Z,1553557073.885 [Default:A.Wait](INFO): Done Waiting.
2019-03-25T23:37:53.885Z,1553557073.885 [Default:A.Wait] Stopped
2019-03-25T23:37:53.885Z,1553557073.885 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:37:54.289Z,1553557074.289 [Default:CheckIn] Running Loop=1
2019-03-25T23:37:54.289Z,1553557074.289 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:37:54.289Z,1553557074.289 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:37:55.078Z,1553557075.078 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:37:55.105Z,1553557075.105 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:37:55.105Z,1553557075.105 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T23:37:55.105Z,1553557075.105 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:37:55.107Z,1553557075.107 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:37:55.107Z,1553557075.107 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T23:37:55.108Z,1553557075.108 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:37:55.109Z,1553557075.109 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:37:55.109Z,1553557075.109 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T23:37:55.109Z,1553557075.109 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:37:55.120Z,1553557075.120 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:37:55.120Z,1553557075.120 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:37:55.121Z,1553557075.121 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:37:55.562Z,1553557075.562 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:37:55.562Z,1553557075.562 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T23:37:55.563Z,1553557075.563 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:37:55.563Z,1553557075.563 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T23:37:55.563Z,1553557075.563 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:37:55.564Z,1553557075.564 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T23:37:55.931Z,1553557075.931 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:37:57.906Z,1553557077.906 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:01.138Z,1553557081.138 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:03.970Z,1553557083.970 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:04.993Z,1553557084.993 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-25T23:38:06.794Z,1553557086.794 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:10.030Z,1553557090.030 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:11.935Z,1553557091.935 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:38:11.936Z,1553557091.936 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:38:12.169Z,1553557092.169 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-25T23:38:12.171Z,1553557092.171 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-25T23:38:12.173Z,1553557092.173 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-25T23:38:12.175Z,1553557092.175 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-25T23:38:12.177Z,1553557092.177 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-25T23:38:12.180Z,1553557092.180 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-25T23:38:12.182Z,1553557092.182 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-25T23:38:12.184Z,1553557092.184 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-25T23:38:12.186Z,1553557092.186 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-25T23:38:12.188Z,1553557092.188 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-25T23:38:12.191Z,1553557092.191 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-25T23:38:12.193Z,1553557092.193 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-25T23:38:12.195Z,1553557092.195 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-25T23:38:12.197Z,1553557092.197 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-25T23:38:12.199Z,1553557092.199 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-25T23:38:12.201Z,1553557092.201 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-25T23:38:12.204Z,1553557092.204 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-25T23:38:12.206Z,1553557092.206 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-25T23:38:12.208Z,1553557092.208 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-25T23:38:12.211Z,1553557092.211 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-25T23:38:12.213Z,1553557092.213 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-25T23:38:12.216Z,1553557092.216 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-25T23:38:12.218Z,1553557092.218 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-25T23:38:12.220Z,1553557092.220 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-25T23:38:12.222Z,1553557092.222 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-25T23:38:12.225Z,1553557092.225 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-25T23:38:12.227Z,1553557092.227 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-25T23:38:12.230Z,1553557092.230 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-25T23:38:12.232Z,1553557092.232 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-25T23:38:12.260Z,1553557092.260 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-25T23:38:12.261Z,1553557092.261 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-25T23:38:12.325Z,1553557092.325 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-25T23:38:12.328Z,1553557092.328 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-25T23:38:12.330Z,1553557092.330 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-25T23:38:12.334Z,1553557092.334 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-25T23:38:12.348Z,1553557092.348 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-25T23:38:12.375Z,1553557092.375 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-25T23:38:12.395Z,1553557092.395 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-25T23:38:12.525Z,1553557092.525 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-25T23:38:12.529Z,1553557092.529 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-25T23:38:12.540Z,1553557092.540 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-25T23:38:12.542Z,1553557092.542 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-25T23:38:12.548Z,1553557092.548 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-25T23:38:12.554Z,1553557092.554 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-25T23:38:12.557Z,1553557092.557 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-25T23:38:12.566Z,1553557092.566 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-25T23:38:12.630Z,1553557092.630 [lineCaptureHoming:I.Mass](DEBUG): Construct.
2019-03-25T23:38:12.659Z,1553557092.659 [lineCaptureHoming:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-25T23:38:12.679Z,1553557092.679 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-25T23:38:12.682Z,1553557092.682 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-25T23:38:12.716Z,1553557092.716 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-25T23:38:12.727Z,1553557092.727 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-25T23:38:12.775Z,1553557092.775 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-25T23:38:12.789Z,1553557092.789 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-25T23:38:12.802Z,1553557092.802 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-25T23:38:12.814Z,1553557092.814 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-25T23:38:12.825Z,1553557092.825 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-25T23:38:12.841Z,1553557092.841 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-25T23:38:12.847Z,1553557092.847 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-25T23:38:12.854Z,1553557092.854 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:12.933Z,1553557092.933 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-25T23:38:12.933Z,1553557092.933 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-25T23:38:15.735Z,1553557095.735 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-25T23:38:15.870Z,1553557095.870 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-25T23:38:15.870Z,1553557095.870 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-25T23:38:16.086Z,1553557096.086 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:18.918Z,1553557098.918 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:22.146Z,1553557102.146 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:23.332Z,1553557103.332 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-25T23:38:24.974Z,1553557104.974 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:25.827Z,1553557105.827 [CommandLine](IMPORTANT): got command get depth
2019-03-25T23:38:25.828Z,1553557105.828 [CommandLine](IMPORTANT): depth 0.298599 m
2019-03-25T23:38:27.802Z,1553557107.802 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:31.038Z,1553557111.038 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:31.427Z,1553557111.427 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233132.00,A,3648.16847,N,12147.28292,W,0.641,154.10,250319,,,A*77
2019-03-25T23:38:31.451Z,1553557111.451 [NAL9602](INFO): GPS fix at 20190325T233132: (36.802808, -121.788049)
2019-03-25T23:38:31.491Z,1553557111.491 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:38:31.491Z,1553557111.491 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T23:38:31.971Z,1553557111.971 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-25T23:38:33.500Z,1553557113.500 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2019-03-25T23:38:33.502Z,1553557113.502 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-03-25T23:38:33.795Z,1553557113.795 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-25T23:38:35.339Z,1553557115.339 [CommandLine](IMPORTANT): got command run
2019-03-25T23:38:35.341Z,1553557115.341 [CommandLine](IMPORTANT): Running 
2019-03-25T23:38:35.755Z,1553557115.755 [Default] Stopped
2019-03-25T23:38:35.756Z,1553557115.756 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-25T23:38:35.756Z,1553557115.756 [Default:B.GoToSurface] Stopped
2019-03-25T23:38:35.756Z,1553557115.756 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:38:35.756Z,1553557115.756 [Default:CheckIn] Stopped
2019-03-25T23:38:35.756Z,1553557115.756 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:38:35.756Z,1553557115.756 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T23:38:35.756Z,1553557115.756 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-25T23:38:35.756Z,1553557115.756 [lineCaptureHoming] Running Loop=1
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-25T23:38:35.757Z,1553557115.757 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-25T23:38:35.758Z,1553557115.758 [lineCaptureHoming:I.Mass](DEBUG): Initialize.
2019-03-25T23:38:35.758Z,1553557115.758 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-25T23:38:35.758Z,1553557115.758 [lineCaptureHoming:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-25T23:38:35.758Z,1553557115.758 [lineCaptureHoming:K] Running Loop=1
2019-03-25T23:38:35.758Z,1553557115.758 [lineCaptureHoming:L] Running Loop=1
2019-03-25T23:38:35.758Z,1553557115.758 [lineCaptureHoming:M] Running Loop=1
2019-03-25T23:38:35.766Z,1553557115.766 [lineCaptureHoming:B] Running Loop=1
2019-03-25T23:38:35.767Z,1553557115.767 [lineCaptureHoming:M] Running Loop=1
2019-03-25T23:38:35.768Z,1553557115.768 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-25T23:38:35.768Z,1553557115.768 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-25T23:38:35.768Z,1553557115.768 [lineCaptureHoming:L] Running Loop=1
2019-03-25T23:38:35.769Z,1553557115.769 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-25T23:38:35.769Z,1553557115.769 [lineCaptureHoming:K] Running Loop=1
2019-03-25T23:38:35.769Z,1553557115.769 [lineCaptureHoming:K](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-25T23:38:35.769Z,1553557115.769 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-25T23:38:35.770Z,1553557115.770 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-25T23:38:35.798Z,1553557115.798 [lineCaptureHoming:B] Stopped
2019-03-25T23:38:35.798Z,1553557115.798 [lineCaptureHoming:C] Running Loop=1
2019-03-25T23:38:35.799Z,1553557115.799 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-25T23:38:35.799Z,1553557115.799 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-25T23:38:35.799Z,1553557115.799 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-25T23:38:35.799Z,1553557115.799 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-25T23:38:36.125Z,1553557116.125 [lineCaptureHoming:C] Stopped
2019-03-25T23:38:36.126Z,1553557116.126 [lineCaptureHoming:D] Running Loop=1
2019-03-25T23:38:36.519Z,1553557116.519 [lineCaptureHoming:D] Stopped
2019-03-25T23:38:36.519Z,1553557116.519 [lineCaptureHoming:F] Running Loop=1
2019-03-25T23:38:36.587Z,1553557116.587 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2019-03-25T23:38:36.588Z,1553557116.588 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2019-03-25T23:38:36.588Z,1553557116.588 [BuoyancyServo] Hardware Fault, FailCount= 1
2019-03-25T23:38:36.588Z,1553557116.588 [BuoyancyServo](ERROR): Hardware Fault
2019-03-25T23:38:36.596Z,1553557116.596 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2019-03-25T23:38:37.143Z,1553557117.143 [lineCaptureHoming:F] Stopped
2019-03-25T23:38:37.143Z,1553557117.143 [lineCaptureHoming:G] Running Loop=1
2019-03-25T23:38:37.333Z,1553557117.333 [lineCaptureHoming:G] Stopped
2019-03-25T23:38:37.333Z,1553557117.333 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-25T23:38:37.334Z,1553557117.334 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-25T23:38:37.750Z,1553557117.750 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-25T23:38:37.778Z,1553557117.778 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-25T23:38:37.779Z,1553557117.779 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-25T23:38:37.779Z,1553557117.779 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-25T23:38:37.779Z,1553557117.779 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-25T23:38:37.779Z,1553557117.779 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-25T23:38:38.138Z,1553557118.138 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-25T23:38:38.138Z,1553557118.138 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-25T23:38:38.138Z,1553557118.138 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-25T23:38:38.138Z,1553557118.138 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:38:38.142Z,1553557118.142 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-25T23:38:38.143Z,1553557118.143 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-25T23:38:38.143Z,1553557118.143 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-25T23:38:38.144Z,1553557118.144 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:38:38.144Z,1553557118.144 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:38:38.144Z,1553557118.144 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-25T23:38:38.145Z,1553557118.145 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553556692.000000 second since 1970/01/01T00:00:00Z 
2019-03-25T23:38:38.145Z,1553557118.145 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-25T23:38:38.531Z,1553557118.531 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-25T23:38:38.953Z,1553557118.953 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-25T23:38:38.966Z,1553557118.966 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-03-25T23:38:38.967Z,1553557118.967 [BuoyancyServo](INFO): Powering down
2019-03-25T23:38:39.811Z,1553557119.811 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-03-25T23:38:39.811Z,1553557119.811 [BuoyancyServo] No Fault, FailCount= 1
2019-03-25T23:38:40.135Z,1553557120.135 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:38:40.177Z,1553557120.177 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-03-25T23:38:40.183Z,1553557120.183 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-03-25T23:38:40.526Z,1553557120.526 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233141.00,A,3648.16976,N,12147.28256,W,2.780,24.14,250319,,,A*44
2019-03-25T23:38:40.528Z,1553557120.528 [NAL9602](INFO): GPS fix at 20190325T233141: (36.802829, -121.788043)
2019-03-25T23:38:40.555Z,1553557120.555 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-25T23:38:40.555Z,1553557120.555 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-25T23:38:40.827Z,1553557120.827 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20190325T233344/Courier0004.lzma
2019-03-25T23:38:40.984Z,1553557120.984 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-25T23:38:41.635Z,1553557121.635 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0004.lzma.bak
2019-03-25T23:38:41.635Z,1553557121.635 [DataOverHttps](INFO): SBD MOMSN=10244103
2019-03-25T23:38:52.043Z,1553557132.043 [CommandLine](IMPORTANT): got command get depth
2019-03-25T23:38:52.044Z,1553557132.044 [CommandLine](IMPORTANT): depth 0.000000 m
2019-03-25T23:38:54.331Z,1553557134.331 [CommandLine](IMPORTANT): got command show stack
2019-03-25T23:38:54.332Z,1553557134.332 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-25T23:38:54.332Z,1553557134.332 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-25T23:38:54.333Z,1553557134.333 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-25T23:38:54.333Z,1553557134.333 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-25T23:38:54.333Z,1553557134.333 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-25T23:38:54.334Z,1553557134.334 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-03-25T23:38:54.334Z,1553557134.334 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-25T23:38:54.335Z,1553557134.335 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-25T23:38:54.336Z,1553557134.336 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-25T23:38:54.336Z,1553557134.336 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-25T23:38:54.336Z,1553557134.336 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-25T23:38:55.254Z,1553557135.254 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190325T233344/Courier0007.lzma
2019-03-25T23:38:56.584Z,1553557136.584 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0007.lzma.bak
2019-03-25T23:38:56.584Z,1553557136.584 [DataOverHttps](INFO): SBD MOMSN=10244106
2019-03-25T23:39:08.147Z,1553557148.147 [CommandLine](IMPORTANT): got command get platform_buoyancy_position
2019-03-25T23:39:08.148Z,1553557148.148 [CommandLine](IMPORTANT): platform_buoyancy_position 956.054443 cc
2019-03-25T23:39:10.076Z,1553557150.076 [DataOverHttps](INFO): Sending 1077 bytes from file Logs/20190325T233344/Express0005.lzma
2019-03-25T23:39:10.880Z,1553557150.880 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0005.lzma.bak
2019-03-25T23:39:10.880Z,1553557150.880 [DataOverHttps](INFO): SBD MOMSN=10244109
2019-03-25T23:39:12.846Z,1553557152.846 [NAL9602](INFO): Powering down
2019-03-25T23:39:23.155Z,1553557163.155 [DataOverHttps](INFO): Sending 276 bytes from file Logs/20190325T233344/Express0008.lzma
2019-03-25T23:39:23.960Z,1553557163.960 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0008.lzma.bak
2019-03-25T23:39:23.960Z,1553557163.960 [DataOverHttps](INFO): SBD MOMSN=10244167
2019-03-25T23:39:25.407Z,1553557165.407 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-25T23:39:25.407Z,1553557165.407 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-25T23:39:25.831Z,1553557165.831 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-25T23:39:26.179Z,1553557166.179 [NAL9602](INFO): Powering up
2019-03-25T23:39:37.089Z,1553557177.089 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:39:37.912Z,1553557177.912 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:39:47.996Z,1553557187.996 [CommandLine](IMPORTANT): got command show stack
2019-03-25T23:39:47.997Z,1553557187.997 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-25T23:39:47.997Z,1553557187.997 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-25T23:39:47.997Z,1553557187.997 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-25T23:39:47.998Z,1553557187.998 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-25T23:39:47.998Z,1553557187.998 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-25T23:39:47.998Z,1553557187.998 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-03-25T23:39:47.999Z,1553557187.999 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-25T23:39:47.999Z,1553557187.999 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-25T23:39:47.999Z,1553557187.999 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-25T23:39:47.999Z,1553557187.999 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-25T23:39:47.000Z,1553557188.000 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-25T23:39:56.110Z,1553557196.110 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:39:56.110Z,1553557196.110 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T23:39:56.110Z,1553557196.110 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:39:56.112Z,1553557196.112 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:39:56.112Z,1553557196.112 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T23:39:56.112Z,1553557196.112 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:39:56.114Z,1553557196.114 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:39:56.114Z,1553557196.114 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T23:39:56.114Z,1553557196.114 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:39:56.159Z,1553557196.159 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:39:56.159Z,1553557196.159 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:39:56.159Z,1553557196.159 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:39:56.646Z,1553557196.646 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:39:56.646Z,1553557196.646 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T23:39:56.647Z,1553557196.647 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:39:56.647Z,1553557196.647 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T23:39:56.648Z,1553557196.648 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:39:56.648Z,1553557196.648 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T23:39:56.914Z,1553557196.914 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:41:09.808Z,1553557269.808 [CommandLine](IMPORTANT): got command show stack
2019-03-25T23:41:09.809Z,1553557269.809 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-25T23:41:09.809Z,1553557269.809 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-25T23:41:09.809Z,1553557269.809 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-25T23:41:09.810Z,1553557269.810 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-25T23:41:09.810Z,1553557269.810 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-25T23:41:09.810Z,1553557269.810 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-03-25T23:41:09.811Z,1553557269.811 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-25T23:41:09.811Z,1553557269.811 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-25T23:41:09.811Z,1553557269.811 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-25T23:41:09.811Z,1553557269.811 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-25T23:41:09.812Z,1553557269.812 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-25T23:41:10.036Z,1553557270.036 [RDI_Pathfinder](ERROR): only read 0 of 5 data items
2019-03-25T23:41:10.036Z,1553557270.036 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,    +,    -3,   -10,A
2019-03-25T23:41:13.823Z,1553557273.823 [CommandLine](IMPORTANT): got command show variable speedCmd
2019-03-25T23:41:13.928Z,1553557273.928 [CommandLine](IMPORTANT): SpeedControl.speedCmd (meter_per_second)
2019-03-25T23:41:18.980Z,1553557278.980 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-03-25T23:41:18.999Z,1553557278.999 [BPC1](INFO): Received data from all battery sticks.
2019-03-25T23:41:20.691Z,1553557280.691 [CommandLine](IMPORTANT): got command get SpeedControl.speedCmd
2019-03-25T23:41:20.692Z,1553557280.692 [CommandLine](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2019-03-25T23:41:51.219Z,1553557311.219 [NAL9602](INFO): SBD MO Status=2, MOMSN=2448, MT Status=2, MTMSN=0
2019-03-25T23:41:51.220Z,1553557311.220 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:41:56.916Z,1553557316.916 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:41:56.916Z,1553557316.916 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T23:41:56.916Z,1553557316.916 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:41:56.922Z,1553557316.922 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:41:56.923Z,1553557316.923 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T23:41:56.923Z,1553557316.923 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:41:56.924Z,1553557316.924 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:41:56.924Z,1553557316.924 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T23:41:56.925Z,1553557316.925 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:41:56.971Z,1553557316.971 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:41:56.971Z,1553557316.971 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:41:56.971Z,1553557316.971 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:41:57.430Z,1553557317.430 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:41:57.430Z,1553557317.430 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T23:41:57.431Z,1553557317.431 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:41:57.431Z,1553557317.431 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T23:41:57.432Z,1553557317.432 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:41:57.432Z,1553557317.432 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T23:41:57.713Z,1553557317.713 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:42:54.804Z,1553557374.804 [CommandLine](IMPORTANT): got command stop
2019-03-25T23:42:54.805Z,1553557374.805 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-25T23:42:55.100Z,1553557375.100 [MissionManager](INFO): MissionManager is completed.
2019-03-25T23:42:55.100Z,1553557375.100 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-25T23:42:55.100Z,1553557375.100 [lineCaptureHoming] Stopped
2019-03-25T23:42:55.100Z,1553557375.100 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:NeedComms] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-25T23:42:55.101Z,1553557375.101 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:I.Mass] Stopped
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:I.Mass](DEBUG): Uninitialize.
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:J.Buoyancy] Stopped
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:K] Stopped
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:L] Stopped
2019-03-25T23:42:55.102Z,1553557375.102 [lineCaptureHoming:M] Stopped
2019-03-25T23:42:55.103Z,1553557375.103 [lineCaptureHoming:StartingMission] Stopped
2019-03-25T23:42:55.103Z,1553557375.103 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-25T23:42:55.477Z,1553557375.477 [MissionManager](IMPORTANT): Started mission Default
2019-03-25T23:42:55.477Z,1553557375.477 [Default] Running Loop=1
2019-03-25T23:42:55.477Z,1553557375.477 [Default](DEBUG): Aggregate::initialize Default
2019-03-25T23:42:55.478Z,1553557375.478 [Default:B.GoToSurface] Running Loop=1
2019-03-25T23:42:55.478Z,1553557375.478 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-25T23:42:55.478Z,1553557375.478 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-25T23:42:55.479Z,1553557375.479 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-25T23:42:55.479Z,1553557375.479 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-25T23:42:55.479Z,1553557375.479 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-25T23:42:55.480Z,1553557375.480 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-25T23:42:55.480Z,1553557375.480 [Default:A.Wait] Running Loop=1
2019-03-25T23:42:55.480Z,1553557375.480 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:43:08.822Z,1553557388.822 [Default:A.Wait](INFO): Done Waiting.
2019-03-25T23:43:08.822Z,1553557388.822 [Default:A.Wait] Stopped
2019-03-25T23:43:08.822Z,1553557388.822 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:43:09.214Z,1553557389.214 [Default:CheckIn] Running Loop=1
2019-03-25T23:43:09.214Z,1553557389.214 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:43:09.214Z,1553557389.214 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:43:20.497Z,1553557400.497 [NAL9602](INFO): SBD MO Status=2, MOMSN=2448, MT Status=2, MTMSN=0
2019-03-25T23:43:20.497Z,1553557400.497 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:43:58.099Z,1553557438.099 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:43:58.099Z,1553557438.099 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-25T23:43:58.099Z,1553557438.099 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:43:58.101Z,1553557438.101 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:43:58.101Z,1553557438.101 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-25T23:43:58.101Z,1553557438.101 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:43:58.103Z,1553557438.103 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:43:58.103Z,1553557438.103 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-25T23:43:58.103Z,1553557438.103 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:43:58.115Z,1553557438.115 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:43:58.115Z,1553557438.115 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:43:58.115Z,1553557438.115 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:43:58.526Z,1553557438.526 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:43:58.527Z,1553557438.527 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-25T23:43:58.527Z,1553557438.527 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:43:58.527Z,1553557438.527 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-25T23:43:58.528Z,1553557438.528 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:43:58.528Z,1553557438.528 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-25T23:43:58.905Z,1553557438.905 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:44:01.301Z,1553557441.301 [NAL9602](INFO): SBD MO Status=0, MOMSN=2448, MT Status=0, MTMSN=0
2019-03-25T23:44:01.302Z,1553557441.302 [NAL9602](INFO): No messages in MT queue
2019-03-25T23:44:02.122Z,1553557442.122 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:44:02.518Z,1553557442.518 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233703.00,A,3648.15744,N,12147.28541,W,0.952,0.00,250319,,,A*79
2019-03-25T23:44:02.520Z,1553557442.520 [NAL9602](INFO): GPS fix at 20190325T233703: (36.802624, -121.788090)
2019-03-25T23:44:02.546Z,1553557442.546 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:44:02.547Z,1553557442.547 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T23:44:07.862Z,1553557447.862 [DataOverHttps](INFO): Sending 221 bytes from file Logs/20190325T233344/Courier0010.lzma
2019-03-25T23:44:08.668Z,1553557448.668 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0010.lzma.bak
2019-03-25T23:44:08.668Z,1553557448.668 [DataOverHttps](INFO): SBD MOMSN=10244205
2019-03-25T23:44:20.167Z,1553557460.167 [DataOverHttps](INFO): Sending 721 bytes from file Logs/20190325T233344/Express0011.lzma
2019-03-25T23:44:20.972Z,1553557460.972 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0011.lzma.bak
2019-03-25T23:44:20.972Z,1553557460.972 [DataOverHttps](INFO): SBD MOMSN=10244222
2019-03-25T23:44:22.053Z,1553557462.053 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T23:44:22.054Z,1553557462.054 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T23:44:22.054Z,1553557462.054 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:44:34.953Z,1553557474.953 [NAL9602](INFO): Powering down
2019-03-25T23:45:00.400Z,1553557500.400 [Micromodem](FAULT): LCB 2 fault: 
2019-03-25T23:45:00.400Z,1553557500.400 [Micromodem] Hardware Fault, FailCount= 1
2019-03-25T23:45:00.400Z,1553557500.400 [Micromodem](ERROR): Hardware Fault
2019-03-25T23:45:00.400Z,1553557500.400 [Micromodem](INFO): Powering down
2019-03-25T23:45:00.531Z,1553557500.531 [CBIT](ERROR): Hardware Fault in component: Micromodem
2019-03-25T23:45:00.807Z,1553557500.807 [Micromodem](INFO): Powering down
2019-03-25T23:45:01.208Z,1553557501.208 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2019-03-25T23:45:01.656Z,1553557501.656 [CBIT](INFO): Clearing failed state for component Micromodem
2019-03-25T23:45:01.656Z,1553557501.656 [Micromodem] No Fault, FailCount= 1
2019-03-25T23:45:04.440Z,1553557504.440 [Micromodem](INFO): Powering up
2019-03-25T23:45:04.440Z,1553557504.440 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T23:45:09.298Z,1553557509.298 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T23:45:20.601Z,1553557520.601 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T23:45:31.914Z,1553557531.914 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T23:45:40.396Z,1553557540.396 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T23:45:50.500Z,1553557550.500 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T23:45:59.008Z,1553557559.008 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:45:59.008Z,1553557559.008 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-25T23:45:59.008Z,1553557559.008 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:45:59.011Z,1553557559.011 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:45:59.011Z,1553557559.011 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-25T23:45:59.011Z,1553557559.011 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:45:59.012Z,1553557559.012 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:45:59.013Z,1553557559.013 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-25T23:45:59.013Z,1553557559.013 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:45:59.024Z,1553557559.024 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:45:59.024Z,1553557559.024 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:45:59.025Z,1553557559.025 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:45:59.427Z,1553557559.427 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:45:59.427Z,1553557559.427 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-25T23:45:59.428Z,1553557559.428 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:45:59.428Z,1553557559.428 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-25T23:45:59.428Z,1553557559.428 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:45:59.428Z,1553557559.428 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-25T23:45:59.820Z,1553557559.820 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:46:00.601Z,1553557560.601 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T23:46:10.693Z,1553557570.693 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T23:46:11Z,0*79

2019-03-25T23:47:39.189Z,1553557659.189 [Micromodem](FAULT): LCB 2 fault: 
2019-03-25T23:47:39.189Z,1553557659.189 [Micromodem] Hardware Fault, FailCount= 2
2019-03-25T23:47:39.189Z,1553557659.189 [Micromodem](ERROR): Hardware Fault
2019-03-25T23:47:39.189Z,1553557659.189 [Micromodem](INFO): Powering down
2019-03-25T23:47:39.341Z,1553557659.341 [CBIT](ERROR): Hardware Fault in component: Micromodem
2019-03-25T23:47:39.597Z,1553557659.597 [Micromodem](INFO): Powering down
2019-03-25T23:47:39.996Z,1553557659.996 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2019-03-25T23:47:40.456Z,1553557660.456 [CBIT](INFO): Clearing failed state for component Micromodem
2019-03-25T23:47:40.456Z,1553557660.456 [Micromodem] No Fault, FailCount= 2
2019-03-25T23:47:43.228Z,1553557663.228 [Micromodem](INFO): Powering up
2019-03-25T23:47:43.228Z,1553557663.228 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-25T23:47:48.076Z,1553557668.076 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-25T23:47:59.388Z,1553557679.388 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-25T23:47:59.822Z,1553557679.822 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:47:59.822Z,1553557679.822 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-25T23:47:59.822Z,1553557679.822 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:47:59.824Z,1553557679.824 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:47:59.824Z,1553557679.824 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-25T23:47:59.825Z,1553557679.825 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:47:59.826Z,1553557679.826 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:47:59.826Z,1553557679.826 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-25T23:47:59.827Z,1553557679.827 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:47:59.838Z,1553557679.838 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:47:59.838Z,1553557679.838 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:47:59.838Z,1553557679.838 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:48:00.232Z,1553557680.232 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:48:00.232Z,1553557680.232 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-25T23:48:00.232Z,1553557680.232 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:48:00.232Z,1553557680.232 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-25T23:48:00.233Z,1553557680.233 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:48:00.233Z,1553557680.233 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-25T23:48:00.666Z,1553557680.666 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:48:05.852Z,1553557685.852 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-25T23:48:15.952Z,1553557695.952 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-25T23:48:25.652Z,1553557705.652 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-25T23:48:35.748Z,1553557715.748 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-25T23:48:36Z,0*72

2019-03-25T23:49:22.662Z,1553557762.662 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T23:49:22.662Z,1553557762.662 [Default:CheckIn:C.Wait] Stopped
2019-03-25T23:49:22.662Z,1553557762.662 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:49:22.662Z,1553557762.662 [Default:CheckIn:D] Running Loop=1
2019-03-25T23:49:23.045Z,1553557763.045 [Default:CheckIn:D] Stopped
2019-03-25T23:49:23.045Z,1553557763.045 [Default:CheckIn:E] Running Loop=1
2019-03-25T23:49:23.439Z,1553557763.439 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 6.459463 min 
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn:E] Stopped
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn] Stopped
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn](INFO): Running loop #2
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn] Running Loop=2
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:49:23.440Z,1553557763.440 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:49:24.228Z,1553557764.228 [NAL9602](INFO): Powering up
2019-03-25T23:49:35.137Z,1553557775.137 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:49:35.958Z,1553557775.958 [NAL9602](DEBUG): Fix Requested
2019-03-25T23:50:01.021Z,1553557801.021 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:50:01.021Z,1553557801.021 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-25T23:50:01.021Z,1553557801.021 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:50:01.023Z,1553557801.023 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:50:01.023Z,1553557801.023 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-25T23:50:01.024Z,1553557801.024 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:50:01.025Z,1553557801.025 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:50:01.025Z,1553557801.025 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-25T23:50:01.025Z,1553557801.025 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:50:01.037Z,1553557801.037 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:50:01.037Z,1553557801.037 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:50:01.037Z,1553557801.037 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:50:01.435Z,1553557801.435 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:50:01.435Z,1553557801.435 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-25T23:50:01.435Z,1553557801.435 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:50:01.436Z,1553557801.436 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-25T23:50:01.436Z,1553557801.436 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:50:01.436Z,1553557801.436 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-25T23:50:01.836Z,1553557801.836 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:51:46.035Z,1553557906.035 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-25T23:51:46.036Z,1553557906.036 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:52:02.229Z,1553557922.229 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:52:02.230Z,1553557922.230 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-25T23:52:02.230Z,1553557922.230 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:52:02.232Z,1553557922.232 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:52:02.232Z,1553557922.232 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-25T23:52:02.232Z,1553557922.232 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:52:02.234Z,1553557922.234 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:52:02.234Z,1553557922.234 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-25T23:52:02.234Z,1553557922.234 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:52:02.245Z,1553557922.245 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:52:02.246Z,1553557922.246 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:52:02.246Z,1553557922.246 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:52:02.664Z,1553557922.664 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:52:02.664Z,1553557922.664 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-25T23:52:02.664Z,1553557922.664 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:52:02.664Z,1553557922.664 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-25T23:52:02.665Z,1553557922.665 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:52:02.665Z,1553557922.665 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-25T23:52:03.026Z,1553557923.026 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:53:29.082Z,1553558009.082 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-25T23:53:29.082Z,1553558009.082 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:54:03.041Z,1553558043.041 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:54:03.041Z,1553558043.041 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-03-25T23:54:03.041Z,1553558043.041 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:54:03.044Z,1553558043.044 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:54:03.044Z,1553558043.044 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 5
2019-03-25T23:54:03.044Z,1553558043.044 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:54:03.046Z,1553558043.046 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:54:03.046Z,1553558043.046 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 5
2019-03-25T23:54:03.046Z,1553558043.046 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:54:03.058Z,1553558043.058 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:54:03.058Z,1553558043.058 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:54:03.059Z,1553558043.059 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:54:03.460Z,1553558043.460 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:54:03.460Z,1553558043.460 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-03-25T23:54:03.460Z,1553558043.460 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:54:03.460Z,1553558043.460 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 5
2019-03-25T23:54:03.461Z,1553558043.461 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:54:03.461Z,1553558043.461 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 5
2019-03-25T23:54:03.861Z,1553558043.861 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:54:23.668Z,1553558063.668 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-03-25T23:49:23.4Z
2019-03-25T23:54:23.668Z,1553558063.668 [Default:CheckIn:Read_GPS] Stopped
2019-03-25T23:54:23.668Z,1553558063.668 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-25T23:54:25.419Z,1553558065.419 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-25T23:54:25.419Z,1553558065.419 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-25T23:54:29.438Z,1553558069.438 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190325T233344/Courier0013.lzma
2019-03-25T23:54:30.244Z,1553558070.244 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0013.lzma.bak
2019-03-25T23:54:30.244Z,1553558070.244 [DataOverHttps](INFO): SBD MOMSN=10244286
2019-03-25T23:54:38.344Z,1553558078.344 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-25T23:54:41.907Z,1553558081.907 [DataOverHttps](INFO): Sending 342 bytes from file Logs/20190325T233344/Express0014.lzma
2019-03-25T23:54:42.712Z,1553558082.712 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0014.lzma.bak
2019-03-25T23:54:42.712Z,1553558082.712 [DataOverHttps](INFO): SBD MOMSN=10244308
2019-03-25T23:54:44.050Z,1553558084.050 [Default:CheckIn:Read_Iridium] Stopped
2019-03-25T23:54:44.050Z,1553558084.050 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-25T23:54:44.050Z,1553558084.050 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-25T23:55:09.048Z,1553558109.048 [NAL9602](INFO): Powering down
2019-03-25T23:56:04.025Z,1553558164.025 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:56:04.025Z,1553558164.025 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-03-25T23:56:04.026Z,1553558164.026 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:56:04.032Z,1553558164.032 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:56:04.032Z,1553558164.032 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 6
2019-03-25T23:56:04.032Z,1553558164.032 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:56:04.034Z,1553558164.034 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:56:04.034Z,1553558164.034 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 6
2019-03-25T23:56:04.034Z,1553558164.034 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:56:04.070Z,1553558164.070 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:56:04.070Z,1553558164.070 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:56:04.082Z,1553558164.082 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:56:04.432Z,1553558164.432 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:56:04.432Z,1553558164.432 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-03-25T23:56:04.432Z,1553558164.432 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:56:04.432Z,1553558164.432 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 6
2019-03-25T23:56:04.433Z,1553558164.433 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:56:04.433Z,1553558164.433 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 6
2019-03-25T23:56:04.841Z,1553558164.841 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:58:05.215Z,1553558285.215 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:58:05.215Z,1553558285.215 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-03-25T23:58:05.215Z,1553558285.215 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-25T23:58:05.217Z,1553558285.217 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:58:05.217Z,1553558285.217 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 7
2019-03-25T23:58:05.217Z,1553558285.217 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-25T23:58:05.219Z,1553558285.219 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-25T23:58:05.219Z,1553558285.219 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 7
2019-03-25T23:58:05.219Z,1553558285.219 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-25T23:58:05.231Z,1553558285.231 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-25T23:58:05.231Z,1553558285.231 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-25T23:58:05.231Z,1553558285.231 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-25T23:58:05.647Z,1553558285.647 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-25T23:58:05.647Z,1553558285.647 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-03-25T23:58:05.648Z,1553558285.648 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-25T23:58:05.648Z,1553558285.648 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 7
2019-03-25T23:58:05.648Z,1553558285.648 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-25T23:58:05.648Z,1553558285.648 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 7
2019-03-25T23:58:06.033Z,1553558286.033 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-25T23:59:44.639Z,1553558384.639 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-25T23:59:44.639Z,1553558384.639 [Default:CheckIn:C.Wait] Stopped
2019-03-25T23:59:44.639Z,1553558384.639 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-25T23:59:44.639Z,1553558384.639 [Default:CheckIn:D] Running Loop=1
2019-03-25T23:59:45.013Z,1553558385.013 [Default:CheckIn:D] Stopped
2019-03-25T23:59:45.013Z,1553558385.013 [Default:CheckIn:E] Running Loop=1
2019-03-25T23:59:45.413Z,1553558385.413 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 16.825591 min 
2019-03-25T23:59:45.414Z,1553558385.414 [Default:CheckIn:E] Stopped
2019-03-25T23:59:45.414Z,1553558385.414 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-25T23:59:45.414Z,1553558385.414 [Default:CheckIn] Stopped
2019-03-25T23:59:45.414Z,1553558385.414 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-25T23:59:45.415Z,1553558385.415 [Default:CheckIn](INFO): Running loop #3
2019-03-25T23:59:45.415Z,1553558385.415 [Default:CheckIn] Running Loop=3
2019-03-25T23:59:45.415Z,1553558385.415 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-25T23:59:45.415Z,1553558385.415 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-25T23:59:46.192Z,1553558386.192 [NAL9602](INFO): Powering up
2019-03-25T23:59:57.100Z,1553558397.100 [NAL9602](INFO): NAL9602 initialized
2019-03-25T23:59:57.913Z,1553558397.913 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-03-25T23:59:57.913Z,1553558397.913 [NAL9602] Data Fault, FailCount= 1
2019-03-25T23:59:57.913Z,1553558397.913 [NAL9602](ERROR): Data Fault
2019-03-25T23:59:57.955Z,1553558397.955 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-25T23:59:58.316Z,1553558398.316 [NAL9602](INFO): Powering down
2019-03-25T23:59:59.157Z,1553558399.157 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-25T23:59:59.157Z,1553558399.157 [NAL9602] No Fault, FailCount= 1
2019-03-26T00:00:06.420Z,1553558406.420 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:00:06.420Z,1553558406.420 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-03-26T00:00:06.420Z,1553558406.420 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:00:06.423Z,1553558406.423 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:00:06.423Z,1553558406.423 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 8
2019-03-26T00:00:06.423Z,1553558406.423 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:00:06.424Z,1553558406.424 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:00:06.425Z,1553558406.425 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 8
2019-03-26T00:00:06.425Z,1553558406.425 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:00:06.436Z,1553558406.436 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:00:06.436Z,1553558406.436 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:00:06.437Z,1553558406.437 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:00:06.851Z,1553558406.851 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:00:06.851Z,1553558406.851 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-03-26T00:00:06.851Z,1553558406.851 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:00:06.851Z,1553558406.851 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 8
2019-03-26T00:00:06.852Z,1553558406.852 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:00:06.852Z,1553558406.852 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 8
2019-03-26T00:00:07.225Z,1553558407.225 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:00:28.636Z,1553558428.636 [NAL9602](INFO): Powering up NAL9602
2019-03-26T00:00:39.558Z,1553558439.558 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:00:40.378Z,1553558440.378 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:00:43.638Z,1553558443.638 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-26T00:00:43.638Z,1553558443.638 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -28,    0,-32768,A
2019-03-26T00:01:16.327Z,1553558476.327 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:01:16.327Z,1553558476.327 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:01:24.688Z,1553558484.688 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:01:24.688Z,1553558484.688 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:01:24.689Z,1553558484.689 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-03-26T00:01:24.689Z,1553558484.689 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2019-03-26T00:01:33.702Z,1553558493.702 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:01:33.702Z,1553558493.702 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:01:35.831Z,1553558495.831 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:01:35.832Z,1553558495.832 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:01:36.014Z,1553558496.014 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:01:36.016Z,1553558496.016 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:01:36.018Z,1553558496.018 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:01:36.020Z,1553558496.020 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:01:36.022Z,1553558496.022 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:01:36.024Z,1553558496.024 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:01:36.027Z,1553558496.027 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:01:36.029Z,1553558496.029 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:01:36.031Z,1553558496.031 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:01:36.033Z,1553558496.033 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:01:36.035Z,1553558496.035 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:01:36.038Z,1553558496.038 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:01:36.040Z,1553558496.040 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:01:36.042Z,1553558496.042 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:01:36.044Z,1553558496.044 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:01:36.046Z,1553558496.046 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:01:36.049Z,1553558496.049 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:01:36.051Z,1553558496.051 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:01:36.053Z,1553558496.053 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:01:36.055Z,1553558496.055 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:01:36.058Z,1553558496.058 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:01:36.060Z,1553558496.060 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:01:36.062Z,1553558496.062 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:01:36.064Z,1553558496.064 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:01:36.067Z,1553558496.067 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:01:36.069Z,1553558496.069 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:01:36.071Z,1553558496.071 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:01:36.073Z,1553558496.073 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:01:36.075Z,1553558496.075 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:01:36.077Z,1553558496.077 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:01:36.077Z,1553558496.077 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:01:36.093Z,1553558496.093 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:01:36.096Z,1553558496.096 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:01:36.098Z,1553558496.098 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:01:36.099Z,1553558496.099 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:01:36.104Z,1553558496.104 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:01:36.214Z,1553558496.214 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:01:36.235Z,1553558496.235 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:01:36.315Z,1553558496.315 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:01:36.318Z,1553558496.318 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:01:36.324Z,1553558496.324 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:01:36.326Z,1553558496.326 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:01:36.332Z,1553558496.332 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:01:36.339Z,1553558496.339 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:01:36.341Z,1553558496.341 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:01:36.355Z,1553558496.355 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:01:36.436Z,1553558496.436 [lineCaptureHoming:I.Mass](DEBUG): Construct.
2019-03-26T00:01:36.439Z,1553558496.439 [lineCaptureHoming:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:01:36.463Z,1553558496.463 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:01:36.465Z,1553558496.465 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-26T00:01:36.507Z,1553558496.507 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:01:36.510Z,1553558496.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:01:36.527Z,1553558496.527 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:01:36.608Z,1553558496.608 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:01:36.642Z,1553558496.642 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:01:36.657Z,1553558496.657 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:01:36.677Z,1553558496.677 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:01:36.691Z,1553558496.691 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:01:36.701Z,1553558496.701 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:01:36.748Z,1553558496.748 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:01:36.749Z,1553558496.749 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:01:40.656Z,1553558500.656 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-26T00:01:40.809Z,1553558500.809 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:01:40.809Z,1553558500.809 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:01:49.916Z,1553558509.916 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-26T00:01:53.464Z,1553558513.464 [CommandLine](IMPORTANT): got command run
2019-03-26T00:01:53.468Z,1553558513.468 [CommandLine](IMPORTANT): Running 
2019-03-26T00:01:53.569Z,1553558513.569 [Default] Stopped
2019-03-26T00:01:53.570Z,1553558513.570 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:01:53.570Z,1553558513.570 [Default:B.GoToSurface] Stopped
2019-03-26T00:01:53.570Z,1553558513.570 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:01:53.570Z,1553558513.570 [Default:CheckIn] Stopped
2019-03-26T00:01:53.570Z,1553558513.570 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:01:53.570Z,1553558513.570 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:01:53.570Z,1553558513.570 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming] Running Loop=1
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:01:53.571Z,1553558513.571 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:I.Mass](DEBUG): Initialize.
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:K] Running Loop=1
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:01:53.572Z,1553558513.572 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:01:53.573Z,1553558513.573 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:01:53.574Z,1553558513.574 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:01:53.575Z,1553558513.575 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:01:53.575Z,1553558513.575 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:01:53.576Z,1553558513.576 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:01:53.577Z,1553558513.577 [lineCaptureHoming:K] Running Loop=1
2019-03-26T00:01:53.578Z,1553558513.578 [lineCaptureHoming:K](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:01:53.578Z,1553558513.578 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-26T00:01:53.579Z,1553558513.579 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-26T00:01:53.580Z,1553558513.580 [lineCaptureHoming:B] Stopped
2019-03-26T00:01:53.580Z,1553558513.580 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:01:53.581Z,1553558513.581 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:01:53.581Z,1553558513.581 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:01:53.586Z,1553558513.586 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:01:53.586Z,1553558513.586 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:01:53.977Z,1553558513.977 [lineCaptureHoming:C] Stopped
2019-03-26T00:01:53.977Z,1553558513.977 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:01:54.363Z,1553558514.363 [lineCaptureHoming:D] Stopped
2019-03-26T00:01:54.363Z,1553558514.363 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:01:54.795Z,1553558514.795 [lineCaptureHoming:F] Stopped
2019-03-26T00:01:54.795Z,1553558514.795 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:01:55.179Z,1553558515.179 [lineCaptureHoming:G] Stopped
2019-03-26T00:01:55.179Z,1553558515.179 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:01:55.180Z,1553558515.180 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:01:55.595Z,1553558515.595 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:01:55.596Z,1553558515.596 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:01:55.596Z,1553558515.596 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:01:55.597Z,1553558515.597 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:01:55.597Z,1553558515.597 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:01:55.598Z,1553558515.598 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:01:56.015Z,1553558516.015 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:01:56.015Z,1553558516.015 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:01:56.015Z,1553558516.015 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:01:56.015Z,1553558516.015 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:01:56.016Z,1553558516.016 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:01:56.016Z,1553558516.016 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:01:56.016Z,1553558516.016 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:01:56.017Z,1553558516.017 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:01:56.017Z,1553558516.017 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:01:56.017Z,1553558516.017 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:01:56.023Z,1553558516.023 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553557023.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:01:56.023Z,1553558516.023 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:01:56.383Z,1553558516.383 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:01:56.807Z,1553558516.807 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:02:00.013Z,1553558520.013 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-26T00:02:00.013Z,1553558520.013 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +10,   -23,
2019-03-26T00:02:02.216Z,1553558522.216 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:02:02.216Z,1553558522.216 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:02:02.217Z,1553558522.217 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:02:02.217Z,1553558522.217 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:02:02.218Z,1553558522.218 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:02:02.218Z,1553558522.218 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:02:02.218Z,1553558522.218 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-03-26T00:02:02.219Z,1553558522.219 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:02:02.219Z,1553558522.219 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:02:02.219Z,1553558522.219 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:02:02.219Z,1553558522.219 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:02:02.220Z,1553558522.220 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:02:05.663Z,1553558525.663 [CommandLine](IMPORTANT): got command show variable speedCmd
2019-03-26T00:02:05.859Z,1553558525.859 [CommandLine](IMPORTANT): SpeedControl.speedCmd (meter_per_second)
2019-03-26T00:02:07.293Z,1553558527.293 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:02:07.293Z,1553558527.293 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-03-26T00:02:07.293Z,1553558527.293 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:02:07.296Z,1553558527.296 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:02:07.296Z,1553558527.296 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 9
2019-03-26T00:02:07.296Z,1553558527.296 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:02:07.298Z,1553558527.298 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:02:07.298Z,1553558527.298 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 9
2019-03-26T00:02:07.298Z,1553558527.298 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:02:07.379Z,1553558527.379 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:02:07.379Z,1553558527.379 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:02:07.380Z,1553558527.380 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:02:07.827Z,1553558527.827 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:02:07.827Z,1553558527.827 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-03-26T00:02:07.828Z,1553558527.828 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:02:07.828Z,1553558527.828 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 9
2019-03-26T00:02:07.828Z,1553558527.828 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:02:07.829Z,1553558527.829 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 9
2019-03-26T00:02:08.101Z,1553558528.101 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:02:14.947Z,1553558534.947 [CommandLine](IMPORTANT): got command get SpeedControl.speedCmd
2019-03-26T00:02:14.951Z,1553558534.951 [CommandLine](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:02:18.220Z,1553558538.220 [CommandLine](IMPORTANT): got command get depth
2019-03-26T00:02:18.221Z,1553558538.221 [CommandLine](IMPORTANT): depth 0.000000 m
2019-03-26T00:02:21.356Z,1553558541.356 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:02:21.356Z,1553558541.356 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:02:21.357Z,1553558541.357 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:02:21.357Z,1553558541.357 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:02:21.357Z,1553558541.357 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:02:21.358Z,1553558541.358 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:02:21.358Z,1553558541.358 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-03-26T00:02:21.358Z,1553558541.358 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:02:21.359Z,1553558541.359 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:02:21.359Z,1553558541.359 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:02:21.359Z,1553558541.359 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:02:21.359Z,1553558541.359 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:02:50.936Z,1553558570.936 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-26T00:02:51.137Z,1553558571.137 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:02:51.137Z,1553558571.137 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:02:57.770Z,1553558577.770 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:02:57.770Z,1553558577.770 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:02:58.476Z,1553558578.476 [CommandLine](IMPORTANT): got command show variable dpeth
2019-03-26T00:03:03.139Z,1553558583.139 [CommandLine](IMPORTANT): got command show variable depth
2019-03-26T00:03:03.143Z,1553558583.143 [CommandLine](IMPORTANT): depth (meter)
2019-03-26T00:03:03.143Z,1553558583.143 [CommandLine](IMPORTANT): depth_rate (meter_per_second)
2019-03-26T00:03:03.148Z,1553558583.148 [CommandLine](IMPORTANT): sea_floor_depth_below_geoid (meter)
2019-03-26T00:03:03.180Z,1553558583.180 [CommandLine](IMPORTANT): Depth_Keller.loadControl (none)
2019-03-26T00:03:03.180Z,1553558583.180 [CommandLine](IMPORTANT): Depth_Keller.ad (none)
2019-03-26T00:03:03.181Z,1553558583.181 [CommandLine](IMPORTANT): Depth_Keller.adRes (bit)
2019-03-26T00:03:03.181Z,1553558583.181 [CommandLine](IMPORTANT): Depth_Keller.adTimeout (millisecond)
2019-03-26T00:03:03.182Z,1553558583.182 [CommandLine](IMPORTANT): Depth_Keller.adVref (volt)
2019-03-26T00:03:03.211Z,1553558583.211 [CommandLine](IMPORTANT): VerticalControl.buoyancyPumpDepth (meter)
2019-03-26T00:03:03.211Z,1553558583.211 [CommandLine](IMPORTANT): VerticalControl.depthDeadband (meter)
2019-03-26T00:03:03.212Z,1553558583.212 [CommandLine](IMPORTANT): VerticalControl.depthRateDeadband (meter_per_second)
2019-03-26T00:03:03.213Z,1553558583.213 [CommandLine](IMPORTANT): VerticalControl.depthRateSamples (count)
2019-03-26T00:03:03.213Z,1553558583.213 [CommandLine](IMPORTANT): VerticalControl.dropWtDepthExcursion (meter)
2019-03-26T00:03:03.218Z,1553558583.218 [CommandLine](IMPORTANT): VerticalControl.excursionDepthTimeout (second)
2019-03-26T00:03:03.219Z,1553558583.219 [CommandLine](IMPORTANT): VerticalControl.kdDepth (radian_per_second_per_meter)
2019-03-26T00:03:03.220Z,1553558583.220 [CommandLine](IMPORTANT): VerticalControl.kdDepthBuoy (second)
2019-03-26T00:03:03.220Z,1553558583.220 [CommandLine](IMPORTANT): VerticalControl.kdDepthRateBuoy (second)
2019-03-26T00:03:03.221Z,1553558583.221 [CommandLine](IMPORTANT): VerticalControl.kiDepth (radian_per_second_per_meter)
2019-03-26T00:03:03.221Z,1553558583.221 [CommandLine](IMPORTANT): VerticalControl.kiDepthBuoy (reciprocal_second)
2019-03-26T00:03:03.222Z,1553558583.222 [CommandLine](IMPORTANT): VerticalControl.kiDepthOff (meter_per_second)
2019-03-26T00:03:03.232Z,1553558583.232 [CommandLine](IMPORTANT): VerticalControl.kiDepthRateBuoy (reciprocal_second)
2019-03-26T00:03:03.232Z,1553558583.232 [CommandLine](IMPORTANT): VerticalControl.kpDepth (radian_per_meter)
2019-03-26T00:03:03.233Z,1553558583.233 [CommandLine](IMPORTANT): VerticalControl.kpDepthBuoy (ratio)
2019-03-26T00:03:03.233Z,1553558583.233 [CommandLine](IMPORTANT): VerticalControl.kpDepthRateBuoy (ratio)
2019-03-26T00:03:03.234Z,1553558583.234 [CommandLine](IMPORTANT): VerticalControl.limitDepthTrajectory (bool)
2019-03-26T00:03:03.240Z,1553558583.240 [CommandLine](IMPORTANT): VerticalControl.maxDepthInt (angular_degree)
2019-03-26T00:03:03.240Z,1553558583.240 [CommandLine](IMPORTANT): VerticalControl.minDepthExcursion (meter)
2019-03-26T00:03:03.241Z,1553558583.241 [CommandLine](IMPORTANT): VerticalControl.stopDepthExcursion (meter)
2019-03-26T00:03:03.242Z,1553558583.242 [CommandLine](IMPORTANT): VerticalControl.useElevIntInDepthMode (bool)
2019-03-26T00:03:03.249Z,1553558583.249 [CommandLine](IMPORTANT): CBIT.stopDepth (meter)
2019-03-26T00:03:03.250Z,1553558583.250 [CommandLine](IMPORTANT): CBIT.abortDepth (meter)
2019-03-26T00:03:03.263Z,1553558583.263 [CommandLine](IMPORTANT): CBIT.abortDepthTimeout (second)
2019-03-26T00:03:03.284Z,1553558583.284 [CommandLine](IMPORTANT): Config/Simulator.mixedLayerDepth (meter)
2019-03-26T00:03:03.302Z,1553558583.302 [CommandLine](IMPORTANT): DepthRateCalculator.loadAtStartup (bool)
2019-03-26T00:03:03.307Z,1553558583.307 [CommandLine](IMPORTANT): TempGradientCalculator.numConsecutiveDepths (count)
2019-03-26T00:03:03.308Z,1553558583.308 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth1 (meter)
2019-03-26T00:03:03.309Z,1553558583.309 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth2 (meter)
2019-03-26T00:03:03.309Z,1553558583.309 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth3 (meter)
2019-03-26T00:03:03.309Z,1553558583.309 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depth4 (meter)
2019-03-26T00:03:03.310Z,1553558583.310 [CommandLine](IMPORTANT): VerticalTemperatureHomogeneityIndexCalculator.depthWindow (meter)
2019-03-26T00:03:03.321Z,1553558583.321 [CommandLine](IMPORTANT): BuoyancyServo.fastPumpDepth (meter)
2019-03-26T00:03:03.350Z,1553558583.350 [CommandLine](IMPORTANT): Config/workSite.beaconDepth (meter)
2019-03-26T00:03:03.364Z,1553558583.364 [CommandLine](IMPORTANT): Depth_Keller.loadAtStartup (bool)
2019-03-26T00:03:03.364Z,1553558583.364 [CommandLine](IMPORTANT): Depth_Keller.simulateHardware (bool)
2019-03-26T00:03:03.364Z,1553558583.364 [CommandLine](IMPORTANT): Depth_Keller.maxPressBound (decibar)
2019-03-26T00:03:03.365Z,1553558583.365 [CommandLine](IMPORTANT): Depth_Keller.minPressBound (decibar)
2019-03-26T00:03:03.365Z,1553558583.365 [CommandLine](IMPORTANT): Depth_Keller.offset (decibar)
2019-03-26T00:03:03.365Z,1553558583.365 [CommandLine](IMPORTANT): Depth_Keller.power (watt)
2019-03-26T00:03:03.366Z,1553558583.366 [CommandLine](IMPORTANT): Depth_Keller.scale (micropascal)
2019-03-26T00:03:03.405Z,1553558583.405 [CommandLine](IMPORTANT): Radio_Surface.maxDepth (meter)
2019-03-26T00:03:03.406Z,1553558583.406 [CommandLine](IMPORTANT): Depth_Keller.depth (meter)
2019-03-26T00:03:03.406Z,1553558583.406 [CommandLine](IMPORTANT): Depth_Keller.sea_water_pressure (decibar)
2019-03-26T00:03:03.501Z,1553558583.501 [CommandLine](IMPORTANT): DeadReckonUsingMultipleVelocitySources.depth (meter)
2019-03-26T00:03:03.508Z,1553558583.508 [CommandLine](IMPORTANT): DeadReckonUsingSpeedCalculator.depth (meter)
2019-03-26T00:03:03.515Z,1553558583.515 [CommandLine](IMPORTANT): DeadReckonWithRespectToSeafloor.depth (meter)
2019-03-26T00:03:03.516Z,1553558583.516 [CommandLine](IMPORTANT): NavChart.sea_floor_depth_below_geoid (meter)
2019-03-26T00:03:03.518Z,1553558583.518 [CommandLine](IMPORTANT): CTD_NeilBrown.depth (meter)
2019-03-26T00:03:03.524Z,1553558583.524 [CommandLine](IMPORTANT): DepthRateCalculator.depth_rate (meter_per_second)
2019-03-26T00:03:03.525Z,1553558583.525 [CommandLine](IMPORTANT): TempGradientCalculator.thermoclineDepth (meter)
2019-03-26T00:03:03.526Z,1553558583.526 [CommandLine](IMPORTANT): TempGradientCalculator.targetDepth (meter)
2019-03-26T00:03:03.537Z,1553558583.537 [CommandLine](IMPORTANT): CBIT.binnedDepthRate (meter_per_second)
2019-03-26T00:03:03.538Z,1553558583.538 [CommandLine](IMPORTANT): VerticalControl.depthCmd (meter)
2019-03-26T00:03:03.538Z,1553558583.538 [CommandLine](IMPORTANT): VerticalControl.depthRateCmd (meter_per_second)
2019-03-26T00:03:03.539Z,1553558583.539 [CommandLine](IMPORTANT): VerticalControl.depth2buoyIntInternal (cubic_centimeter)
2019-03-26T00:03:03.540Z,1553558583.540 [CommandLine](IMPORTANT): VerticalControl.depthErrorInternal (meter)
2019-03-26T00:03:03.540Z,1553558583.540 [CommandLine](IMPORTANT): VerticalControl.depthIntegralInternal (radian)
2019-03-26T00:03:03.540Z,1553558583.540 [CommandLine](IMPORTANT): VerticalControl.smoothDepthInternal (meter)
2019-03-26T00:03:03.542Z,1553558583.542 [CommandLine](IMPORTANT): NavChartDb.closestDepth (meter)
2019-03-26T00:03:03.542Z,1553558583.542 [CommandLine](IMPORTANT): NavChartDb.nextDepth (meter)
2019-03-26T00:03:03.546Z,1553558583.546 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:03:03.554Z,1553558583.554 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:03:03.555Z,1553558583.555 [CommandLine](IMPORTANT): lineCaptureHoming.DepthDeadband (meter)
2019-03-26T00:03:03.555Z,1553558583.555 [CommandLine](IMPORTANT): lineCaptureHoming.MaxDepth (meter)
2019-03-26T00:03:03.556Z,1553558583.556 [CommandLine](IMPORTANT): lineCaptureHoming:StandardEnvelopes.MaxDepth (meter)
2019-03-26T00:03:03.557Z,1553558583.557 [CommandLine](IMPORTANT): lineCaptureHoming:NeedComms.SurfaceDepthRate (meter_per_second)
2019-03-26T00:03:31.236Z,1553558611.236 [CommandLine](IMPORTANT): got command show variable trackAcoustic
2019-03-26T00:03:34.356Z,1553558614.356 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:03:34.356Z,1553558614.356 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:03:34.357Z,1553558614.357 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:03:34.357Z,1553558614.357 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:03:34.357Z,1553558614.357 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:03:34.358Z,1553558614.358 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:03:34.358Z,1553558614.358 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-03-26T00:03:34.358Z,1553558614.358 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:03:34.359Z,1553558614.359 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:03:34.359Z,1553558614.359 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:03:34.359Z,1553558614.359 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:03:34.359Z,1553558614.359 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:03:41.846Z,1553558621.846 [RDI_Pathfinder](ERROR): Failed to parse:
   +14.85,      -13.49,       -1.61,   9.59,  0.00
2019-03-26T00:04:08.487Z,1553558648.487 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:04:08.487Z,1553558648.487 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-03-26T00:04:08.487Z,1553558648.487 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:04:08.489Z,1553558648.489 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:04:08.489Z,1553558648.489 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 10
2019-03-26T00:04:08.489Z,1553558648.489 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:04:08.491Z,1553558648.491 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:04:08.491Z,1553558648.491 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 10
2019-03-26T00:04:08.491Z,1553558648.491 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:04:08.547Z,1553558648.547 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:04:08.547Z,1553558648.547 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:04:08.547Z,1553558648.547 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:04:09.034Z,1553558649.034 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:04:09.034Z,1553558649.034 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-03-26T00:04:09.035Z,1553558649.035 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:04:09.035Z,1553558649.035 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 10
2019-03-26T00:04:09.036Z,1553558649.036 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:04:09.036Z,1553558649.036 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 10
2019-03-26T00:04:09.297Z,1553558649.297 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:04:17.687Z,1553558657.687 [CommandLine](IMPORTANT): got command show variable pitch
2019-03-26T00:04:17.692Z,1553558657.692 [CommandLine](IMPORTANT): platform_pitch_rate (unknown)
2019-03-26T00:04:17.702Z,1553558657.702 [CommandLine](IMPORTANT): SpeedControl.propPitch (meter_per_radian)
2019-03-26T00:04:17.703Z,1553558657.703 [CommandLine](IMPORTANT): VerticalControl.kdPitchElevator (second)
2019-03-26T00:04:17.704Z,1553558657.704 [CommandLine](IMPORTANT): VerticalControl.kdPitchMass (second)
2019-03-26T00:04:17.704Z,1553558657.704 [CommandLine](IMPORTANT): VerticalControl.kiPitchElevator (reciprocal_second)
2019-03-26T00:04:17.705Z,1553558657.705 [CommandLine](IMPORTANT): VerticalControl.kiPitchMass (reciprocal_second)
2019-03-26T00:04:17.705Z,1553558657.705 [CommandLine](IMPORTANT): VerticalControl.kpPitchElevator (none)
2019-03-26T00:04:17.706Z,1553558657.706 [CommandLine](IMPORTANT): VerticalControl.kpPitchMass (none)
2019-03-26T00:04:17.711Z,1553558657.711 [CommandLine](IMPORTANT): VerticalControl.maxPitchElevatorInt (angular_degree)
2019-03-26T00:04:17.711Z,1553558657.711 [CommandLine](IMPORTANT): VerticalControl.maxPitchMassInt (millimeter)
2019-03-26T00:04:17.712Z,1553558657.712 [CommandLine](IMPORTANT): VerticalControl.maxPitchRate (angular_degree_per_second)
2019-03-26T00:04:17.712Z,1553558657.712 [CommandLine](IMPORTANT): VerticalControl.minAscendPitch (angular_degree)
2019-03-26T00:04:17.713Z,1553558657.713 [CommandLine](IMPORTANT): VerticalControl.pitchLimit (angular_degree)
2019-03-26T00:04:17.713Z,1553558657.713 [CommandLine](IMPORTANT): VerticalControl.pitchTimeoutGoToSurface (second)
2019-03-26T00:04:17.728Z,1553558657.728 [CommandLine](IMPORTANT): Config/Simulator.initPitch (angular_degree)
2019-03-26T00:04:17.737Z,1553558657.737 [CommandLine](IMPORTANT): PitchRateCalculator.loadAtStartup (bool)
2019-03-26T00:04:17.746Z,1553558657.746 [CommandLine](IMPORTANT): AHRS_3DMGX3.pitchOffset (degree)
2019-03-26T00:04:17.768Z,1553558657.768 [CommandLine](IMPORTANT): AHRS_sp3003D.pitchOffset (degree)
2019-03-26T00:04:17.833Z,1553558657.833 [CommandLine](IMPORTANT): DVL_micro.pitchOffset (degree)
2019-03-26T00:04:17.843Z,1553558657.843 [CommandLine](IMPORTANT): PNI_TCM.pitchOffset (degree)
2019-03-26T00:04:17.844Z,1553558657.844 [CommandLine](IMPORTANT): Rowe_600.pitchOffset (degree)
2019-03-26T00:04:17.866Z,1553558657.866 [CommandLine](IMPORTANT): PAR_Licor.maxValidPitch (degree)
2019-03-26T00:04:17.878Z,1553558657.878 [CommandLine](IMPORTANT): PAR_Licor.minValidPitch (degree)
2019-03-26T00:04:18.027Z,1553558658.027 [CommandLine](IMPORTANT): PitchRateCalculator.platform_pitch_rate (radian_per_second)
2019-03-26T00:04:18.028Z,1553558658.028 [CommandLine](IMPORTANT): VerticalControl.pitchCmd (radian)
2019-03-26T00:04:18.029Z,1553558658.029 [CommandLine](IMPORTANT): ElevatorOffsetCalculator.elevator_angle_cmd_pitch_identifier (radian)
2019-03-26T00:04:18.043Z,1553558658.043 [CommandLine](IMPORTANT): VerticalControl.pitchRateCmd (radian_per_second)
2019-03-26T00:04:18.043Z,1553558658.043 [CommandLine](IMPORTANT): VerticalControl.massPitchErrorInternal (radian)
2019-03-26T00:04:18.044Z,1553558658.044 [CommandLine](IMPORTANT): VerticalControl.pitchInternal (radian)
2019-03-26T00:04:18.075Z,1553558658.075 [CommandLine](IMPORTANT): lineCaptureHoming:NeedComms.WaitForPitchUp (minute)
2019-03-26T00:04:18.076Z,1553558658.076 [CommandLine](IMPORTANT): lineCaptureHoming:NeedComms.SurfacePitch (degree)
2019-03-26T00:04:41.880Z,1553558681.880 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:04:41.880Z,1553558681.880 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:04:41.881Z,1553558681.881 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:04:41.881Z,1553558681.881 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:04:41.882Z,1553558681.882 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:04:41.882Z,1553558681.882 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:04:41.882Z,1553558681.882 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-03-26T00:04:41.883Z,1553558681.883 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:04:41.883Z,1553558681.883 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:04:41.883Z,1553558681.883 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:04:41.883Z,1553558681.883 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:04:41.884Z,1553558681.884 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:04:46.815Z,1553558686.815 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-26T00:04:47.053Z,1553558687.053 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:04:47.053Z,1553558687.053 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:04:54.373Z,1553558694.373 [CommandLine](IMPORTANT): got command get lineCaptureHoming.InitDepthTimeout
2019-03-26T00:04:54.374Z,1553558694.374 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout 30.000000 min
2019-03-26T00:05:02.952Z,1553558702.952 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:05:02.953Z,1553558702.953 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:05:03.039Z,1553558703.039 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:05:03.040Z,1553558703.040 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming] Stopped
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:05:03.040Z,1553558703.040 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:I.Mass] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:I.Mass](DEBUG): Uninitialize.
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:J.Buoyancy] Stopped
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:05:03.041Z,1553558703.041 [lineCaptureHoming:K] Stopped
2019-03-26T00:05:03.042Z,1553558703.042 [lineCaptureHoming:L] Stopped
2019-03-26T00:05:03.042Z,1553558703.042 [lineCaptureHoming:M] Stopped
2019-03-26T00:05:03.042Z,1553558703.042 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:05:03.042Z,1553558703.042 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:05:03.437Z,1553558703.437 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:05:03.437Z,1553558703.437 [Default] Running Loop=1
2019-03-26T00:05:03.438Z,1553558703.438 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:05:03.438Z,1553558703.438 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:05:03.438Z,1553558703.438 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:05:03.438Z,1553558703.438 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:05:03.439Z,1553558703.439 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:05:03.439Z,1553558703.439 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:05:03.439Z,1553558703.439 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:05:03.440Z,1553558703.440 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:05:03.440Z,1553558703.440 [Default:A.Wait] Running Loop=1
2019-03-26T00:05:03.440Z,1553558703.440 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:05:10.335Z,1553558710.335 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:05:10.336Z,1553558710.336 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:05:10.541Z,1553558710.541 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:05:10.544Z,1553558710.544 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:05:10.546Z,1553558710.546 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:05:10.548Z,1553558710.548 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:05:10.550Z,1553558710.550 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:05:10.552Z,1553558710.552 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:05:10.554Z,1553558710.554 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:05:10.556Z,1553558710.556 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:05:10.559Z,1553558710.559 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:05:10.561Z,1553558710.561 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:05:10.563Z,1553558710.563 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:05:10.565Z,1553558710.565 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:05:10.588Z,1553558710.588 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:05:10.590Z,1553558710.590 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:05:10.612Z,1553558710.612 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:05:10.628Z,1553558710.628 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:05:10.637Z,1553558710.637 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:05:10.648Z,1553558710.648 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:05:10.655Z,1553558710.655 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:05:10.657Z,1553558710.657 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:05:10.661Z,1553558710.661 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:05:10.664Z,1553558710.664 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:05:10.666Z,1553558710.666 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:05:10.692Z,1553558710.692 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:05:10.694Z,1553558710.694 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:05:10.727Z,1553558710.727 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:05:10.729Z,1553558710.729 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:05:10.740Z,1553558710.740 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:05:10.755Z,1553558710.755 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:05:10.757Z,1553558710.757 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:05:10.757Z,1553558710.757 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:05:10.829Z,1553558710.829 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:05:10.836Z,1553558710.836 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:05:10.844Z,1553558710.844 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:05:10.845Z,1553558710.845 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:05:10.860Z,1553558710.860 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:05:10.878Z,1553558710.878 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:05:10.902Z,1553558710.902 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:05:10.987Z,1553558710.987 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:05:10.989Z,1553558710.989 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:05:10.995Z,1553558710.995 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:05:10.997Z,1553558710.997 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:05:11.011Z,1553558711.011 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:05:11.013Z,1553558711.013 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:05:11.015Z,1553558711.015 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:05:11.020Z,1553558711.020 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:05:11.092Z,1553558711.092 [lineCaptureHoming:I.Mass](DEBUG): Construct.
2019-03-26T00:05:11.099Z,1553558711.099 [lineCaptureHoming:J.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:05:11.153Z,1553558711.153 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:05:11.165Z,1553558711.165 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-26T00:05:11.200Z,1553558711.200 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:05:11.211Z,1553558711.211 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:05:11.250Z,1553558711.250 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:05:11.273Z,1553558711.273 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:05:11.285Z,1553558711.285 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:05:11.301Z,1553558711.301 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:05:11.309Z,1553558711.309 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:05:11.323Z,1553558711.323 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:05:11.330Z,1553558711.330 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:05:11.354Z,1553558711.354 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:05:11.354Z,1553558711.354 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:05:14.639Z,1553558714.639 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-26T00:05:14.834Z,1553558714.834 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:05:14.835Z,1553558714.835 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:05:16.774Z,1553558716.774 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:05:16.774Z,1553558716.774 [Default:A.Wait] Stopped
2019-03-26T00:05:16.774Z,1553558716.774 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:05:17.178Z,1553558717.178 [Default:CheckIn] Running Loop=1
2019-03-26T00:05:17.182Z,1553558717.182 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:05:17.182Z,1553558717.182 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:05:25.807Z,1553558725.807 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-26T00:05:36.233Z,1553558736.233 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 30.000000 second
2019-03-26T00:05:40.147Z,1553558740.147 [CommandLine](IMPORTANT): got command show variable SpeedCmd
2019-03-26T00:05:40.314Z,1553558740.314 [CommandLine](IMPORTANT): SpeedControl.speedCmd (meter_per_second)
2019-03-26T00:05:42.600Z,1553558742.600 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-26T00:05:43.418Z,1553558743.418 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:05:46.972Z,1553558746.972 [CommandLine](IMPORTANT): got command report mod SpeedControl.speedCmd
2019-03-26T00:05:47.092Z,1553558747.092 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:05:49.074Z,1553558749.074 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:05:49.107Z,1553558749.107 [CommandLine](IMPORTANT): got command report
2019-03-26T00:05:49.107Z,1553558749.107 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range reporting when touched
2019-03-26T00:05:49.108Z,1553558749.108 [Reporter](INFO): DUSBL_Hydroid.xAngle reporting when touched
2019-03-26T00:05:49.108Z,1553558749.108 [Reporter](INFO): SpeedControl.speedCmd reporting changes
2019-03-26T00:05:49.480Z,1553558749.480 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235850.00,A,3648.16268,N,12147.28012,W,0.058,0.00,250319,,,A*7E
2019-03-26T00:05:49.483Z,1553558749.483 [NAL9602](INFO): GPS fix at 20190325T235850: (36.802711, -121.788002)
2019-03-26T00:05:49.508Z,1553558749.508 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:05:49.508Z,1553558749.508 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-26T00:05:52.355Z,1553558752.355 [CommandLine](IMPORTANT): got command run
2019-03-26T00:05:52.357Z,1553558752.357 [CommandLine](IMPORTANT): Running 
2019-03-26T00:05:52.507Z,1553558752.507 [Default] Stopped
2019-03-26T00:05:52.508Z,1553558752.508 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:05:52.508Z,1553558752.508 [Default:B.GoToSurface] Stopped
2019-03-26T00:05:52.508Z,1553558752.508 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:05:52.508Z,1553558752.508 [Default:CheckIn] Stopped
2019-03-26T00:05:52.508Z,1553558752.508 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:05:52.508Z,1553558752.508 [Default:CheckIn:Read_Iridium] Stopped
2019-03-26T00:05:52.508Z,1553558752.508 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:05:52.508Z,1553558752.508 [lineCaptureHoming] Running Loop=1
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:05:52.509Z,1553558752.509 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:I.Mass](DEBUG): Initialize.
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:J.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:K] Running Loop=1
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:05:52.510Z,1553558752.510 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:05:52.514Z,1553558752.514 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:05:52.515Z,1553558752.515 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:05:52.516Z,1553558752.516 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:05:52.516Z,1553558752.516 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:05:52.516Z,1553558752.516 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:05:52.517Z,1553558752.517 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:05:52.517Z,1553558752.517 [lineCaptureHoming:K] Running Loop=1
2019-03-26T00:05:52.517Z,1553558752.517 [lineCaptureHoming:K](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:05:52.517Z,1553558752.517 [lineCaptureHoming:J.Buoyancy] Running Loop=1
2019-03-26T00:05:52.518Z,1553558752.518 [lineCaptureHoming:I.Mass] Running Loop=1
2019-03-26T00:05:52.522Z,1553558752.522 [lineCaptureHoming:B] Stopped
2019-03-26T00:05:52.523Z,1553558752.523 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:05:52.523Z,1553558752.523 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:05:52.523Z,1553558752.523 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:05:52.532Z,1553558752.532 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:05:52.532Z,1553558752.532 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:05:52.556Z,1553558752.556 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:05:52.931Z,1553558752.931 [lineCaptureHoming:C] Stopped
2019-03-26T00:05:52.931Z,1553558752.931 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:05:53.307Z,1553558753.307 [lineCaptureHoming:D] Stopped
2019-03-26T00:05:53.307Z,1553558753.307 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:05:53.726Z,1553558753.726 [lineCaptureHoming:F] Stopped
2019-03-26T00:05:53.726Z,1553558753.726 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:05:54.111Z,1553558754.111 [lineCaptureHoming:G] Stopped
2019-03-26T00:05:54.111Z,1553558754.111 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:05:54.111Z,1553558754.111 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:05:54.519Z,1553558754.519 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:05:54.519Z,1553558754.519 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:05:54.519Z,1553558754.519 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:05:54.519Z,1553558754.519 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:05:54.520Z,1553558754.520 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:05:54.520Z,1553558754.520 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:05:54.939Z,1553558754.939 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:05:54.939Z,1553558754.939 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:05:54.939Z,1553558754.939 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:05:54.939Z,1553558754.939 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:05:54.940Z,1553558754.940 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:05:54.940Z,1553558754.940 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:05:54.940Z,1553558754.940 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:05:54.941Z,1553558754.941 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:05:54.941Z,1553558754.941 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:05:54.941Z,1553558754.941 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:05:54.947Z,1553558754.947 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553558330.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:05:54.947Z,1553558754.947 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:05:55.331Z,1553558755.331 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:05:55.359Z,1553558755.359 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190325T233344/Courier0016.lzma
2019-03-26T00:05:55.743Z,1553558755.743 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:05:56.167Z,1553558756.167 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0016.lzma.bak
2019-03-26T00:05:56.167Z,1553558756.167 [DataOverHttps](INFO): SBD MOMSN=10244554
2019-03-26T00:05:56.930Z,1553558756.930 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:05:57.322Z,1553558757.322 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,235858.00,A,3648.16257,N,12147.28059,W,0.156,0.00,250319,,,A*7A
2019-03-26T00:05:57.324Z,1553558757.324 [NAL9602](INFO): GPS fix at 20190325T235858: (36.802709, -121.788010)
2019-03-26T00:05:57.350Z,1553558757.350 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:05:57.351Z,1553558757.351 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-26T00:05:57.781Z,1553558757.781 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-26T00:06:08.198Z,1553558768.198 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190325T233344/Courier0019.lzma
2019-03-26T00:06:09.004Z,1553558769.004 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0019.lzma.bak
2019-03-26T00:06:09.004Z,1553558769.004 [DataOverHttps](INFO): SBD MOMSN=10244557
2019-03-26T00:06:09.308Z,1553558769.308 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:06:09.308Z,1553558769.308 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:06:09.309Z,1553558769.309 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:06:09.309Z,1553558769.309 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:06:09.310Z,1553558769.310 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:06:09.310Z,1553558769.310 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:06:09.310Z,1553558769.310 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-03-26T00:06:09.311Z,1553558769.311 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:06:09.311Z,1553558769.311 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:06:09.311Z,1553558769.311 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:06:09.311Z,1553558769.311 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:06:09.312Z,1553558769.312 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:06:09.561Z,1553558769.561 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:06:09.562Z,1553558769.562 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-26T00:06:09.562Z,1553558769.562 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:06:09.564Z,1553558769.564 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:06:09.564Z,1553558769.564 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-26T00:06:09.564Z,1553558769.564 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:06:09.566Z,1553558769.566 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:06:09.566Z,1553558769.566 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-26T00:06:09.566Z,1553558769.566 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:06:09.635Z,1553558769.635 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:06:09.636Z,1553558769.636 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:06:09.636Z,1553558769.636 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:06:09.637Z,1553558769.637 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:06:10.126Z,1553558770.126 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:06:10.127Z,1553558770.127 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-26T00:06:10.127Z,1553558770.127 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:06:10.127Z,1553558770.127 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-26T00:06:10.128Z,1553558770.128 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:06:10.128Z,1553558770.128 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-26T00:06:10.365Z,1553558770.365 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:06:10.407Z,1553558770.407 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:06:15.643Z,1553558775.643 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-26T00:06:15.644Z,1553558775.644 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +65,   -4,A
2019-03-26T00:06:18.212Z,1553558778.212 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:06:18.212Z,1553558778.212 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:06:18.213Z,1553558778.213 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:06:18.213Z,1553558778.213 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:06:18.213Z,1553558778.213 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:06:18.214Z,1553558778.214 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:06:18.214Z,1553558778.214 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-03-26T00:06:18.215Z,1553558778.215 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:06:18.215Z,1553558778.215 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:06:18.215Z,1553558778.215 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:06:18.215Z,1553558778.215 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:06:18.216Z,1553558778.216 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:06:21.636Z,1553558781.636 [DataOverHttps](INFO): Sending 2578 bytes from file Logs/20190325T233344/Express0017.lzma
2019-03-26T00:06:22.432Z,1553558782.432 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0017.lzma.bak
2019-03-26T00:06:22.432Z,1553558782.432 [DataOverHttps](INFO): SBD MOMSN=10244601
2019-03-26T00:06:29.742Z,1553558789.742 [NAL9602](INFO): Powering down
2019-03-26T00:06:33.627Z,1553558793.627 [CommandLine](IMPORTANT): got command get depth
2019-03-26T00:06:33.628Z,1553558793.628 [CommandLine](IMPORTANT): depth 0.000000 m
2019-03-26T00:06:34.978Z,1553558794.978 [DataOverHttps](INFO): Sending 137 bytes from file Logs/20190325T233344/Express0020.lzma
2019-03-26T00:06:35.784Z,1553558795.784 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0020.lzma.bak
2019-03-26T00:06:35.784Z,1553558795.784 [DataOverHttps](INFO): SBD MOMSN=10244820
2019-03-26T00:06:36.915Z,1553558796.915 [CommandLine](IMPORTANT): got command show variable InitDepth
2019-03-26T00:06:37.216Z,1553558797.216 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:06:37.217Z,1553558797.217 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:06:37.443Z,1553558797.443 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-26T00:06:37.443Z,1553558797.443 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-26T00:06:37.860Z,1553558797.860 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:06:38.220Z,1553558798.220 [NAL9602](INFO): Powering up
2019-03-26T00:06:43.057Z,1553558803.057 [CommandLine](IMPORTANT): got command get lineCaptureHoming.InitDepth
2019-03-26T00:06:43.058Z,1553558803.058 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth 0.000000 m
2019-03-26T00:06:47.387Z,1553558807.387 [CommandLine](IMPORTANT): got command show variable propOmegaaction
2019-03-26T00:06:47.694Z,1553558807.694 [CommandLine](IMPORTANT): SpeedControl.propOmegaAction (radian_per_second)
2019-03-26T00:06:49.129Z,1553558809.129 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:06:49.954Z,1553558809.954 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:06:54.963Z,1553558814.963 [CommandLine](IMPORTANT): got command get SpeedControl.propOmegaAction revolution_per_minute
2019-03-26T00:06:54.964Z,1553558814.964 [CommandLine](IMPORTANT): SpeedControl.propOmegaAction 300.000824 rpm
2019-03-26T00:07:19.196Z,1553558839.196 [CommandLine](IMPORTANT): got command show variable doingComms
2019-03-26T00:07:19.291Z,1553558839.291 [CommandLine](IMPORTANT): lineCaptureHoming.DoingComms (bool)
2019-03-26T00:07:21.044Z,1553558841.044 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-26T00:07:21.118Z,1553558841.118 [NAL9602](FAULT): received: 
+CSQ:0

OK49, 2, 0, 0, 0

OK
2019-03-26T00:07:21.118Z,1553558841.118 [NAL9602] Data Fault, FailCount= 2
2019-03-26T00:07:21.119Z,1553558841.119 [NAL9602](ERROR): Data Fault
2019-03-26T00:07:21.234Z,1553558841.234 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-26T00:07:21.448Z,1553558841.448 [NAL9602](INFO): Powering down
2019-03-26T00:07:22.362Z,1553558842.362 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-26T00:07:22.362Z,1553558842.362 [NAL9602] No Fault, FailCount= 2
2019-03-26T00:07:28.127Z,1553558848.127 [CommandLine](IMPORTANT): got command get lineCaptureHoming.DoingComms
2019-03-26T00:07:28.128Z,1553558848.128 [CommandLine](IMPORTANT): lineCaptureHoming.DoingComms 1 bool
2019-03-26T00:07:51.748Z,1553558871.748 [NAL9602](INFO): Powering up NAL9602
2019-03-26T00:08:02.661Z,1553558882.661 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:08:03.482Z,1553558883.482 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:08:10.373Z,1553558890.373 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:08:10.373Z,1553558890.373 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-26T00:08:10.373Z,1553558890.373 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:08:10.376Z,1553558890.376 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:08:10.376Z,1553558890.376 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-26T00:08:10.376Z,1553558890.376 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:08:10.378Z,1553558890.378 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:08:10.378Z,1553558890.378 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-26T00:08:10.378Z,1553558890.378 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:08:10.419Z,1553558890.419 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:08:10.419Z,1553558890.419 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:08:10.419Z,1553558890.419 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:08:10.421Z,1553558890.421 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:08:10.954Z,1553558890.954 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:08:10.954Z,1553558890.954 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-26T00:08:10.955Z,1553558890.955 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:08:10.955Z,1553558890.955 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-26T00:08:10.956Z,1553558890.956 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:08:10.956Z,1553558890.956 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-26T00:08:11.181Z,1553558891.181 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:08:11.202Z,1553558891.202 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:08:25.751Z,1553558905.751 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:08:25.752Z,1553558905.752 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:08:25.752Z,1553558905.752 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:08:25.753Z,1553558905.753 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:08:25.753Z,1553558905.753 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:08:25.753Z,1553558905.753 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:08:25.754Z,1553558905.754 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-03-26T00:08:25.754Z,1553558905.754 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:08:25.756Z,1553558905.756 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:08:25.756Z,1553558905.756 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:08:25.756Z,1553558905.756 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:08:25.757Z,1553558905.757 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:08:58.396Z,1553558938.396 [CommandLine](IMPORTANT): got command show variable doingComms
2019-03-26T00:08:58.603Z,1553558938.603 [CommandLine](IMPORTANT): lineCaptureHoming.DoingComms (bool)
2019-03-26T00:09:03.496Z,1553558943.496 [CommandLine](IMPORTANT): got command get lineCaptureHoming.DoingComms
2019-03-26T00:09:03.497Z,1553558943.497 [CommandLine](IMPORTANT): lineCaptureHoming.DoingComms 1 bool
2019-03-26T00:09:45.675Z,1553558985.675 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:09:45.675Z,1553558985.675 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:09:45.675Z,1553558985.675 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:09:45.675Z,1553558985.675 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:09:45.676Z,1553558985.676 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:09:45.676Z,1553558985.676 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:09:45.676Z,1553558985.676 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-03-26T00:09:45.677Z,1553558985.677 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:09:45.677Z,1553558985.677 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:09:45.677Z,1553558985.677 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:09:45.677Z,1553558985.677 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:09:45.678Z,1553558985.678 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:09:54.443Z,1553558994.443 [CommandLine](IMPORTANT): got command get height_above_sea_floor
2019-03-26T00:09:54.444Z,1553558994.444 [CommandLine](IMPORTANT): height_above_sea_floor 9.630000 m
2019-03-26T00:09:59.228Z,1553558999.228 [CommandLine](IMPORTANT): got command show variable altitude
2019-03-26T00:09:59.281Z,1553558999.281 [CommandLine](IMPORTANT): NavChart.UseChartAltitude (bool)
2019-03-26T00:09:59.321Z,1553558999.321 [CommandLine](IMPORTANT): Rowe_600.altitudeAccuracy (meter)
2019-03-26T00:09:59.323Z,1553558999.323 [CommandLine](IMPORTANT): Rowe_600LCM.altitudeAccuracy (meter)
2019-03-26T00:09:59.345Z,1553558999.345 [CommandLine](IMPORTANT): RDI_PathfinderUp.Altitude (meter)
2019-03-26T00:09:59.477Z,1553558999.477 [CommandLine](IMPORTANT): lineCaptureHoming.HoldAltitude (meter)
2019-03-26T00:09:59.477Z,1553558999.477 [CommandLine](IMPORTANT): lineCaptureHoming.InvalidAltitudeTimeout (minute)
2019-03-26T00:09:59.482Z,1553558999.482 [CommandLine](IMPORTANT): lineCaptureHoming.MinAltitude (meter)
2019-03-26T00:09:59.484Z,1553558999.484 [CommandLine](IMPORTANT): lineCaptureHoming:StandardEnvelopes.MinAltitude (meter)
2019-03-26T00:10:05.775Z,1553559005.775 [CommandLine](IMPORTANT): got command get lineCaptureHoming.HoldAltitude
2019-03-26T00:10:05.776Z,1553559005.776 [CommandLine](IMPORTANT): lineCaptureHoming.HoldAltitude 7.000000 m
2019-03-26T00:10:11.577Z,1553559011.577 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:10:11.577Z,1553559011.577 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-26T00:10:11.578Z,1553559011.578 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:10:11.608Z,1553559011.608 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:10:11.608Z,1553559011.608 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-26T00:10:11.608Z,1553559011.608 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:10:11.614Z,1553559011.614 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:10:11.619Z,1553559011.619 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-26T00:10:11.619Z,1553559011.619 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:10:11.679Z,1553559011.679 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:10:11.679Z,1553559011.679 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:10:11.679Z,1553559011.679 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:10:11.681Z,1553559011.681 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:10:12.107Z,1553559012.107 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:10:12.107Z,1553559012.107 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-26T00:10:12.107Z,1553559012.107 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:10:12.108Z,1553559012.108 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-26T00:10:12.108Z,1553559012.108 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:10:12.108Z,1553559012.108 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-26T00:10:12.365Z,1553559012.365 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:10:12.386Z,1553559012.386 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:10:15.624Z,1553559015.624 [CommandLine](IMPORTANT): got command show best height_above_sea_floor
2019-03-26T00:10:15.625Z,1553559015.625 [CommandLine](IMPORTANT): height_above_sea_floor best is RDI_Pathfinder.height_above_sea_floor
2019-03-26T00:10:16.004Z,1553559016.004 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-26T00:10:16.004Z,1553559016.004 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -3,    -5,-32768,A
2019-03-26T00:10:19.387Z,1553559019.387 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:10:19.387Z,1553559019.387 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:10:19.388Z,1553559019.388 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:10:19.388Z,1553559019.388 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:10:19.388Z,1553559019.388 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:10:19.389Z,1553559019.389 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:10:19.389Z,1553559019.389 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-03-26T00:10:19.389Z,1553559019.389 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.Mass
2019-03-26T00:10:19.390Z,1553559019.390 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Buoyancy
2019-03-26T00:10:19.390Z,1553559019.390 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K
2019-03-26T00:10:19.395Z,1553559019.395 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:10:19.395Z,1553559019.395 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:10:32.485Z,1553559032.485 [CommandLine](IMPORTANT): got command maintain sensor RDI_Pathfinder.height_above_sea_floor 7.000000 meter
2019-03-26T00:10:32.486Z,1553559032.486 [ComponentRegistry](DEBUG): SyncComponent "Maintain_RDI_Pathfinder.height_above_sea_floor" handled in the control thread.
2019-03-26T00:10:32.681Z,1553559032.681 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,RDI_Pathfinder,RDI_PathfinderUp,BPC1,Depth_Keller,Maintain_Depth_Keller.depth,Maintain_RDI_Pathfinder.height_above_sea_floor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-26T00:10:39.103Z,1553559039.103 [CommandLine](IMPORTANT): got command get height_above_sea_floor
2019-03-26T00:10:39.103Z,1553559039.103 [CommandLine](FAULT): Element has no value
2019-03-26T00:10:42.915Z,1553559042.915 [CommandLine](IMPORTANT): got command get height_above_sea_floor
2019-03-26T00:10:42.916Z,1553559042.916 [CommandLine](IMPORTANT): height_above_sea_floor 7.000000 m
2019-03-26T00:10:46.640Z,1553559046.640 [CommandLine](IMPORTANT): got command get height_above_sea_floor
2019-03-26T00:10:46.641Z,1553559046.641 [CommandLine](IMPORTANT): height_above_sea_floor 7.000000 m
2019-03-26T00:10:54.815Z,1553559054.815 [CommandLine](IMPORTANT): got command show variable speedCmd
2019-03-26T00:10:55.083Z,1553559055.083 [CommandLine](IMPORTANT): SpeedControl.speedCmd (meter_per_second)
2019-03-26T00:10:58.031Z,1553559058.031 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-26T00:10:58.031Z,1553559058.031 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   -20,   +2,A
2019-03-26T00:10:59.814Z,1553559059.814 [CommandLine](IMPORTANT): got command get SpeedControl.speedCmd
2019-03-26T00:10:59.815Z,1553559059.815 [CommandLine](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:12:02.638Z,1553559122.638 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:12:02.638Z,1553559122.638 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:12:03.036Z,1553559123.036 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-26T00:12:03.858Z,1553559123.858 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:07.094Z,1553559127.094 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:09.922Z,1553559129.922 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:12.768Z,1553559132.768 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:12:12.768Z,1553559132.768 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-26T00:12:12.769Z,1553559132.769 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:12:12.771Z,1553559132.771 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:12:12.771Z,1553559132.771 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-26T00:12:12.771Z,1553559132.771 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:12:12.773Z,1553559132.773 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:12:12.773Z,1553559132.773 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-26T00:12:12.773Z,1553559132.773 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:12:12.810Z,1553559132.810 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:12:12.811Z,1553559132.811 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:12:12.811Z,1553559132.811 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:12:12.812Z,1553559132.812 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:12:13.151Z,1553559133.151 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:13.314Z,1553559133.314 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:12:13.314Z,1553559133.314 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-26T00:12:13.315Z,1553559133.315 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:12:13.315Z,1553559133.315 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-26T00:12:13.316Z,1553559133.316 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:12:13.316Z,1553559133.316 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-26T00:12:13.589Z,1553559133.589 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:12:13.641Z,1553559133.641 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:12:15.979Z,1553559135.979 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:18.806Z,1553559138.806 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:22.038Z,1553559142.038 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:24.874Z,1553559144.874 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:28.102Z,1553559148.102 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:30.930Z,1553559150.930 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:34.162Z,1553559154.162 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:36.990Z,1553559156.990 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:39.814Z,1553559159.814 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:43.051Z,1553559163.051 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:45.899Z,1553559165.899 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:49.110Z,1553559169.110 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:51.938Z,1553559171.938 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:12:52.336Z,1553559172.336 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,000554.00,A,3648.16976,N,12147.27084,W,0.233,0.00,260319,,,A*7B
2019-03-26T00:12:52.338Z,1553559172.338 [NAL9602](INFO): GPS fix at 20190326T000554: (36.802829, -121.787847)
2019-03-26T00:12:52.401Z,1553559172.401 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-26T00:12:52.403Z,1553559172.403 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-26T00:12:52.403Z,1553559172.403 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:12:52.404Z,1553559172.404 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:12:52.404Z,1553559172.404 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:12:52.404Z,1553559172.404 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:12:52.793Z,1553559172.793 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-26T00:12:52.793Z,1553559172.793 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:12:52.793Z,1553559172.793 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:12:52.794Z,1553559172.794 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-26T00:12:53.165Z,1553559173.165 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-26T00:12:53.165Z,1553559173.165 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-26T00:12:53.567Z,1553559173.567 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-26T00:12:53.567Z,1553559173.567 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-26T00:12:53.568Z,1553559173.568 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:12:53.568Z,1553559173.568 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:Lap] Running Loop=1
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-26T00:12:53.988Z,1553559173.988 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-26T00:12:53.989Z,1553559173.989 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-26T00:12:53.989Z,1553559173.989 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-26T00:12:53.989Z,1553559173.989 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-26T00:12:53.989Z,1553559173.989 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-26T00:12:53.989Z,1553559173.989 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-26T00:12:54.387Z,1553559174.387 [lineCaptureHoming:Lap:C] Stopped
2019-03-26T00:12:54.387Z,1553559174.387 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-26T00:12:54.387Z,1553559174.387 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-26T00:12:54.387Z,1553559174.387 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-26T00:12:54.388Z,1553559174.388 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-26T00:12:54.388Z,1553559174.388 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-26T00:12:54.388Z,1553559174.388 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-26T00:12:54.388Z,1553559174.388 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-26T00:12:54.388Z,1553559174.388 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-26T00:12:54.389Z,1553559174.389 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-26T00:12:54.390Z,1553559174.390 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-26T00:12:54.391Z,1553559174.391 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-26T00:12:54.392Z,1553559174.392 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-26T00:12:54.392Z,1553559174.392 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-26T00:12:54.392Z,1553559174.392 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-26T00:12:54.392Z,1553559174.392 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-26T00:12:54.392Z,1553559174.392 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-26T00:12:54.393Z,1553559174.393 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-26T00:12:54.394Z,1553559174.394 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-26T00:12:54.394Z,1553559174.394 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-26T00:12:54.394Z,1553559174.394 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-26T00:12:54.761Z,1553559174.761 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:12:54.768Z,1553559174.768 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:12:54.831Z,1553559174.831 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-26T00:12:54.832Z,1553559174.832 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-26T00:12:54.832Z,1553559174.832 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-26T00:12:54.832Z,1553559174.832 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-26T00:12:54.832Z,1553559174.832 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-26T00:12:54.833Z,1553559174.833 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-26T00:12:54.833Z,1553559174.833 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-26T00:12:55.192Z,1553559175.192 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-26T00:12:55.192Z,1553559175.192 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-26T00:12:55.193Z,1553559175.193 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-26T00:12:55.194Z,1553559175.194 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-26T00:12:55.194Z,1553559175.194 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-26T00:12:58.797Z,1553559178.797 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:12:58.800Z,1553559178.800 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:02.836Z,1553559182.836 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:02.840Z,1553559182.840 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:06.876Z,1553559186.876 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:06.882Z,1553559186.882 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:10.917Z,1553559190.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:10.921Z,1553559190.921 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:14.952Z,1553559194.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:14.953Z,1553559194.953 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:18.996Z,1553559198.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:19.001Z,1553559199.001 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:23.037Z,1553559203.037 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:23.040Z,1553559203.040 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:25.056Z,1553559205.056 [NAL9602](INFO): Powering down
2019-03-26T00:13:27.076Z,1553559207.076 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:27.080Z,1553559207.080 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:31.120Z,1553559211.120 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:31.126Z,1553559211.126 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:35.158Z,1553559215.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:35.162Z,1553559215.162 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:35.984Z,1553559215.984 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-26T00:13:35.984Z,1553559215.984 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  9.97,   0.00, 100.58,  93.59
2019-03-26T00:13:38.005Z,1553559218.005 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-26T00:13:38.005Z,1553559218.005 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +45,   -0,A
2019-03-26T00:13:39.197Z,1553559219.197 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:39.200Z,1553559219.200 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:43.236Z,1553559223.236 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:43.242Z,1553559223.242 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:47.281Z,1553559227.281 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:47.287Z,1553559227.287 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:47.686Z,1553559227.686 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001345.155545,06,469,26,0102,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,199,0.00,-999,9760,4000*56

2019-03-26T00:13:51.312Z,1553559231.312 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:51.313Z,1553559231.313 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:55.356Z,1553559235.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:55.362Z,1553559235.362 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:13:59.397Z,1553559239.397 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:13:59.401Z,1553559239.401 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:03.432Z,1553559243.432 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:03.433Z,1553559243.433 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:03.943Z,1553559243.943 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 12.779997 m
2019-03-26T00:14:03.943Z,1553559243.943 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.450000 arcdeg
2019-03-26T00:14:07.472Z,1553559247.472 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:07.477Z,1553559247.477 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:07.903Z,1553559247.903 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,186,80,81,0C,FF
2019-03-26T00:14:07.903Z,1553559247.903 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:14:07.904Z,1553559247.904 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:14:08.123Z,1553559248.123 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:14:08.287Z,1553559248.287 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:14:09.234Z,1553559249.234 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:14:09.235Z,1553559249.235 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:14:11.515Z,1553559251.515 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:14:11.515Z,1553559251.515 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:14:13.977Z,1553559253.977 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:14:13.977Z,1553559253.977 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-26T00:14:13.977Z,1553559253.977 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:14:13.979Z,1553559253.979 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:14:13.979Z,1553559253.979 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-26T00:14:13.979Z,1553559253.979 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:14:13.981Z,1553559253.981 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:14:13.981Z,1553559253.981 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-26T00:14:13.981Z,1553559253.981 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:14:13.984Z,1553559253.984 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:14:14.022Z,1553559254.022 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:14:14.023Z,1553559254.023 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:14:14.023Z,1553559254.023 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:14:14.365Z,1553559254.365 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:14:14.411Z,1553559254.411 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:14:14.411Z,1553559254.411 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-26T00:14:14.412Z,1553559254.412 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:14:14.412Z,1553559254.412 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-26T00:14:14.412Z,1553559254.412 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:14:14.412Z,1553559254.412 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-26T00:14:14.786Z,1553559254.786 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:14:29.692Z,1553559269.692 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:14:30.101Z,1553559270.101 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:30.106Z,1553559270.106 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:30.505Z,1553559270.505 [Micromodem](ERROR): Response from modem unexpected: $CADQF,208,1*5A

2019-03-26T00:14:30.507Z,1553559270.507 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-26T00:14:30.910Z,1553559270.910 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001428.352153,06,511,27,0094,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,208,0.05,-999,9760,4000*53

2019-03-26T00:14:34.141Z,1553559274.141 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:34.146Z,1553559274.146 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:38.177Z,1553559278.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:38.181Z,1553559278.181 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:38.691Z,1553559278.691 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 59.520004 m
2019-03-26T00:14:38.692Z,1553559278.692 [Reporter](INFO): DUSBL_Hydroid.xAngle -1.650000 arcdeg
2019-03-26T00:14:42.223Z,1553559282.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:42.227Z,1553559282.227 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:46.260Z,1553559286.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:14:46.267Z,1553559286.267 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:14:46.664Z,1553559286.664 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,187,80,81,08,FF
2019-03-26T00:14:46.664Z,1553559286.664 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:14:46.664Z,1553559286.664 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:14:46.674Z,1553559286.674 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001444.136885,06,344,25,0104,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,203,0.00,-999,9760,4000*59

2019-03-26T00:14:46.893Z,1553559286.893 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:14:47.071Z,1553559287.071 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:14:47.986Z,1553559287.986 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:14:47.987Z,1553559287.987 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:14:50.300Z,1553559290.300 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:14:50.300Z,1553559290.300 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:15:04.360Z,1553559304.360 [CommandLine](IMPORTANT): got command show variable contact
2019-03-26T00:15:04.362Z,1553559304.362 [CommandLine](IMPORTANT): acoustic_contact_direction_vehicle_frame (unknown)
2019-03-26T00:15:04.363Z,1553559304.363 [CommandLine](IMPORTANT): acoustic_contact_address (unknown)
2019-03-26T00:15:04.363Z,1553559304.363 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-03-26T00:15:04.581Z,1553559304.581 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-03-26T00:15:04.581Z,1553559304.581 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)
2019-03-26T00:15:04.581Z,1553559304.581 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_address (enum)
2019-03-26T00:15:08.484Z,1553559308.484 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:15:08.889Z,1553559308.889 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:08.893Z,1553559308.893 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:09.151Z,1553559309.151 [CommandLine](IMPORTANT): got command show variable trackingAcoustic
2019-03-26T00:15:12.924Z,1553559312.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:12.930Z,1553559312.930 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:16.961Z,1553559316.961 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:16.965Z,1553559316.965 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:21.005Z,1553559321.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:21.010Z,1553559321.010 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:21.487Z,1553559321.487 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 6.900000 m
2019-03-26T00:15:21.488Z,1553559321.488 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.100000 arcdeg
2019-03-26T00:15:25.044Z,1553559325.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:25.049Z,1553559325.049 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:25.444Z,1553559325.444 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,11,FF
2019-03-26T00:15:25.444Z,1553559325.444 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:15:25.444Z,1553559325.444 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:15:25.546Z,1553559325.546 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:15:25.854Z,1553559325.854 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:15:26.782Z,1553559326.782 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:15:26.782Z,1553559326.782 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:15:29.085Z,1553559329.085 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:15:29.085Z,1553559329.085 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:15:39.633Z,1553559339.633 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-26T00:15:39.633Z,1553559339.633 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,    2,    +2,A
2019-03-26T00:15:43.642Z,1553559343.642 [CommandLine](IMPORTANT): got command show variable trackAcous
2019-03-26T00:15:47.260Z,1553559347.260 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:15:47.669Z,1553559347.669 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:47.674Z,1553559347.674 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:48.078Z,1553559348.078 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001545.440751,06,553,27,0092,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,204,0.00,-999,9760,4000*50

2019-03-26T00:15:51.704Z,1553559351.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:51.705Z,1553559351.705 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:55.753Z,1553559355.753 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:55.757Z,1553559355.757 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:15:56.239Z,1553559356.239 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 14.940002 m
2019-03-26T00:15:56.240Z,1553559356.240 [Reporter](INFO): DUSBL_Hydroid.xAngle -9.900000 arcdeg
2019-03-26T00:15:59.788Z,1553559359.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:15:59.793Z,1553559359.793 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:00.283Z,1553559360.283 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 14.639997 m
2019-03-26T00:16:00.284Z,1553559360.284 [Reporter](INFO): DUSBL_Hydroid.xAngle -9.750000 arcdeg
2019-03-26T00:16:03.824Z,1553559363.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:03.829Z,1553559363.829 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:04.331Z,1553559364.331 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 60.840000 m
2019-03-26T00:16:04.332Z,1553559364.332 [Reporter](INFO): DUSBL_Hydroid.xAngle -6.000000 arcdeg
2019-03-26T00:16:07.865Z,1553559367.865 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:07.870Z,1553559367.870 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:08.280Z,1553559368.280 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001605.906873,06,459,26,0091,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,209,0.00,-999,9760,4000*53

2019-03-26T00:16:08.390Z,1553559368.390 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 7.020000 m
2019-03-26T00:16:08.395Z,1553559368.395 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.400000 arcdeg
2019-03-26T00:16:11.904Z,1553559371.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:11.905Z,1553559371.905 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:12.435Z,1553559372.435 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 25.740000 m
2019-03-26T00:16:12.436Z,1553559372.436 [Reporter](INFO): DUSBL_Hydroid.xAngle -10.500000 arcdeg
2019-03-26T00:16:15.162Z,1553559375.162 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:16:15.162Z,1553559375.162 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-26T00:16:15.162Z,1553559375.162 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:16:15.164Z,1553559375.164 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:16:15.164Z,1553559375.164 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-26T00:16:15.164Z,1553559375.164 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:16:15.166Z,1553559375.166 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:16:15.166Z,1553559375.166 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-26T00:16:15.166Z,1553559375.166 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:16:15.169Z,1553559375.169 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:16:15.210Z,1553559375.210 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:16:15.211Z,1553559375.211 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:16:15.211Z,1553559375.211 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:16:15.579Z,1553559375.579 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:16:15.630Z,1553559375.630 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:16:15.630Z,1553559375.630 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-26T00:16:15.631Z,1553559375.631 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:16:15.631Z,1553559375.631 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-26T00:16:15.632Z,1553559375.632 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:16:15.632Z,1553559375.632 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-26T00:16:15.948Z,1553559375.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:15.953Z,1553559375.953 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:16.039Z,1553559376.039 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:16:16.467Z,1553559376.467 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 42.419998 m
2019-03-26T00:16:16.468Z,1553559376.468 [Reporter](INFO): DUSBL_Hydroid.xAngle -0.450000 arcdeg
2019-03-26T00:16:19.993Z,1553559379.993 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:19.997Z,1553559379.997 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:20.392Z,1553559380.392 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,278,80,81,09,FF
2019-03-26T00:16:20.392Z,1553559380.392 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:16:20.392Z,1553559380.392 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:16:20.475Z,1553559380.475 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:16:20.795Z,1553559380.795 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:16:21.698Z,1553559381.698 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:16:21.698Z,1553559381.698 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:16:24.027Z,1553559384.027 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:16:24.028Z,1553559384.028 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:16:42.208Z,1553559402.208 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:16:42.624Z,1553559402.624 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:42.629Z,1553559402.629 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:46.656Z,1553559406.656 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:46.657Z,1553559406.657 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:50.689Z,1553559410.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:50.693Z,1553559410.693 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:51.179Z,1553559411.179 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range -37.500000 m
2019-03-26T00:16:51.180Z,1553559411.180 [Reporter](INFO): DUSBL_Hydroid.xAngle -9.850000 arcdeg
2019-03-26T00:16:54.729Z,1553559414.729 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:54.733Z,1553559414.733 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:55.223Z,1553559415.223 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 26.760000 m
2019-03-26T00:16:55.224Z,1553559415.224 [Reporter](INFO): DUSBL_Hydroid.xAngle -20.800001 arcdeg
2019-03-26T00:16:58.772Z,1553559418.772 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:16:58.778Z,1553559418.778 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:16:59.279Z,1553559419.279 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 21.959997 m
2019-03-26T00:16:59.280Z,1553559419.280 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.400000 arcdeg
2019-03-26T00:17:02.812Z,1553559422.812 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:17:02.816Z,1553559422.816 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:17:03.216Z,1553559423.216 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,187,80,81,0A,FF
2019-03-26T00:17:03.216Z,1553559423.216 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:17:03.216Z,1553559423.216 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:17:03.295Z,1553559423.295 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:17:03.626Z,1553559423.626 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:17:04.498Z,1553559424.498 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:17:04.498Z,1553559424.498 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:17:06.851Z,1553559426.851 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:17:06.851Z,1553559426.851 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:17:15.676Z,1553559435.676 [CommandLine](IMPORTANT): got command show variable estimation
2019-03-26T00:17:19.928Z,1553559439.928 [CommandLine](IMPORTANT): got command show variable peak
2019-03-26T00:17:25.033Z,1553559445.033 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:17:25.433Z,1553559445.433 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:17:25.441Z,1553559445.441 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:17:25.837Z,1553559445.837 [Micromodem](ERROR): Response from modem unexpected: $CADQF,196,1*5E

2019-03-26T00:17:25.838Z,1553559445.838 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-26T00:17:26.250Z,1553559446.250 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CACST,6,1,20190326001723.873866,06,337,25,0099,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-999-999-999,-9.9,196,0.0-99,9760,400*5

2019-03-26T00:17:26.252Z,1553559446.252 [Micromodem](ERROR): Response from modem failed NMEA checksum: CAREV,001724,AUV,2.0.27690*15

2019-03-26T00:17:26.672Z,1553559446.672 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:17:26.672Z,1553559446.672 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:17:26.673Z,1553559446.673 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:17:26.673Z,1553559446.673 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:17:26.673Z,1553559446.673 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:17:26.673Z,1553559446.673 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:I.Mass
2019-03-26T00:17:26.674Z,1553559446.674 [lineCaptureHoming](IMPORTANT): Priority 4: lineCaptureHoming:J.Buoyancy
2019-03-26T00:17:26.674Z,1553559446.674 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:K
2019-03-26T00:17:26.674Z,1553559446.674 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:L
2019-03-26T00:17:26.675Z,1553559446.675 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:M
2019-03-26T00:17:26.675Z,1553559446.675 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-03-26T00:17:26.676Z,1553559446.676 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed
2019-03-26T00:17:26.676Z,1553559446.676 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo
2019-03-26T00:17:26.676Z,1553559446.676 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 11: lineCaptureHoming:RequestPing:A
2019-03-26T00:17:26.676Z,1553559446.676 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 12: lineCaptureHoming:RequestPing:B
2019-03-26T00:17:26.677Z,1553559446.677 [lineCaptureHoming:Lap:MidcourseGuidance](IMPORTANT): Priority 13: lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint
2019-03-26T00:17:29.473Z,1553559449.473 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:17:29.477Z,1553559449.477 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:17:33.517Z,1553559453.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:17:33.522Z,1553559453.522 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:17:33.924Z,1553559453.924 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001731.588439,06,454,26,0090,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,192,-0.05,-999,9760,4000*78

2019-03-26T00:17:34.031Z,1553559454.031 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 20.700001 m
2019-03-26T00:17:34.032Z,1553559454.032 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.500000 arcdeg
2019-03-26T00:17:37.552Z,1553559457.552 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:17:37.553Z,1553559457.553 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:17:37.960Z,1553559457.960 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-26T00:17:37.960Z,1553559457.960 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:17:37.960Z,1553559457.960 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:17:38.066Z,1553559458.066 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:17:38.363Z,1553559458.363 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:17:39.250Z,1553559459.250 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:17:39.250Z,1553559459.250 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:17:41.597Z,1553559461.597 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:17:41.598Z,1553559461.598 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:17:59.776Z,1553559479.776 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:18:00.182Z,1553559480.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:00.187Z,1553559480.187 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:04.221Z,1553559484.221 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:04.226Z,1553559484.226 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:04.635Z,1553559484.635 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001802.067501,06,408,26,0091,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,0.00,-999,9760,4000*5D

2019-03-26T00:18:08.260Z,1553559488.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:08.264Z,1553559488.264 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:08.816Z,1553559488.816 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 53.939995 m
2019-03-26T00:18:08.817Z,1553559488.817 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.700000 arcdeg
2019-03-26T00:18:12.297Z,1553559492.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:12.301Z,1553559492.301 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:12.803Z,1553559492.803 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 13.260000 m
2019-03-26T00:18:12.803Z,1553559492.803 [Reporter](INFO): DUSBL_Hydroid.xAngle -9.750000 arcdeg
2019-03-26T00:18:16.336Z,1553559496.336 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:16.337Z,1553559496.337 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:16.382Z,1553559496.382 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:18:16.382Z,1553559496.382 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-26T00:18:16.383Z,1553559496.383 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:18:16.385Z,1553559496.385 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:18:16.386Z,1553559496.386 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-26T00:18:16.386Z,1553559496.386 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:18:16.389Z,1553559496.389 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:18:16.389Z,1553559496.389 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-26T00:18:16.389Z,1553559496.389 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:18:16.393Z,1553559496.393 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:18:16.461Z,1553559496.461 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:18:16.461Z,1553559496.461 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:18:16.461Z,1553559496.461 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:18:16.788Z,1553559496.788 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:18:16.826Z,1553559496.826 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:18:16.826Z,1553559496.826 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-26T00:18:16.827Z,1553559496.827 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:18:16.827Z,1553559496.827 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-26T00:18:16.828Z,1553559496.828 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:18:16.828Z,1553559496.828 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-26T00:18:16.829Z,1553559496.829 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 36.719997 m
2019-03-26T00:18:16.830Z,1553559496.830 [Reporter](INFO): DUSBL_Hydroid.xAngle -25.200000 arcdeg
2019-03-26T00:18:17.174Z,1553559497.174 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:18:20.376Z,1553559500.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:20.377Z,1553559500.377 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:20.792Z,1553559500.792 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326001818.699009,06,399,26,0102,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,190,0.10,-999,9760,4000*5F

2019-03-26T00:18:20.927Z,1553559500.927 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range -37.500000 m
2019-03-26T00:18:20.928Z,1553559500.928 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.700000 arcdeg
2019-03-26T00:18:24.417Z,1553559504.417 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:24.422Z,1553559504.422 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:24.951Z,1553559504.951 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 24.959997 m
2019-03-26T00:18:24.952Z,1553559504.952 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.100000 arcdeg
2019-03-26T00:18:28.456Z,1553559508.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:28.475Z,1553559508.475 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:28.864Z,1553559508.864 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,F1C,000,1,0A,FF
2019-03-26T00:18:28.864Z,1553559508.864 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:18:28.864Z,1553559508.864 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:18:28.955Z,1553559508.955 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:18:29.263Z,1553559509.263 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:18:30.154Z,1553559510.154 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:18:30.154Z,1553559510.154 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:18:32.495Z,1553559512.495 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:18:32.495Z,1553559512.495 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:18:50.680Z,1553559530.680 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:18:51.089Z,1553559531.089 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:51.095Z,1553559531.095 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:55.124Z,1553559535.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:55.128Z,1553559535.128 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:59.164Z,1553559539.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:18:59.168Z,1553559539.168 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:18:59.572Z,1553559539.572 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EFA,000,1,07,FF
2019-03-26T00:18:59.572Z,1553559539.572 [DUSBL_Hydroid] Communications Fault, FailCount= 2
2019-03-26T00:18:59.572Z,1553559539.572 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:18:59.619Z,1553559539.619 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-26T00:18:59.619Z,1553559539.619 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00, 100.91,  93.26
2019-03-26T00:18:59.694Z,1553559539.694 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:18:59.967Z,1553559539.967 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:19:00.970Z,1553559540.970 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:19:00.970Z,1553559540.970 [DUSBL_Hydroid] No Fault, FailCount= 2
2019-03-26T00:19:03.205Z,1553559543.205 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:19:03.205Z,1553559543.205 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:19:21.380Z,1553559561.380 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:19:21.788Z,1553559561.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:19:21.824Z,1553559561.824 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:19:25.828Z,1553559565.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:19:25.834Z,1553559565.834 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:19:29.870Z,1553559569.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:19:29.875Z,1553559569.875 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:19:30.411Z,1553559570.411 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 11.640002 m
2019-03-26T00:19:30.412Z,1553559570.412 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.550000 arcdeg
2019-03-26T00:19:33.905Z,1553559573.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:19:33.910Z,1553559573.910 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:19:34.416Z,1553559574.416 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 9.719998 m
2019-03-26T00:19:34.417Z,1553559574.417 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.100000 arcdeg
2019-03-26T00:19:37.948Z,1553559577.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:19:37.952Z,1553559577.952 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:19:38.435Z,1553559578.435 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range -37.500000 m
2019-03-26T00:19:38.436Z,1553559578.436 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.350000 arcdeg
2019-03-26T00:19:41.984Z,1553559581.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:19:41.985Z,1553559581.985 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:19:42.388Z,1553559582.388 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,187,80,81,0E,FF
2019-03-26T00:19:42.388Z,1553559582.388 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:19:42.388Z,1553559582.388 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:19:42.502Z,1553559582.502 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:19:42.799Z,1553559582.799 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:19:43.750Z,1553559583.750 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:19:43.750Z,1553559583.750 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:19:46.023Z,1553559586.023 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:19:46.023Z,1553559586.023 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:20:04.208Z,1553559604.208 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:20:04.619Z,1553559604.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:04.623Z,1553559604.623 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:08.652Z,1553559608.652 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:08.658Z,1553559608.658 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:12.688Z,1553559612.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:12.692Z,1553559612.692 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:13.187Z,1553559613.187 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range -37.500000 m
2019-03-26T00:20:13.187Z,1553559613.187 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.400000 arcdeg
2019-03-26T00:20:16.728Z,1553559616.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:16.729Z,1553559616.729 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:16.849Z,1553559616.849 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-03-26T00:20:16.850Z,1553559616.850 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   .00
2019-03-26T00:20:17.264Z,1553559617.264 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 99.239998 m
2019-03-26T00:20:17.264Z,1553559617.264 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.650000 arcdeg
2019-03-26T00:20:17.558Z,1553559617.558 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:20:17.558Z,1553559617.558 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-26T00:20:17.558Z,1553559617.558 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:20:17.560Z,1553559617.560 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:20:17.560Z,1553559617.560 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-26T00:20:17.560Z,1553559617.560 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:20:17.562Z,1553559617.562 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:20:17.563Z,1553559617.563 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-26T00:20:17.563Z,1553559617.563 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:20:17.569Z,1553559617.569 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:20:17.667Z,1553559617.667 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:20:17.667Z,1553559617.667 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:20:17.667Z,1553559617.667 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:20:17.941Z,1553559617.941 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,IDEM, 523,Missed start of FSK packet

2019-03-26T00:20:17.987Z,1553559617.987 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:20:18.063Z,1553559618.063 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:20:18.063Z,1553559618.063 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-26T00:20:18.063Z,1553559618.063 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:20:18.063Z,1553559618.063 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-26T00:20:18.064Z,1553559618.064 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:20:18.064Z,1553559618.064 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-26T00:20:18.366Z,1553559618.366 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:20:20.777Z,1553559620.777 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:20.782Z,1553559620.782 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:24.812Z,1553559624.812 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:24.816Z,1553559624.816 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:28.855Z,1553559628.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:28.859Z,1553559628.859 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:29.252Z,1553559629.252 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-26T00:20:29.252Z,1553559629.252 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:20:29.252Z,1553559629.252 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:20:29.399Z,1553559629.399 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:20:29.655Z,1553559629.655 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:20:30.604Z,1553559630.604 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:20:30.605Z,1553559630.605 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:20:32.895Z,1553559632.895 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:20:32.896Z,1553559632.896 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:20:51.068Z,1553559651.068 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:20:51.472Z,1553559651.472 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:51.473Z,1553559651.473 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:55.516Z,1553559655.516 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:55.520Z,1553559655.520 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:59.556Z,1553559659.556 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:20:59.564Z,1553559659.564 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:20:59.633Z,1553559659.633 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-03-26T00:20:59.634Z,1553559659.634 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-03-26T00:20:59.956Z,1553559659.956 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,F0A,000,1,07,FF
2019-03-26T00:20:59.956Z,1553559659.956 [DUSBL_Hydroid] Communications Fault, FailCount= 2
2019-03-26T00:20:59.956Z,1553559659.956 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:21:00.082Z,1553559660.082 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:21:00.359Z,1553559660.359 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:21:01.250Z,1553559661.250 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:21:01.250Z,1553559661.250 [DUSBL_Hydroid] No Fault, FailCount= 2
2019-03-26T00:21:03.591Z,1553559663.591 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:21:03.592Z,1553559663.592 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:21:21.772Z,1553559681.772 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:21:22.180Z,1553559682.180 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:21:22.184Z,1553559682.184 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:21:26.216Z,1553559686.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:21:26.218Z,1553559686.218 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:21:26.630Z,1553559686.630 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326002124.186301,06,343,25,0098,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,194,0.00,-999,9760,4000*5B

2019-03-26T00:21:30.261Z,1553559690.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:21:30.264Z,1553559690.264 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:21:30.747Z,1553559690.747 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 4.559999 m
2019-03-26T00:21:30.748Z,1553559690.748 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.500000 arcdeg
2019-03-26T00:21:34.296Z,1553559694.296 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:21:34.300Z,1553559694.300 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:21:34.823Z,1553559694.823 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 3.119999 m
2019-03-26T00:21:34.824Z,1553559694.824 [Reporter](INFO): DUSBL_Hydroid.xAngle -15.550000 arcdeg
2019-03-26T00:21:38.342Z,1553559698.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:21:38.347Z,1553559698.347 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:21:38.843Z,1553559698.843 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 4.559999 m
2019-03-26T00:21:38.844Z,1553559698.844 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.300000 arcdeg
2019-03-26T00:21:42.376Z,1553559702.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:21:42.382Z,1553559702.382 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:21:42.780Z,1553559702.780 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-26T00:21:42.780Z,1553559702.780 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:21:42.780Z,1553559702.780 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:21:42.787Z,1553559702.787 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190326002140.162197,06,307,24,0095,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,190,0.00,-999,9760,4000*56

2019-03-26T00:21:42.926Z,1553559702.926 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:21:43.183Z,1553559703.183 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:21:44.082Z,1553559704.082 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:21:44.082Z,1553559704.082 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:21:46.419Z,1553559706.419 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:21:46.419Z,1553559706.419 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:22:04.606Z,1553559724.606 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:22:05.004Z,1553559725.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:05.009Z,1553559725.009 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:09.045Z,1553559729.045 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:09.050Z,1553559729.050 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:13.084Z,1553559733.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:13.088Z,1553559733.088 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:13.615Z,1553559733.615 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 75.000008 m
2019-03-26T00:22:13.617Z,1553559733.617 [Reporter](INFO): DUSBL_Hydroid.xAngle -20.300000 arcdeg
2019-03-26T00:22:17.129Z,1553559737.129 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:17.133Z,1553559737.133 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:17.524Z,1553559737.524 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-26T00:22:17.524Z,1553559737.524 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:22:17.524Z,1553559737.524 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:22:17.641Z,1553559737.641 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:22:17.931Z,1553559737.931 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:22:18.770Z,1553559738.770 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:22:18.770Z,1553559738.770 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-03-26T00:22:18.770Z,1553559738.770 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:22:18.772Z,1553559738.772 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:22:18.772Z,1553559738.772 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 5
2019-03-26T00:22:18.772Z,1553559738.772 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:22:18.774Z,1553559738.774 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:22:18.775Z,1553559738.775 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 5
2019-03-26T00:22:18.775Z,1553559738.775 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:22:18.778Z,1553559738.778 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:22:18.818Z,1553559738.818 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:22:18.818Z,1553559738.818 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:22:18.819Z,1553559738.819 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:22:18.819Z,1553559738.819 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:22:18.819Z,1553559738.819 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:22:19.172Z,1553559739.172 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:22:19.210Z,1553559739.210 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:22:19.210Z,1553559739.210 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-03-26T00:22:19.211Z,1553559739.211 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:22:19.211Z,1553559739.211 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 5
2019-03-26T00:22:19.212Z,1553559739.212 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:22:19.212Z,1553559739.212 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 5
2019-03-26T00:22:19.581Z,1553559739.581 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:22:21.159Z,1553559741.159 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:22:21.159Z,1553559741.159 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:22:21.989Z,1553559741.989 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-26T00:22:21.989Z,1553559741.989 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  69.97, 100.91,  93.26
2019-03-26T00:22:39.340Z,1553559759.340 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:22:39.744Z,1553559759.744 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:39.745Z,1553559759.745 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:43.788Z,1553559763.788 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:43.793Z,1553559763.793 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:47.824Z,1553559767.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:47.829Z,1553559767.829 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:48.492Z,1553559768.492 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 61.019997 m
2019-03-26T00:22:48.492Z,1553559768.492 [Reporter](INFO): DUSBL_Hydroid.xAngle -10.000000 arcdeg
2019-03-26T00:22:51.864Z,1553559771.864 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:51.865Z,1553559771.865 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:52.447Z,1553559772.447 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 46.560001 m
2019-03-26T00:22:52.448Z,1553559772.448 [Reporter](INFO): DUSBL_Hydroid.xAngle -8.300000 arcdeg
2019-03-26T00:22:55.916Z,1553559775.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:55.921Z,1553559775.921 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:22:56.443Z,1553559776.443 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 91.680008 m
2019-03-26T00:22:56.443Z,1553559776.443 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.350000 arcdeg
2019-03-26T00:22:59.966Z,1553559779.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:22:59.970Z,1553559779.970 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:00.463Z,1553559780.463 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 55.859997 m
2019-03-26T00:23:00.464Z,1553559780.464 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.200000 arcdeg
2019-03-26T00:23:04.005Z,1553559784.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:04.008Z,1553559784.008 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:04.507Z,1553559784.507 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 54.900002 m
2019-03-26T00:23:04.508Z,1553559784.508 [Reporter](INFO): DUSBL_Hydroid.xAngle 1.350000 arcdeg
2019-03-26T00:23:08.044Z,1553559788.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:08.050Z,1553559788.050 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:08.585Z,1553559788.585 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 22.020000 m
2019-03-26T00:23:08.587Z,1553559788.587 [Reporter](INFO): DUSBL_Hydroid.xAngle -10.900000 arcdeg
2019-03-26T00:23:09.371Z,1553559789.371 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 9.240001 m
2019-03-26T00:23:09.372Z,1553559789.372 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.600000 arcdeg
2019-03-26T00:23:12.080Z,1553559792.080 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:12.081Z,1553559792.081 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:12.610Z,1553559792.610 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range -37.500000 m
2019-03-26T00:23:12.620Z,1553559792.620 [Reporter](INFO): DUSBL_Hydroid.xAngle -24.249999 arcdeg
2019-03-26T00:23:16.125Z,1553559796.125 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:16.128Z,1553559796.128 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:16.752Z,1553559796.752 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 9.599998 m
2019-03-26T00:23:16.752Z,1553559796.752 [Reporter](INFO): DUSBL_Hydroid.xAngle -11.650000 arcdeg
2019-03-26T00:23:20.164Z,1553559800.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:20.171Z,1553559800.171 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:20.744Z,1553559800.744 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 31.020002 m
2019-03-26T00:23:20.744Z,1553559800.744 [Reporter](INFO): DUSBL_Hydroid.xAngle 24.200001 arcdeg
2019-03-26T00:23:24.200Z,1553559804.200 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:24.203Z,1553559804.203 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:24.611Z,1553559804.611 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-26T00:23:24.611Z,1553559804.611 [DUSBL_Hydroid] Communications Fault, FailCount= 1
2019-03-26T00:23:24.611Z,1553559804.611 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:23:24.751Z,1553559804.751 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:23:25.008Z,1553559805.008 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:23:25.967Z,1553559805.967 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:23:25.967Z,1553559805.967 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-03-26T00:23:28.243Z,1553559808.243 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:23:28.244Z,1553559808.244 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:23:46.420Z,1553559826.420 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:23:46.824Z,1553559826.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:46.825Z,1553559826.825 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:50.874Z,1553559830.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:50.878Z,1553559830.878 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:54.905Z,1553559834.905 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:23:54.908Z,1553559834.908 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:23:55.312Z,1553559835.312 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,19,FF
2019-03-26T00:23:55.312Z,1553559835.312 [DUSBL_Hydroid] Communications Fault, FailCount= 2
2019-03-26T00:23:55.312Z,1553559835.312 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:23:55.423Z,1553559835.423 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:23:55.716Z,1553559835.716 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:23:56.615Z,1553559836.615 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:23:56.615Z,1553559836.615 [DUSBL_Hydroid] No Fault, FailCount= 2
2019-03-26T00:23:58.943Z,1553559838.943 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:23:58.944Z,1553559838.944 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:24:17.124Z,1553559857.124 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:24:17.533Z,1553559857.533 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:24:17.537Z,1553559857.537 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:24:19.986Z,1553559859.986 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:24:19.986Z,1553559859.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-03-26T00:24:19.986Z,1553559859.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:24:19.988Z,1553559859.988 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:24:19.988Z,1553559859.988 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 6
2019-03-26T00:24:19.988Z,1553559859.988 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:24:19.990Z,1553559859.990 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:24:19.990Z,1553559859.990 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 6
2019-03-26T00:24:19.990Z,1553559859.990 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:24:19.993Z,1553559859.993 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:24:20.155Z,1553559860.155 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:24:20.155Z,1553559860.155 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:24:20.155Z,1553559860.155 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:24:20.384Z,1553559860.384 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](ERROR): Location not readable.
2019-03-26T00:24:20.422Z,1553559860.422 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:24:20.422Z,1553559860.422 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-03-26T00:24:20.423Z,1553559860.423 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:24:20.423Z,1553559860.423 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 6
2019-03-26T00:24:20.424Z,1553559860.424 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:24:20.424Z,1553559860.424 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 6
2019-03-26T00:24:20.798Z,1553559860.798 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:24:21.573Z,1553559861.573 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:24:21.576Z,1553559861.576 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:24:21.996Z,1553559861.996 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-26T00:24:21.996Z,1553559861.996 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +1,    +0,-32768,A
2019-03-26T00:24:25.623Z,1553559865.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-26T00:24:25.628Z,1553559865.628 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-26T00:24:26.012Z,1553559866.012 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-26T00:24:26.012Z,1553559866.012 [DUSBL_Hydroid] Communications Fault, FailCount= 3
2019-03-26T00:24:26.012Z,1553559866.012 [DUSBL_Hydroid](ERROR): Communications Fault
2019-03-26T00:24:26.143Z,1553559866.143 [CBIT](ERROR): Communications Fault in component: DUSBL_Hydroid
2019-03-26T00:24:26.415Z,1553559866.415 [DUSBL_Hydroid](INFO): Powering down
2019-03-26T00:24:27.346Z,1553559867.346 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-03-26T00:24:27.346Z,1553559867.346 [DUSBL_Hydroid] No Fault, FailCount= 3
2019-03-26T00:24:29.647Z,1553559869.647 [DUSBL_Hydroid](INFO): Powering up
2019-03-26T00:24:29.647Z,1553559869.647 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-26T00:24:47.408Z,1553559887.408 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:24:47.409Z,1553559887.409 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:24:47.485Z,1553559887.485 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:24:47.485Z,1553559887.485 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:24:47.485Z,1553559887.485 [lineCaptureHoming] Stopped
2019-03-26T00:24:47.485Z,1553559887.485 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:24:47.485Z,1553559887.485 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:24:47.485Z,1553559887.485 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:I.Mass] Stopped
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:I.Mass](DEBUG): Uninitialize.
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:J.Buoyancy] Stopped
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:J.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:K] Stopped
2019-03-26T00:24:47.486Z,1553559887.486 [lineCaptureHoming:L] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:M] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-26T00:24:47.487Z,1553559887.487 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:RequestPing] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-26T00:24:47.488Z,1553559887.488 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-26T00:24:47.489Z,1553559887.489 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-26T00:24:47.489Z,1553559887.489 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-26T00:24:47.489Z,1553559887.489 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-26T00:24:47.828Z,1553559887.828 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-26T00:24:47.888Z,1553559887.888 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:24:47.888Z,1553559887.888 [Default] Running Loop=1
2019-03-26T00:24:47.888Z,1553559887.888 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:24:47.888Z,1553559887.888 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:24:47.888Z,1553559887.888 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:24:47.888Z,1553559887.888 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:24:47.889Z,1553559887.889 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:24:47.889Z,1553559887.889 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:24:47.889Z,1553559887.889 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:24:47.890Z,1553559887.890 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:24:47.890Z,1553559887.890 [Default:A.Wait] Running Loop=1
2019-03-26T00:24:47.890Z,1553559887.890 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:24:47.928Z,1553559887.928 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:25:01.190Z,1553559901.190 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:25:01.190Z,1553559901.190 [Default:A.Wait] Stopped
2019-03-26T00:25:01.190Z,1553559901.190 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:25:01.631Z,1553559901.631 [Default:CheckIn] Running Loop=1
2019-03-26T00:25:01.631Z,1553559901.631 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:25:01.632Z,1553559901.632 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:25:02.372Z,1553559902.372 [NAL9602](INFO): Powering up
2019-03-26T00:25:13.280Z,1553559913.280 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:25:14.106Z,1553559914.106 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:26:21.178Z,1553559981.178 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:26:21.178Z,1553559981.178 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-03-26T00:26:21.178Z,1553559981.178 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:26:21.180Z,1553559981.180 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:26:21.180Z,1553559981.180 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 7
2019-03-26T00:26:21.180Z,1553559981.180 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:26:21.182Z,1553559981.182 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:26:21.182Z,1553559981.182 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 7
2019-03-26T00:26:21.182Z,1553559981.182 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:26:21.194Z,1553559981.194 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:26:21.194Z,1553559981.194 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:26:21.194Z,1553559981.194 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:26:21.625Z,1553559981.625 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:26:21.625Z,1553559981.625 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-03-26T00:26:21.625Z,1553559981.625 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:26:21.625Z,1553559981.625 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 7
2019-03-26T00:26:21.626Z,1553559981.626 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:26:21.626Z,1553559981.626 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 7
2019-03-26T00:26:22.007Z,1553559982.007 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:27:57.714Z,1553560077.714 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:27:57.714Z,1553560077.714 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:28:22.382Z,1553560102.382 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:28:22.382Z,1553560102.382 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-03-26T00:28:22.382Z,1553560102.382 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:28:22.384Z,1553560102.384 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:28:22.384Z,1553560102.384 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 8
2019-03-26T00:28:22.384Z,1553560102.384 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:28:22.386Z,1553560102.386 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:28:22.386Z,1553560102.386 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 8
2019-03-26T00:28:22.386Z,1553560102.386 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:28:22.398Z,1553560102.398 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:28:22.398Z,1553560102.398 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:28:22.398Z,1553560102.398 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:28:22.815Z,1553560102.815 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:28:22.815Z,1553560102.815 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-03-26T00:28:22.816Z,1553560102.816 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:28:22.816Z,1553560102.816 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 8
2019-03-26T00:28:22.816Z,1553560102.816 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:28:22.816Z,1553560102.816 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 8
2019-03-26T00:28:23.186Z,1553560103.186 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:30:01.783Z,1553560201.783 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-03-26T00:25:01.6Z
2019-03-26T00:30:01.783Z,1553560201.783 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:30:01.784Z,1553560201.784 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-26T00:30:07.266Z,1553560207.266 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190325T233344/Courier0022.lzma
2019-03-26T00:30:08.072Z,1553560208.072 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0022.lzma.bak
2019-03-26T00:30:08.072Z,1553560208.072 [DataOverHttps](INFO): SBD MOMSN=10245337
2019-03-26T00:30:16.704Z,1553560216.704 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-26T00:30:19.606Z,1553560219.606 [DataOverHttps](INFO): Sending 2232 bytes from file Logs/20190325T233344/Express0023.lzma
2019-03-26T00:30:20.396Z,1553560220.396 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0023.lzma.bak
2019-03-26T00:30:20.396Z,1553560220.396 [DataOverHttps](INFO): SBD MOMSN=10245340
2019-03-26T00:30:21.581Z,1553560221.581 [Default:CheckIn:Read_Iridium] Stopped
2019-03-26T00:30:21.581Z,1553560221.581 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-26T00:30:21.581Z,1553560221.581 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:30:23.197Z,1553560223.197 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:30:23.197Z,1553560223.197 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-03-26T00:30:23.197Z,1553560223.197 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:30:23.200Z,1553560223.200 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:30:23.200Z,1553560223.200 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 9
2019-03-26T00:30:23.200Z,1553560223.200 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:30:23.202Z,1553560223.202 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:30:23.202Z,1553560223.202 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 9
2019-03-26T00:30:23.202Z,1553560223.202 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:30:23.226Z,1553560223.226 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:30:23.230Z,1553560223.230 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:30:23.231Z,1553560223.231 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:30:23.644Z,1553560223.644 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:30:23.644Z,1553560223.644 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-03-26T00:30:23.644Z,1553560223.644 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:30:23.644Z,1553560223.644 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 9
2019-03-26T00:30:23.645Z,1553560223.645 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:30:23.645Z,1553560223.645 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 9
2019-03-26T00:30:24.008Z,1553560224.008 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:30:45.006Z,1553560245.006 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-26T00:30:45.007Z,1553560245.007 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +88,    2,-32768,A
2019-03-26T00:30:47.408Z,1553560247.408 [NAL9602](INFO): Powering down
2019-03-26T00:32:24.398Z,1553560344.398 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:32:24.398Z,1553560344.398 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-03-26T00:32:24.398Z,1553560344.398 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:32:24.400Z,1553560344.400 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:32:24.400Z,1553560344.400 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 10
2019-03-26T00:32:24.400Z,1553560344.400 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:32:24.402Z,1553560344.402 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:32:24.426Z,1553560344.426 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 10
2019-03-26T00:32:24.426Z,1553560344.426 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:32:24.450Z,1553560344.450 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:32:24.451Z,1553560344.451 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:32:24.451Z,1553560344.451 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:32:24.816Z,1553560344.816 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:32:24.816Z,1553560344.816 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-03-26T00:32:24.816Z,1553560344.816 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:32:24.816Z,1553560344.816 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 10
2019-03-26T00:32:24.817Z,1553560344.817 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:32:24.817Z,1553560344.817 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 10
2019-03-26T00:32:25.211Z,1553560345.211 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:33:24.988Z,1553560404.988 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-26T00:33:24.988Z,1553560404.988 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032517345768,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,  94.92,  98.42,  94.42
2019-03-26T00:34:25.612Z,1553560465.612 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:34:25.612Z,1553560465.612 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-03-26T00:34:25.612Z,1553560465.612 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:34:25.617Z,1553560465.617 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:34:25.617Z,1553560465.617 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 11
2019-03-26T00:34:25.617Z,1553560465.617 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:34:25.619Z,1553560465.619 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:34:25.620Z,1553560465.620 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 11
2019-03-26T00:34:25.620Z,1553560465.620 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:34:25.631Z,1553560465.631 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:34:25.631Z,1553560465.631 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:34:25.632Z,1553560465.632 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:34:26.011Z,1553560466.011 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:34:26.011Z,1553560466.011 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-03-26T00:34:26.011Z,1553560466.011 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:34:26.012Z,1553560466.012 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 11
2019-03-26T00:34:26.012Z,1553560466.012 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:34:26.012Z,1553560466.012 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 11
2019-03-26T00:34:26.406Z,1553560466.406 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:35:22.158Z,1553560522.158 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-03-26T00:35:22.158Z,1553560522.158 [Default:CheckIn:C.Wait] Stopped
2019-03-26T00:35:22.158Z,1553560522.158 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:35:22.158Z,1553560522.158 [Default:CheckIn:D] Running Loop=1
2019-03-26T00:35:22.566Z,1553560522.566 [Default:CheckIn:D] Stopped
2019-03-26T00:35:22.566Z,1553560522.566 [Default:CheckIn:E] Running Loop=1
2019-03-26T00:35:22.978Z,1553560522.978 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.577961 min 
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn:E] Stopped
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn] Stopped
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn](INFO): Running loop #2
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn] Running Loop=2
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:35:22.979Z,1553560522.979 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:35:23.744Z,1553560523.744 [NAL9602](INFO): Powering up
2019-03-26T00:35:34.661Z,1553560534.661 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:35:35.460Z,1553560535.460 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-03-26T00:35:35.461Z,1553560535.461 [NAL9602] Data Fault, FailCount= 3
2019-03-26T00:35:35.461Z,1553560535.461 [NAL9602](ERROR): Data Fault
2019-03-26T00:35:35.500Z,1553560535.500 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-26T00:35:35.865Z,1553560535.865 [NAL9602](INFO): Powering down
2019-03-26T00:35:36.715Z,1553560536.715 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-26T00:35:36.715Z,1553560536.715 [NAL9602] No Fault, FailCount= 3
2019-03-26T00:36:06.166Z,1553560566.166 [NAL9602](INFO): Powering up NAL9602
2019-03-26T00:36:17.073Z,1553560577.073 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:36:17.894Z,1553560577.894 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:36:26.406Z,1553560586.406 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:36:26.406Z,1553560586.406 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-03-26T00:36:26.406Z,1553560586.406 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:36:26.408Z,1553560586.408 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:36:26.408Z,1553560586.408 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 12
2019-03-26T00:36:26.408Z,1553560586.408 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:36:26.410Z,1553560586.410 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:36:26.410Z,1553560586.410 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 12
2019-03-26T00:36:26.411Z,1553560586.411 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:36:26.422Z,1553560586.422 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:36:26.422Z,1553560586.422 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:36:26.422Z,1553560586.422 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:36:26.831Z,1553560586.831 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:36:26.831Z,1553560586.831 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-03-26T00:36:26.831Z,1553560586.831 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:36:26.831Z,1553560586.831 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 12
2019-03-26T00:36:26.832Z,1553560586.832 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:36:26.832Z,1553560586.832 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 12
2019-03-26T00:36:27.215Z,1553560587.215 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:36:50.226Z,1553560610.226 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:36:50.227Z,1553560610.227 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:37:00.325Z,1553560620.325 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:37:00.325Z,1553560620.325 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:37:00.326Z,1553560620.326 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-03-26T00:37:00.326Z,1553560620.326 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2019-03-26T00:37:06.260Z,1553560626.260 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:37:06.261Z,1553560626.261 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:37:06.651Z,1553560626.651 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:37:06.654Z,1553560626.654 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:37:06.673Z,1553560626.673 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:37:06.675Z,1553560626.675 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:37:06.677Z,1553560626.677 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:37:06.679Z,1553560626.679 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:37:06.681Z,1553560626.681 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:37:06.684Z,1553560626.684 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:37:06.686Z,1553560626.686 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:37:06.688Z,1553560626.688 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:37:06.690Z,1553560626.690 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:37:06.692Z,1553560626.692 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:37:06.695Z,1553560626.695 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:37:06.697Z,1553560626.697 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:37:06.699Z,1553560626.699 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:37:06.701Z,1553560626.701 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:37:06.704Z,1553560626.704 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:37:06.706Z,1553560626.706 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:37:06.708Z,1553560626.708 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:37:06.711Z,1553560626.711 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:37:06.713Z,1553560626.713 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:37:06.715Z,1553560626.715 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:37:06.717Z,1553560626.717 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:37:06.720Z,1553560626.720 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:37:06.722Z,1553560626.722 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:37:06.724Z,1553560626.724 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:37:06.726Z,1553560626.726 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:37:06.729Z,1553560626.729 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:37:06.731Z,1553560626.731 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:37:06.733Z,1553560626.733 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:37:06.733Z,1553560626.733 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:37:06.752Z,1553560626.752 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:37:06.755Z,1553560626.755 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:37:06.757Z,1553560626.757 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:37:06.818Z,1553560626.818 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:37:06.834Z,1553560626.834 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:37:06.877Z,1553560626.877 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:37:06.901Z,1553560626.901 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:37:07.005Z,1553560627.005 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:37:07.047Z,1553560627.047 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:37:07.049Z,1553560627.049 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:37:07.052Z,1553560627.052 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:37:07.054Z,1553560627.054 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:37:07.068Z,1553560627.068 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:37:07.071Z,1553560627.071 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:37:07.076Z,1553560627.076 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:37:07.342Z,1553560627.342 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:37:07.353Z,1553560627.353 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:37:07.383Z,1553560627.383 [lineCaptureHoming:DiveCmd:InitialDive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:37:07.413Z,1553560627.413 [lineCaptureHoming:DiveCmd:InitialDive:B.Pitch](DEBUG): Construct.
2019-03-26T00:37:07.483Z,1553560627.483 [lineCaptureHoming:DiveCmd:AltitudeServo:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:37:07.486Z,1553560627.486 [lineCaptureHoming:DiveCmd:AltitudeServo:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:37:07.551Z,1553560627.551 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:37:07.566Z,1553560627.566 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:37:07.641Z,1553560627.641 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:37:07.673Z,1553560627.673 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:37:07.707Z,1553560627.707 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:37:07.721Z,1553560627.721 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:37:07.743Z,1553560627.743 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:37:07.816Z,1553560627.816 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>    

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:37:07.817Z,1553560627.817 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:37:13.556Z,1553560633.556 [CommandLine](IMPORTANT): got command show variable initDepth
2019-03-26T00:37:13.804Z,1553560633.804 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepth (meter)
2019-03-26T00:37:13.804Z,1553560633.804 [CommandLine](IMPORTANT): lineCaptureHoming.InitDepthTimeout (minute)
2019-03-26T00:37:20.484Z,1553560640.484 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-26T00:37:29.229Z,1553560649.229 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-26T00:37:31.711Z,1553560651.711 [CommandLine](IMPORTANT): got command run
2019-03-26T00:37:31.713Z,1553560651.713 [CommandLine](IMPORTANT): Running 
2019-03-26T00:37:31.874Z,1553560651.874 [Default] Stopped
2019-03-26T00:37:31.874Z,1553560651.874 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:37:31.874Z,1553560651.874 [Default:B.GoToSurface] Stopped
2019-03-26T00:37:31.874Z,1553560651.874 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:37:31.878Z,1553560651.878 [Default:CheckIn] Stopped
2019-03-26T00:37:31.878Z,1553560651.878 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:37:31.879Z,1553560651.879 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:37:31.879Z,1553560651.879 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:37:31.879Z,1553560651.879 [lineCaptureHoming] Running Loop=1
2019-03-26T00:37:31.879Z,1553560651.879 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:37:31.879Z,1553560651.879 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:37:31.879Z,1553560651.879 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:37:31.879Z,1553560651.879 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:37:31.879Z,1553560651.879 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:37:31.880Z,1553560651.880 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:37:31.881Z,1553560651.881 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:37:31.881Z,1553560651.881 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:37:31.881Z,1553560651.881 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:37:31.881Z,1553560651.881 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:37:31.881Z,1553560651.881 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:37:31.881Z,1553560651.881 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:37:31.882Z,1553560651.882 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:37:31.887Z,1553560651.887 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:37:31.887Z,1553560651.887 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:37:31.887Z,1553560651.887 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:37:31.888Z,1553560651.888 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:37:31.888Z,1553560651.888 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:37:31.889Z,1553560651.889 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:37:31.889Z,1553560651.889 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:37:31.889Z,1553560651.889 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:37:31.889Z,1553560651.889 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:37:31.890Z,1553560651.890 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:31.890Z,1553560651.890 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:31.895Z,1553560651.895 [lineCaptureHoming:B] Stopped
2019-03-26T00:37:31.895Z,1553560651.895 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:37:31.895Z,1553560651.895 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:37:31.895Z,1553560651.895 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:37:31.911Z,1553560651.911 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:37:31.911Z,1553560651.911 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:37:31.932Z,1553560651.932 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:37:32.261Z,1553560652.261 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:32.262Z,1553560652.262 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:32.262Z,1553560652.262 [lineCaptureHoming:C] Stopped
2019-03-26T00:37:32.262Z,1553560652.262 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:37:32.703Z,1553560652.703 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:32.704Z,1553560652.704 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:32.704Z,1553560652.704 [lineCaptureHoming:D] Stopped
2019-03-26T00:37:32.704Z,1553560652.704 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:37:33.072Z,1553560653.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:33.072Z,1553560653.072 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:33.072Z,1553560653.072 [lineCaptureHoming:F] Stopped
2019-03-26T00:37:33.072Z,1553560653.072 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:37:33.471Z,1553560653.471 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:33.471Z,1553560653.471 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:33.472Z,1553560653.472 [lineCaptureHoming:G] Stopped
2019-03-26T00:37:33.472Z,1553560653.472 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:37:33.472Z,1553560653.472 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:37:33.905Z,1553560653.905 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:33.905Z,1553560653.905 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:33.906Z,1553560653.906 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:37:33.906Z,1553560653.906 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:37:33.906Z,1553560653.906 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:37:33.910Z,1553560653.910 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:37:33.910Z,1553560653.910 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:37:33.911Z,1553560653.911 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:37:34.291Z,1553560654.291 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:34.291Z,1553560654.291 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:34.291Z,1553560654.291 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:37:34.291Z,1553560654.291 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:37:34.291Z,1553560654.291 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:37:34.291Z,1553560654.291 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:37:34.292Z,1553560654.292 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:37:34.292Z,1553560654.292 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:37:34.293Z,1553560654.293 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:37:34.293Z,1553560654.293 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:37:34.293Z,1553560654.293 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:37:34.294Z,1553560654.294 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:37:34.299Z,1553560654.299 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553558754.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:37:34.299Z,1553560654.299 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:37:34.707Z,1553560654.707 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:34.707Z,1553560654.707 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:34.708Z,1553560654.708 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:37:35.091Z,1553560655.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:35.091Z,1553560655.091 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:35.092Z,1553560655.092 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:37:35.500Z,1553560655.500 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:35.501Z,1553560655.500 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:35.923Z,1553560655.923 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:35.923Z,1553560655.923 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:36.301Z,1553560656.301 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:36.301Z,1553560656.301 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:36.714Z,1553560656.714 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:36.715Z,1553560656.715 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:37.115Z,1553560657.115 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:37.115Z,1553560657.115 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:37.519Z,1553560657.519 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:37.519Z,1553560657.519 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:37.928Z,1553560657.928 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:37.928Z,1553560657.928 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:38.327Z,1553560658.327 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:38.327Z,1553560658.327 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:38.740Z,1553560658.740 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:38.741Z,1553560658.741 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:39.135Z,1553560659.135 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:39.135Z,1553560659.135 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:39.539Z,1553560659.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:39.539Z,1553560659.539 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:39.942Z,1553560659.942 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:39.943Z,1553560659.943 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:40.339Z,1553560660.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:40.339Z,1553560660.339 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:40.755Z,1553560660.755 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:40.755Z,1553560660.755 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:41.156Z,1553560661.156 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:41.156Z,1553560661.156 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:41.555Z,1553560661.555 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:41.555Z,1553560661.555 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:41.983Z,1553560661.983 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:41.983Z,1553560661.983 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:42.384Z,1553560662.384 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:42.384Z,1553560662.384 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:42.808Z,1553560662.808 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:42.808Z,1553560662.808 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:42.904Z,1553560662.904 [CommandLine](IMPORTANT): got command show variable speedCmd
2019-03-26T00:37:43.032Z,1553560663.032 [CommandLine](IMPORTANT): SpeedControl.speedCmd (meter_per_second)
2019-03-26T00:37:43.171Z,1553560663.171 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:43.171Z,1553560663.171 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:43.667Z,1553560663.667 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:43.667Z,1553560663.667 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:43.987Z,1553560663.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:43.987Z,1553560663.987 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:44.395Z,1553560664.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:44.395Z,1553560664.395 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:44.827Z,1553560664.827 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:44.827Z,1553560664.827 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:45.228Z,1553560665.228 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:45.228Z,1553560665.228 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:45.655Z,1553560665.655 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:45.656Z,1553560665.656 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:46.049Z,1553560666.049 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:46.049Z,1553560666.049 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:46.411Z,1553560666.411 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:46.411Z,1553560666.411 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:46.844Z,1553560666.844 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:46.844Z,1553560666.844 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:47.223Z,1553560667.223 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:47.223Z,1553560667.223 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:47.673Z,1553560667.673 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:47.674Z,1553560667.674 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:48.041Z,1553560668.041 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:48.041Z,1553560668.041 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:48.438Z,1553560668.438 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:48.438Z,1553560668.438 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:48.846Z,1553560668.846 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:48.847Z,1553560668.847 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:49.251Z,1553560669.251 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:49.251Z,1553560669.251 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:49.664Z,1553560669.664 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:49.664Z,1553560669.664 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:50.047Z,1553560670.047 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:50.047Z,1553560670.047 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:50.451Z,1553560670.451 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:50.451Z,1553560670.451 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:50.896Z,1553560670.896 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:50.897Z,1553560670.897 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:51.279Z,1553560671.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:51.280Z,1553560671.280 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:51.745Z,1553560671.745 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:51.745Z,1553560671.745 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:52.080Z,1553560672.080 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:52.080Z,1553560672.080 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:52.487Z,1553560672.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:52.487Z,1553560672.487 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:52.899Z,1553560672.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:52.899Z,1553560672.899 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:53.279Z,1553560673.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:53.279Z,1553560673.279 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:53.317Z,1553560673.317 [CommandLine](IMPORTANT): got command get SpeedControl.speedCmd
2019-03-26T00:37:53.317Z,1553560673.317 [CommandLine](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:37:53.695Z,1553560673.695 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:53.695Z,1553560673.695 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:54.095Z,1553560674.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:54.095Z,1553560674.095 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:54.503Z,1553560674.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:54.503Z,1553560674.503 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:54.912Z,1553560674.912 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:54.912Z,1553560674.912 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:55.325Z,1553560675.325 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:55.325Z,1553560675.325 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:55.744Z,1553560675.744 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:55.744Z,1553560675.744 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:56.105Z,1553560676.105 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:56.105Z,1553560676.105 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:56.515Z,1553560676.515 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:56.515Z,1553560676.515 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:56.939Z,1553560676.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:56.939Z,1553560676.939 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:57.323Z,1553560677.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:57.323Z,1553560677.323 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:57.743Z,1553560677.743 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:57.743Z,1553560677.743 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:58.143Z,1553560678.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:58.143Z,1553560678.143 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:58.532Z,1553560678.532 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:58.532Z,1553560678.532 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:58.947Z,1553560678.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:58.947Z,1553560678.947 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:59.343Z,1553560679.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:59.343Z,1553560679.343 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:37:59.755Z,1553560679.755 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:37:59.755Z,1553560679.755 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:00.155Z,1553560680.155 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:00.155Z,1553560680.155 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:00.567Z,1553560680.567 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:00.567Z,1553560680.567 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:00.972Z,1553560680.972 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:00.972Z,1553560680.972 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:01.374Z,1553560681.374 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:01.375Z,1553560681.375 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:01.791Z,1553560681.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:01.791Z,1553560681.791 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:02.169Z,1553560682.169 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:02.169Z,1553560682.169 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:02.600Z,1553560682.600 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:02.601Z,1553560682.601 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:02.987Z,1553560682.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:02.987Z,1553560682.987 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:03.387Z,1553560683.387 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:03.387Z,1553560683.387 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:03.793Z,1553560683.793 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:03.793Z,1553560683.793 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:04.203Z,1553560684.203 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:04.203Z,1553560684.203 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:04.638Z,1553560684.638 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:04.638Z,1553560684.638 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:05.018Z,1553560685.018 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:05.018Z,1553560685.018 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:05.403Z,1553560685.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:05.403Z,1553560685.403 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:05.810Z,1553560685.810 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:05.811Z,1553560685.811 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:06.221Z,1553560686.221 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:06.221Z,1553560686.221 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:06.653Z,1553560686.653 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:06.653Z,1553560686.653 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:07.015Z,1553560687.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:07.015Z,1553560687.015 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:07.419Z,1553560687.419 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:07.419Z,1553560687.419 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:07.839Z,1553560687.839 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:07.839Z,1553560687.839 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:08.231Z,1553560688.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:08.231Z,1553560688.231 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:08.669Z,1553560688.669 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:08.669Z,1553560688.669 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:09.055Z,1553560689.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:09.055Z,1553560689.055 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:09.445Z,1553560689.445 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:09.445Z,1553560689.445 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:09.883Z,1553560689.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:09.884Z,1553560689.884 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:10.259Z,1553560690.259 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:10.260Z,1553560690.260 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:10.657Z,1553560690.657 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:10.658Z,1553560690.658 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:11.059Z,1553560691.059 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:11.059Z,1553560691.059 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:11.467Z,1553560691.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:11.467Z,1553560691.467 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:11.876Z,1553560691.876 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:11.876Z,1553560691.876 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:12.279Z,1553560692.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:12.279Z,1553560692.279 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:12.688Z,1553560692.688 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:12.689Z,1553560692.689 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:13.075Z,1553560693.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:13.075Z,1553560693.075 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:13.483Z,1553560693.483 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:13.483Z,1553560693.483 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:13.894Z,1553560693.894 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:13.895Z,1553560693.895 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:14.295Z,1553560694.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:14.295Z,1553560694.295 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:14.699Z,1553560694.699 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:14.699Z,1553560694.699 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:15.099Z,1553560695.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:15.099Z,1553560695.099 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:15.504Z,1553560695.504 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:15.504Z,1553560695.504 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:15.922Z,1553560695.922 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:15.922Z,1553560695.922 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:16.315Z,1553560696.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:16.315Z,1553560696.315 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:16.723Z,1553560696.723 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:16.723Z,1553560696.723 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:17.117Z,1553560697.117 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:17.117Z,1553560697.117 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:17.527Z,1553560697.527 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:17.527Z,1553560697.527 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:17.934Z,1553560697.934 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:17.935Z,1553560697.935 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:18.331Z,1553560698.331 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:18.331Z,1553560698.331 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:18.756Z,1553560698.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:18.756Z,1553560698.756 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:19.159Z,1553560699.159 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:19.159Z,1553560699.159 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:19.559Z,1553560699.559 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:19.559Z,1553560699.559 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:19.955Z,1553560699.955 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:19.955Z,1553560699.955 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:20.348Z,1553560700.348 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:20.348Z,1553560700.348 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:20.763Z,1553560700.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:20.763Z,1553560700.763 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:21.167Z,1553560701.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:21.168Z,1553560701.168 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:21.569Z,1553560701.569 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:21.569Z,1553560701.569 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:21.977Z,1553560701.977 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:21.977Z,1553560701.977 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:22.379Z,1553560702.379 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:22.379Z,1553560702.379 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:22.800Z,1553560702.800 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:22.800Z,1553560702.800 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:23.201Z,1553560703.201 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:23.201Z,1553560703.201 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:23.621Z,1553560703.621 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:23.621Z,1553560703.621 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:23.991Z,1553560703.991 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:23.991Z,1553560703.991 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:24.389Z,1553560704.389 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:24.389Z,1553560704.389 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:24.799Z,1553560704.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:24.800Z,1553560704.800 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:25.203Z,1553560705.203 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:25.203Z,1553560705.203 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:25.624Z,1553560705.624 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:25.624Z,1553560705.624 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:26.019Z,1553560706.019 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:26.020Z,1553560706.020 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:26.411Z,1553560706.411 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:26.411Z,1553560706.411 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:26.823Z,1553560706.823 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:26.823Z,1553560706.823 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:27.230Z,1553560707.230 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:38:27.230Z,1553560707.230 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-03-26T00:38:27.230Z,1553560707.230 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:38:27.232Z,1553560707.232 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:38:27.232Z,1553560707.232 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 13
2019-03-26T00:38:27.232Z,1553560707.232 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:38:27.234Z,1553560707.234 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:38:27.234Z,1553560707.234 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 13
2019-03-26T00:38:27.234Z,1553560707.234 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:38:27.237Z,1553560707.237 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:27.237Z,1553560707.237 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:27.283Z,1553560707.283 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:38:27.284Z,1553560707.284 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:38:27.284Z,1553560707.284 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:38:27.285Z,1553560707.285 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:38:27.649Z,1553560707.649 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:27.649Z,1553560707.649 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:27.774Z,1553560707.774 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:38:27.775Z,1553560707.775 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-03-26T00:38:27.775Z,1553560707.775 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:38:27.775Z,1553560707.775 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 13
2019-03-26T00:38:27.776Z,1553560707.776 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:38:27.776Z,1553560707.776 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 13
2019-03-26T00:38:28.026Z,1553560708.026 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:38:28.029Z,1553560708.029 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:28.029Z,1553560708.029 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:28.049Z,1553560708.049 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:38:28.435Z,1553560708.435 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:28.435Z,1553560708.435 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:28.844Z,1553560708.844 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:28.844Z,1553560708.844 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:29.247Z,1553560709.247 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:29.247Z,1553560709.247 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:29.664Z,1553560709.664 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:29.665Z,1553560709.665 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:30.050Z,1553560710.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:30.051Z,1553560710.051 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:30.451Z,1553560710.451 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:30.452Z,1553560710.452 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:30.863Z,1553560710.863 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:30.863Z,1553560710.863 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:31.263Z,1553560711.263 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:31.263Z,1553560711.263 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:31.666Z,1553560711.666 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:31.667Z,1553560711.667 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:32.066Z,1553560712.066 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:32.067Z,1553560712.067 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:32.479Z,1553560712.479 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:32.479Z,1553560712.479 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:32.893Z,1553560712.893 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:32.894Z,1553560712.894 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:33.279Z,1553560713.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:33.279Z,1553560713.279 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:33.693Z,1553560713.693 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:33.694Z,1553560713.694 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:34.087Z,1553560714.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:34.087Z,1553560714.087 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:34.487Z,1553560714.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:34.487Z,1553560714.487 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:34.902Z,1553560714.902 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:34.902Z,1553560714.902 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:35.303Z,1553560715.303 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:35.303Z,1553560715.303 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:35.728Z,1553560715.728 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:35.728Z,1553560715.728 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:36.131Z,1553560716.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:36.131Z,1553560716.131 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:36.515Z,1553560716.515 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:36.515Z,1553560716.515 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:36.923Z,1553560716.923 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:36.923Z,1553560716.923 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:37.319Z,1553560717.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:37.319Z,1553560717.319 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:37.731Z,1553560717.731 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:37.731Z,1553560717.731 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:38.131Z,1553560718.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:38.131Z,1553560718.131 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:38.530Z,1553560718.530 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:38.531Z,1553560718.531 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:38.947Z,1553560718.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:38.947Z,1553560718.947 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:39.355Z,1553560719.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:39.355Z,1553560719.355 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:39.767Z,1553560719.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:39.767Z,1553560719.767 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:40.183Z,1553560720.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:40.183Z,1553560720.183 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:40.567Z,1553560720.567 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:40.567Z,1553560720.567 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:40.959Z,1553560720.959 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:40.959Z,1553560720.959 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:41.359Z,1553560721.359 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:41.359Z,1553560721.359 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:41.791Z,1553560721.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:41.791Z,1553560721.791 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:42.183Z,1553560722.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:42.183Z,1553560722.183 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:42.615Z,1553560722.615 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:42.615Z,1553560722.615 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:43.003Z,1553560723.003 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:43.003Z,1553560723.003 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:43.375Z,1553560723.375 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:43.375Z,1553560723.375 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:43.799Z,1553560723.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:43.799Z,1553560723.799 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:44.183Z,1553560724.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:44.183Z,1553560724.183 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:44.623Z,1553560724.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:44.623Z,1553560724.623 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:45.013Z,1553560725.013 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:45.013Z,1553560725.013 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:45.403Z,1553560725.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:45.403Z,1553560725.403 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:45.817Z,1553560725.817 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:45.817Z,1553560725.817 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:46.221Z,1553560726.221 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:46.221Z,1553560726.221 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:46.640Z,1553560726.640 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:46.640Z,1553560726.640 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:47.028Z,1553560727.028 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:47.028Z,1553560727.028 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:47.427Z,1553560727.427 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:47.427Z,1553560727.427 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:47.831Z,1553560727.831 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:47.832Z,1553560727.832 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:48.231Z,1553560728.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:48.231Z,1553560728.231 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:48.649Z,1553560728.649 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:48.650Z,1553560728.650 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:49.051Z,1553560729.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:49.051Z,1553560729.051 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:49.455Z,1553560729.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:49.455Z,1553560729.455 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:49.867Z,1553560729.867 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:49.867Z,1553560729.867 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:50.247Z,1553560730.247 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:50.247Z,1553560730.247 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:50.659Z,1553560730.659 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:50.659Z,1553560730.659 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:51.059Z,1553560731.059 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:51.059Z,1553560731.059 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:51.463Z,1553560731.463 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:51.463Z,1553560731.463 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:51.868Z,1553560731.868 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:51.868Z,1553560731.868 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:52.275Z,1553560732.275 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:52.275Z,1553560732.275 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:52.696Z,1553560732.696 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:52.696Z,1553560732.696 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:53.092Z,1553560733.092 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:53.092Z,1553560733.092 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:53.509Z,1553560733.509 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:53.509Z,1553560733.509 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:53.908Z,1553560733.908 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:53.908Z,1553560733.908 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:54.286Z,1553560734.286 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:54.286Z,1553560734.286 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:54.703Z,1553560734.703 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:54.703Z,1553560734.703 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:55.099Z,1553560735.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:55.099Z,1553560735.099 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:55.498Z,1553560735.498 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:55.499Z,1553560735.499 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:55.911Z,1553560735.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:55.911Z,1553560735.911 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:56.321Z,1553560736.321 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:56.321Z,1553560736.321 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:56.714Z,1553560736.714 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:56.715Z,1553560736.715 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:57.119Z,1553560737.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:57.119Z,1553560737.119 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:57.531Z,1553560737.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:57.531Z,1553560737.531 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:57.944Z,1553560737.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:57.944Z,1553560737.944 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:58.343Z,1553560738.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:58.343Z,1553560738.343 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:58.749Z,1553560738.749 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:58.749Z,1553560738.749 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:59.143Z,1553560739.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:59.143Z,1553560739.143 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:59.545Z,1553560739.545 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:59.545Z,1553560739.545 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:38:59.958Z,1553560739.958 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:38:59.959Z,1553560739.959 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:00.345Z,1553560740.345 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:00.345Z,1553560740.345 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:00.759Z,1553560740.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:00.759Z,1553560740.759 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:01.155Z,1553560741.155 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:01.155Z,1553560741.155 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:01.567Z,1553560741.567 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:01.567Z,1553560741.567 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:01.979Z,1553560741.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:01.979Z,1553560741.979 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:02.379Z,1553560742.379 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:02.379Z,1553560742.379 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:02.792Z,1553560742.792 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:02.792Z,1553560742.792 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:03.184Z,1553560743.184 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:03.184Z,1553560743.184 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:03.631Z,1553560743.631 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:03.631Z,1553560743.631 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:04.023Z,1553560744.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:04.023Z,1553560744.023 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:04.387Z,1553560744.387 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:04.387Z,1553560744.387 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:04.799Z,1553560744.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:04.799Z,1553560744.799 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:05.199Z,1553560745.199 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:05.199Z,1553560745.199 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:05.278Z,1553560745.278 [CommandLine](IMPORTANT): got command show variable doingComms
2019-03-26T00:39:05.392Z,1553560745.392 [CommandLine](IMPORTANT): lineCaptureHoming.DoingComms (bool)
2019-03-26T00:39:05.619Z,1553560745.619 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:05.619Z,1553560745.619 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:06.018Z,1553560746.018 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:06.018Z,1553560746.018 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:06.416Z,1553560746.416 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:06.416Z,1553560746.416 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:06.843Z,1553560746.843 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:06.843Z,1553560746.843 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:07.212Z,1553560747.212 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:07.212Z,1553560747.212 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:07.641Z,1553560747.641 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:07.641Z,1553560747.641 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:08.023Z,1553560748.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:08.023Z,1553560748.023 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:08.425Z,1553560748.425 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:08.425Z,1553560748.425 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:08.840Z,1553560748.840 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:08.840Z,1553560748.840 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:09.243Z,1553560749.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:09.243Z,1553560749.243 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:09.658Z,1553560749.658 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:09.658Z,1553560749.658 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:10.041Z,1553560750.041 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:10.041Z,1553560750.041 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:10.445Z,1553560750.445 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:10.445Z,1553560750.445 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:10.855Z,1553560750.855 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:10.855Z,1553560750.855 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:11.259Z,1553560751.259 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:11.259Z,1553560751.259 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:11.663Z,1553560751.663 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:11.663Z,1553560751.663 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:12.075Z,1553560752.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:12.075Z,1553560752.075 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:12.495Z,1553560752.495 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:12.495Z,1553560752.495 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:12.890Z,1553560752.890 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:12.890Z,1553560752.890 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:13.293Z,1553560753.293 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:13.293Z,1553560753.293 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:13.687Z,1553560753.687 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:13.687Z,1553560753.687 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:14.083Z,1553560754.083 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:14.083Z,1553560754.083 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:14.487Z,1553560754.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:14.487Z,1553560754.487 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:14.903Z,1553560754.903 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:14.903Z,1553560754.903 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:15.253Z,1553560755.253 [CommandLine](IMPORTANT): got command get lineCaptureHoming.DoingComms
2019-03-26T00:39:15.253Z,1553560755.253 [CommandLine](IMPORTANT): lineCaptureHoming.DoingComms 1 bool
2019-03-26T00:39:15.311Z,1553560755.311 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:15.311Z,1553560755.311 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:15.708Z,1553560755.708 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:15.709Z,1553560755.709 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:16.111Z,1553560756.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:16.111Z,1553560756.111 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:16.531Z,1553560756.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:16.531Z,1553560756.531 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:16.940Z,1553560756.940 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:16.941Z,1553560756.941 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:17.315Z,1553560757.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:17.315Z,1553560757.315 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:17.735Z,1553560757.735 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:17.735Z,1553560757.735 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:18.119Z,1553560758.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:18.119Z,1553560758.119 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:18.523Z,1553560758.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:18.523Z,1553560758.523 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:18.943Z,1553560758.943 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:18.943Z,1553560758.943 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:19.343Z,1553560759.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:19.343Z,1553560759.343 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:19.756Z,1553560759.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:19.757Z,1553560759.757 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:20.139Z,1553560760.139 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:20.139Z,1553560760.139 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:20.581Z,1553560760.581 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:20.586Z,1553560760.586 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:20.992Z,1553560760.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:20.993Z,1553560760.993 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:21.355Z,1553560761.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:21.355Z,1553560761.355 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:21.762Z,1553560761.762 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:21.762Z,1553560761.762 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:22.167Z,1553560762.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:22.167Z,1553560762.167 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:22.570Z,1553560762.570 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:22.571Z,1553560762.571 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:22.987Z,1553560762.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:22.987Z,1553560762.987 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:23.376Z,1553560763.376 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:23.377Z,1553560763.377 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:23.789Z,1553560763.789 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:23.789Z,1553560763.789 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:24.136Z,1553560764.136 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:39:24.136Z,1553560764.136 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:39:24.137Z,1553560764.137 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:39:24.137Z,1553560764.137 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:39:24.137Z,1553560764.137 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:39:24.138Z,1553560764.138 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:39:24.138Z,1553560764.138 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-03-26T00:39:24.138Z,1553560764.138 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.
2019-03-26T00:39:24.139Z,1553560764.139 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Mass
2019-03-26T00:39:24.139Z,1553560764.139 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Buoyancy
2019-03-26T00:39:24.139Z,1553560764.139 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:39:24.139Z,1553560764.139 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:39:24.140Z,1553560764.140 [lineCaptureHoming](IMPORTANT): Priority 10: lineCaptureHoming:N
2019-03-26T00:39:24.179Z,1553560764.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:24.179Z,1553560764.179 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:24.615Z,1553560764.615 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:24.615Z,1553560764.615 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:25.008Z,1553560765.008 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:25.008Z,1553560765.008 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:25.411Z,1553560765.411 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:25.411Z,1553560765.411 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:25.808Z,1553560765.808 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:25.808Z,1553560765.808 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:26.206Z,1553560766.206 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:26.207Z,1553560766.207 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:26.644Z,1553560766.644 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:26.645Z,1553560766.645 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:27.015Z,1553560767.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:27.015Z,1553560767.015 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:27.412Z,1553560767.412 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:27.413Z,1553560767.413 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:27.827Z,1553560767.827 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:27.827Z,1553560767.827 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:28.227Z,1553560768.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:28.227Z,1553560768.227 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:28.648Z,1553560768.648 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:28.649Z,1553560768.649 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:29.030Z,1553560769.030 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:29.030Z,1553560769.030 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:29.447Z,1553560769.447 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:29.448Z,1553560769.448 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:29.854Z,1553560769.854 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:29.855Z,1553560769.855 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:30.265Z,1553560770.265 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:30.265Z,1553560770.265 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:30.654Z,1553560770.654 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:30.654Z,1553560770.654 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:31.051Z,1553560771.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:31.051Z,1553560771.051 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:31.459Z,1553560771.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:31.459Z,1553560771.459 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:31.875Z,1553560771.875 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:31.875Z,1553560771.875 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:32.267Z,1553560772.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:32.267Z,1553560772.267 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:32.680Z,1553560772.680 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:32.680Z,1553560772.680 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:33.079Z,1553560773.079 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:33.079Z,1553560773.079 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:33.475Z,1553560773.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:33.475Z,1553560773.475 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:33.923Z,1553560773.923 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:33.923Z,1553560773.923 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:34.291Z,1553560774.291 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:34.291Z,1553560774.291 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:34.695Z,1553560774.695 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:34.695Z,1553560774.695 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:35.099Z,1553560775.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:35.099Z,1553560775.099 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:35.495Z,1553560775.495 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:35.495Z,1553560775.495 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:35.913Z,1553560775.913 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:35.913Z,1553560775.913 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:36.311Z,1553560776.311 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:36.311Z,1553560776.311 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:36.723Z,1553560776.723 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:36.723Z,1553560776.723 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:37.111Z,1553560777.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:37.111Z,1553560777.111 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:37.515Z,1553560777.515 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:37.515Z,1553560777.515 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:37.935Z,1553560777.935 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:37.936Z,1553560777.936 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:38.339Z,1553560778.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:38.339Z,1553560778.339 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:38.739Z,1553560778.739 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:38.739Z,1553560778.739 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:39.143Z,1553560779.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:39.143Z,1553560779.143 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:39.544Z,1553560779.544 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:39.544Z,1553560779.544 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:39.946Z,1553560779.946 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:39.962Z,1553560779.962 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:40.340Z,1553560780.340 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:40.341Z,1553560780.341 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:40.751Z,1553560780.751 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:40.751Z,1553560780.751 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:41.151Z,1553560781.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:41.151Z,1553560781.151 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:41.555Z,1553560781.555 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:41.555Z,1553560781.555 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:41.967Z,1553560781.967 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:41.967Z,1553560781.967 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:42.383Z,1553560782.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:42.383Z,1553560782.383 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:42.792Z,1553560782.792 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:42.792Z,1553560782.792 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:43.171Z,1553560783.171 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:43.171Z,1553560783.171 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:43.579Z,1553560783.579 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:43.579Z,1553560783.579 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:43.987Z,1553560783.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:43.987Z,1553560783.987 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:44.387Z,1553560784.387 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:44.387Z,1553560784.387 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:44.795Z,1553560784.795 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:44.795Z,1553560784.795 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:45.191Z,1553560785.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:45.191Z,1553560785.191 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:45.636Z,1553560785.636 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:45.636Z,1553560785.636 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:46.019Z,1553560786.019 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:46.019Z,1553560786.019 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:46.401Z,1553560786.401 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:46.401Z,1553560786.401 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:46.814Z,1553560786.814 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:46.815Z,1553560786.815 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:47.209Z,1553560787.209 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:47.209Z,1553560787.209 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:47.640Z,1553560787.640 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:47.641Z,1553560787.641 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:48.017Z,1553560788.017 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:48.017Z,1553560788.017 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:48.423Z,1553560788.423 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:48.423Z,1553560788.423 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:48.832Z,1553560788.832 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:48.832Z,1553560788.832 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:49.239Z,1553560789.239 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:49.239Z,1553560789.239 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:49.656Z,1553560789.656 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:49.657Z,1553560789.657 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:50.036Z,1553560790.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:50.036Z,1553560790.036 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:50.443Z,1553560790.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:50.444Z,1553560790.444 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:50.850Z,1553560790.850 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:50.850Z,1553560790.850 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:51.255Z,1553560791.255 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:51.255Z,1553560791.255 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:51.662Z,1553560791.662 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:51.663Z,1553560791.663 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:52.067Z,1553560792.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:52.067Z,1553560792.067 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:52.467Z,1553560792.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:52.467Z,1553560792.467 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:52.895Z,1553560792.895 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:52.895Z,1553560792.895 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:53.267Z,1553560793.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:53.267Z,1553560793.267 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:53.691Z,1553560793.691 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:53.691Z,1553560793.691 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:54.099Z,1553560794.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:54.099Z,1553560794.099 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:54.491Z,1553560794.491 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:54.491Z,1553560794.491 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:54.907Z,1553560794.907 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:54.907Z,1553560794.907 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:55.295Z,1553560795.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:55.295Z,1553560795.295 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:55.739Z,1553560795.739 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:55.739Z,1553560795.739 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:56.105Z,1553560796.105 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:56.106Z,1553560796.106 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:56.503Z,1553560796.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:56.503Z,1553560796.503 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:56.915Z,1553560796.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:56.915Z,1553560796.915 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:57.310Z,1553560797.310 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:57.310Z,1553560797.310 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:57.731Z,1553560797.731 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:57.731Z,1553560797.731 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:58.123Z,1553560798.123 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:58.123Z,1553560798.123 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:58.539Z,1553560798.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:58.539Z,1553560798.539 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:58.952Z,1553560798.952 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:58.952Z,1553560798.952 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:59.340Z,1553560799.340 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:59.340Z,1553560799.340 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:39:59.755Z,1553560799.755 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:39:59.755Z,1553560799.755 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:00.138Z,1553560800.138 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:00.138Z,1553560800.138 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:00.547Z,1553560800.547 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:00.547Z,1553560800.547 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:00.951Z,1553560800.951 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:00.952Z,1553560800.952 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:01.355Z,1553560801.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:01.355Z,1553560801.355 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:01.761Z,1553560801.761 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:01.761Z,1553560801.761 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:02.167Z,1553560802.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:02.167Z,1553560802.167 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:02.618Z,1553560802.618 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:02.618Z,1553560802.618 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:02.992Z,1553560802.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:02.993Z,1553560802.993 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:03.398Z,1553560803.398 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:03.399Z,1553560803.399 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:03.796Z,1553560803.796 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:03.797Z,1553560803.797 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:04.179Z,1553560804.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:04.179Z,1553560804.179 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:04.604Z,1553560804.604 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:04.604Z,1553560804.604 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:04.991Z,1553560804.991 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:04.991Z,1553560804.991 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:05.390Z,1553560805.390 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:05.390Z,1553560805.390 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:05.808Z,1553560805.808 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:05.809Z,1553560805.809 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:06.208Z,1553560806.208 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:06.208Z,1553560806.208 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:06.637Z,1553560806.637 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:06.637Z,1553560806.637 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:07.011Z,1553560807.011 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:07.011Z,1553560807.011 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:07.423Z,1553560807.423 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:07.423Z,1553560807.423 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:07.843Z,1553560807.843 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:07.843Z,1553560807.843 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:08.231Z,1553560808.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:08.231Z,1553560808.231 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:08.660Z,1553560808.660 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:08.660Z,1553560808.660 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:09.035Z,1553560809.035 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:09.035Z,1553560809.035 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:09.435Z,1553560809.435 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:09.435Z,1553560809.435 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:09.851Z,1553560809.851 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:09.851Z,1553560809.851 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:10.239Z,1553560810.239 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:10.239Z,1553560810.239 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:10.655Z,1553560810.655 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:10.655Z,1553560810.655 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:11.051Z,1553560811.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:11.051Z,1553560811.051 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:11.455Z,1553560811.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:11.455Z,1553560811.455 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:11.870Z,1553560811.870 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:11.871Z,1553560811.871 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:12.279Z,1553560812.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:12.279Z,1553560812.279 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:12.695Z,1553560812.695 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:12.695Z,1553560812.695 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:13.087Z,1553560813.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:13.087Z,1553560813.087 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:13.496Z,1553560813.496 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:13.496Z,1553560813.496 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:13.887Z,1553560813.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:13.887Z,1553560813.887 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:14.276Z,1553560814.276 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:14.276Z,1553560814.276 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:14.693Z,1553560814.693 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:14.693Z,1553560814.693 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:15.095Z,1553560815.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:15.095Z,1553560815.095 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:15.492Z,1553560815.492 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:15.492Z,1553560815.492 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:15.904Z,1553560815.904 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:15.904Z,1553560815.904 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:16.313Z,1553560816.313 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:16.313Z,1553560816.313 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:16.706Z,1553560816.706 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:16.707Z,1553560816.707 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:17.119Z,1553560817.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:17.119Z,1553560817.119 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:17.527Z,1553560817.527 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:17.527Z,1553560817.527 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:17.936Z,1553560817.936 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:17.936Z,1553560817.936 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:18.335Z,1553560818.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:18.335Z,1553560818.335 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:18.732Z,1553560818.732 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:18.733Z,1553560818.733 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:19.130Z,1553560819.130 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:19.131Z,1553560819.131 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:19.541Z,1553560819.541 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:19.541Z,1553560819.541 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:19.963Z,1553560819.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:19.963Z,1553560819.963 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:20.339Z,1553560820.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:20.339Z,1553560820.339 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:20.751Z,1553560820.751 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:20.751Z,1553560820.751 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:21.147Z,1553560821.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:21.147Z,1553560821.147 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:21.551Z,1553560821.551 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:21.551Z,1553560821.551 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:21.973Z,1553560821.973 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:21.973Z,1553560821.973 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:22.371Z,1553560822.371 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:22.371Z,1553560822.371 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:22.790Z,1553560822.790 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:22.790Z,1553560822.790 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:23.191Z,1553560823.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:23.191Z,1553560823.191 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:23.583Z,1553560823.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:23.584Z,1553560823.584 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:23.982Z,1553560823.982 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:23.982Z,1553560823.982 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:24.383Z,1553560824.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:24.383Z,1553560824.383 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:24.790Z,1553560824.790 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:24.790Z,1553560824.790 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:25.191Z,1553560825.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:25.191Z,1553560825.191 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:25.613Z,1553560825.613 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:25.614Z,1553560825.614 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:26.009Z,1553560826.009 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:26.009Z,1553560826.009 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:26.407Z,1553560826.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:26.407Z,1553560826.407 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:26.833Z,1553560826.833 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:26.833Z,1553560826.833 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:27.219Z,1553560827.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:27.219Z,1553560827.219 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:27.665Z,1553560827.665 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:27.665Z,1553560827.665 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:28.023Z,1553560828.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:28.023Z,1553560828.023 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:28.410Z,1553560828.410 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:40:28.410Z,1553560828.410 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2019-03-26T00:40:28.410Z,1553560828.410 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:40:28.412Z,1553560828.412 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:40:28.412Z,1553560828.412 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 14
2019-03-26T00:40:28.412Z,1553560828.412 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:40:28.414Z,1553560828.414 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:40:28.414Z,1553560828.414 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 14
2019-03-26T00:40:28.414Z,1553560828.414 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:40:28.417Z,1553560828.417 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:28.417Z,1553560828.417 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:28.462Z,1553560828.462 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:40:28.463Z,1553560828.463 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:40:28.463Z,1553560828.463 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:40:28.464Z,1553560828.464 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:40:28.832Z,1553560828.832 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:28.833Z,1553560828.833 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:28.978Z,1553560828.978 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:40:28.979Z,1553560828.979 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2019-03-26T00:40:28.979Z,1553560828.979 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:40:28.979Z,1553560828.979 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 14
2019-03-26T00:40:28.980Z,1553560828.980 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:40:28.980Z,1553560828.980 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 14
2019-03-26T00:40:29.222Z,1553560829.222 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:40:29.225Z,1553560829.225 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:29.225Z,1553560829.225 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:29.268Z,1553560829.268 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:40:29.667Z,1553560829.667 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:29.667Z,1553560829.667 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:30.031Z,1553560830.031 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:30.031Z,1553560830.031 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:30.439Z,1553560830.439 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:30.439Z,1553560830.439 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:30.862Z,1553560830.862 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:30.863Z,1553560830.863 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:31.243Z,1553560831.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:31.243Z,1553560831.243 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:31.675Z,1553560831.675 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:31.675Z,1553560831.675 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:32.067Z,1553560832.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:32.067Z,1553560832.067 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:32.475Z,1553560832.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:32.475Z,1553560832.475 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:32.897Z,1553560832.897 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:32.897Z,1553560832.897 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:33.285Z,1553560833.285 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:33.285Z,1553560833.285 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:33.679Z,1553560833.679 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:33.679Z,1553560833.679 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:34.073Z,1553560834.073 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:34.073Z,1553560834.073 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:34.479Z,1553560834.479 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:34.479Z,1553560834.479 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:34.887Z,1553560834.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:34.887Z,1553560834.887 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:35.291Z,1553560835.291 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:35.291Z,1553560835.291 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:35.701Z,1553560835.701 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:35.701Z,1553560835.701 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:36.097Z,1553560836.097 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:36.097Z,1553560836.097 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:36.523Z,1553560836.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:36.523Z,1553560836.523 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:36.929Z,1553560836.929 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:36.929Z,1553560836.929 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:37.305Z,1553560837.305 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:37.306Z,1553560837.306 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:37.719Z,1553560837.719 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:37.719Z,1553560837.719 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:38.119Z,1553560838.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:38.119Z,1553560838.119 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:38.519Z,1553560838.519 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:38.519Z,1553560838.519 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:38.945Z,1553560838.945 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:38.945Z,1553560838.945 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:39.347Z,1553560839.347 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:39.348Z,1553560839.348 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:39.757Z,1553560839.757 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:39.757Z,1553560839.757 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:40.139Z,1553560840.139 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:40.139Z,1553560840.139 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:40.538Z,1553560840.538 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:40.539Z,1553560840.539 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:40.955Z,1553560840.955 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:40.955Z,1553560840.955 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:41.347Z,1553560841.347 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:41.347Z,1553560841.347 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:41.759Z,1553560841.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:41.759Z,1553560841.759 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:42.159Z,1553560842.159 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:42.159Z,1553560842.159 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:42.567Z,1553560842.567 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:42.568Z,1553560842.568 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:42.980Z,1553560842.980 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:42.980Z,1553560842.980 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:43.371Z,1553560843.371 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:43.371Z,1553560843.371 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:43.775Z,1553560843.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:43.775Z,1553560843.775 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:44.175Z,1553560844.175 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:44.175Z,1553560844.175 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:44.604Z,1553560844.604 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:44.605Z,1553560844.605 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:44.990Z,1553560844.990 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:44.991Z,1553560844.991 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:45.386Z,1553560845.386 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:45.387Z,1553560845.387 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:45.802Z,1553560845.802 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:45.803Z,1553560845.803 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:46.205Z,1553560846.205 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:46.206Z,1553560846.206 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:46.629Z,1553560846.629 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:46.629Z,1553560846.629 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:47.011Z,1553560847.011 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:47.011Z,1553560847.011 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:47.436Z,1553560847.436 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:47.436Z,1553560847.436 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:47.836Z,1553560847.836 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:47.836Z,1553560847.836 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:48.219Z,1553560848.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:48.219Z,1553560848.219 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:48.644Z,1553560848.644 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:48.644Z,1553560848.644 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:49.023Z,1553560849.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:49.023Z,1553560849.023 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:49.436Z,1553560849.436 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:49.436Z,1553560849.436 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:49.855Z,1553560849.855 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:49.855Z,1553560849.855 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:50.233Z,1553560850.233 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:50.233Z,1553560850.233 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:50.654Z,1553560850.654 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:50.654Z,1553560850.654 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:51.043Z,1553560851.043 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:51.043Z,1553560851.043 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:51.447Z,1553560851.447 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:51.447Z,1553560851.447 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:51.868Z,1553560851.868 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:51.868Z,1553560851.868 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:52.271Z,1553560852.271 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:52.271Z,1553560852.271 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:52.669Z,1553560852.669 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:52.669Z,1553560852.669 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:53.080Z,1553560853.080 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:53.080Z,1553560853.080 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:53.463Z,1553560853.463 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:53.463Z,1553560853.463 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:53.875Z,1553560853.875 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:53.875Z,1553560853.875 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:54.279Z,1553560854.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:54.279Z,1553560854.279 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:54.687Z,1553560854.687 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:54.687Z,1553560854.687 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:55.083Z,1553560855.083 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:55.083Z,1553560855.083 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:55.491Z,1553560855.491 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:55.491Z,1553560855.491 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:55.911Z,1553560855.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:55.911Z,1553560855.911 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:56.325Z,1553560856.325 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:56.326Z,1553560856.326 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:56.716Z,1553560856.716 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:56.716Z,1553560856.716 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:57.107Z,1553560857.107 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:57.107Z,1553560857.107 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:57.511Z,1553560857.511 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:57.511Z,1553560857.511 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:57.922Z,1553560857.922 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:57.922Z,1553560857.922 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:58.319Z,1553560858.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:58.319Z,1553560858.319 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:58.732Z,1553560858.732 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:58.732Z,1553560858.732 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:59.141Z,1553560859.141 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:59.141Z,1553560859.141 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:59.531Z,1553560859.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:59.531Z,1553560859.531 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:40:59.935Z,1553560859.935 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:40:59.935Z,1553560859.935 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:00.335Z,1553560860.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:00.335Z,1553560860.335 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:00.747Z,1553560860.747 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:00.747Z,1553560860.747 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:01.147Z,1553560861.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:01.147Z,1553560861.147 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:01.547Z,1553560861.547 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:01.547Z,1553560861.547 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:01.963Z,1553560861.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:01.963Z,1553560861.963 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:02.364Z,1553560862.364 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:02.364Z,1553560862.364 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:02.782Z,1553560862.782 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:02.783Z,1553560862.783 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:03.167Z,1553560863.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:03.167Z,1553560863.167 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:03.566Z,1553560863.566 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:03.566Z,1553560863.566 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:03.987Z,1553560863.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:03.987Z,1553560863.987 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:04.383Z,1553560864.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:04.383Z,1553560864.383 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:04.805Z,1553560864.805 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:04.805Z,1553560864.805 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:05.191Z,1553560865.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:05.191Z,1553560865.191 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:05.625Z,1553560865.625 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:05.625Z,1553560865.625 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:06.019Z,1553560866.019 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:06.019Z,1553560866.019 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:06.391Z,1553560866.391 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:06.391Z,1553560866.391 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:06.801Z,1553560866.801 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:06.801Z,1553560866.801 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:07.219Z,1553560867.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:07.219Z,1553560867.219 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:07.633Z,1553560867.633 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:07.633Z,1553560867.633 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:08.015Z,1553560868.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:08.015Z,1553560868.015 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:08.419Z,1553560868.419 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:08.419Z,1553560868.419 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:08.832Z,1553560868.832 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:08.832Z,1553560868.832 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:09.232Z,1553560869.232 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:09.233Z,1553560869.233 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:09.652Z,1553560869.652 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:09.653Z,1553560869.653 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:10.035Z,1553560870.035 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:10.035Z,1553560870.035 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:10.433Z,1553560870.433 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:10.433Z,1553560870.433 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:10.847Z,1553560870.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:10.847Z,1553560870.847 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:11.243Z,1553560871.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:11.243Z,1553560871.243 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:11.666Z,1553560871.666 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:11.667Z,1553560871.667 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:12.055Z,1553560872.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:12.055Z,1553560872.055 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:12.459Z,1553560872.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:12.459Z,1553560872.459 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:12.886Z,1553560872.886 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:12.886Z,1553560872.886 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:13.267Z,1553560873.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:13.267Z,1553560873.267 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:13.675Z,1553560873.675 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:13.675Z,1553560873.675 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:14.075Z,1553560874.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:14.075Z,1553560874.075 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:14.475Z,1553560874.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:14.475Z,1553560874.475 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:14.890Z,1553560874.890 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:14.890Z,1553560874.890 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:15.289Z,1553560875.289 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:15.289Z,1553560875.289 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:15.709Z,1553560875.709 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:15.709Z,1553560875.709 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:16.120Z,1553560876.120 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:16.121Z,1553560876.121 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:16.495Z,1553560876.495 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:16.495Z,1553560876.495 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:16.667Z,1553560876.667 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:41:16.667Z,1553560876.667 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:41:16.911Z,1553560876.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:16.911Z,1553560876.911 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:16.920Z,1553560876.920 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:41:16.920Z,1553560876.920 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:41:16.920Z,1553560876.920 [lineCaptureHoming] Stopped
2019-03-26T00:41:16.920Z,1553560876.920 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:41:16.920Z,1553560876.920 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:41:16.920Z,1553560876.920 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:41:16.921Z,1553560876.921 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:I.] Stopped
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:J.Mass] Stopped
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:L] Stopped
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:M] Stopped
2019-03-26T00:41:16.922Z,1553560876.922 [lineCaptureHoming:N] Stopped
2019-03-26T00:41:16.923Z,1553560876.923 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:41:16.923Z,1553560876.923 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:41:17.302Z,1553560877.302 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:41:17.302Z,1553560877.302 [Default] Running Loop=1
2019-03-26T00:41:17.302Z,1553560877.302 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:41:17.302Z,1553560877.302 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:41:17.302Z,1553560877.302 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:41:17.303Z,1553560877.303 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:41:17.303Z,1553560877.303 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:41:17.303Z,1553560877.303 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:41:17.303Z,1553560877.303 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:41:17.304Z,1553560877.304 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:41:17.304Z,1553560877.304 [Default:A.Wait] Running Loop=1
2019-03-26T00:41:17.304Z,1553560877.304 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:41:17.343Z,1553560877.343 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:41:19.700Z,1553560879.700 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-26T00:41:30.653Z,1553560890.653 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:41:30.653Z,1553560890.653 [Default:A.Wait] Stopped
2019-03-26T00:41:30.653Z,1553560890.653 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:41:31.050Z,1553560891.050 [Default:CheckIn] Running Loop=1
2019-03-26T00:41:31.050Z,1553560891.050 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:41:31.050Z,1553560891.050 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:41:32.638Z,1553560892.638 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:41:33.038Z,1553560893.038 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003433.00,A,3648.16667,N,12147.28318,W,0.253,115.36,260319,,,A*78
2019-03-26T00:41:33.040Z,1553560893.040 [NAL9602](INFO): GPS fix at 20190326T003433: (36.802778, -121.788053)
2019-03-26T00:41:33.067Z,1553560893.066 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:41:33.067Z,1553560893.067 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-26T00:41:35.392Z,1553560895.392 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:41:35.393Z,1553560895.393 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:41:35.825Z,1553560895.825 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:41:35.831Z,1553560895.831 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:41:35.833Z,1553560895.833 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:41:35.840Z,1553560895.840 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:41:35.842Z,1553560895.842 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:41:35.848Z,1553560895.848 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:41:35.850Z,1553560895.850 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:41:35.856Z,1553560895.856 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:41:35.862Z,1553560895.862 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:41:35.865Z,1553560895.865 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:41:35.871Z,1553560895.871 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:41:35.873Z,1553560895.873 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:41:35.959Z,1553560895.959 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:41:35.961Z,1553560895.961 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:41:35.963Z,1553560895.963 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:41:35.965Z,1553560895.965 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:41:35.991Z,1553560895.991 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:41:35.994Z,1553560895.994 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:41:35.996Z,1553560895.996 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:41:35.998Z,1553560895.998 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:41:36.036Z,1553560896.036 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:41:36.039Z,1553560896.039 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:41:36.041Z,1553560896.041 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:41:36.059Z,1553560896.059 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:41:36.061Z,1553560896.061 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:41:36.063Z,1553560896.063 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:41:36.065Z,1553560896.065 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:41:36.092Z,1553560896.092 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:41:36.094Z,1553560896.094 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:41:36.096Z,1553560896.096 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:41:36.097Z,1553560896.097 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:41:36.157Z,1553560896.157 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:41:36.173Z,1553560896.173 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:41:36.175Z,1553560896.175 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:41:36.176Z,1553560896.176 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:41:36.206Z,1553560896.206 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:41:36.243Z,1553560896.243 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:41:36.253Z,1553560896.253 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:41:36.467Z,1553560896.467 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:41:36.469Z,1553560896.469 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:41:36.480Z,1553560896.480 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:41:36.491Z,1553560896.491 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:41:36.493Z,1553560896.493 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:41:36.514Z,1553560896.514 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:41:36.524Z,1553560896.524 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:41:36.546Z,1553560896.546 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:41:36.673Z,1553560896.673 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:41:36.735Z,1553560896.735 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:41:36.771Z,1553560896.771 [lineCaptureHoming:DiveCmd:InitialDive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:41:36.773Z,1553560896.773 [lineCaptureHoming:DiveCmd:InitialDive:B.Pitch](DEBUG): Construct.
2019-03-26T00:41:36.814Z,1553560896.814 [lineCaptureHoming:DiveCmd:AltitudeServo:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:41:36.820Z,1553560896.820 [lineCaptureHoming:DiveCmd:AltitudeServo:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:41:36.890Z,1553560896.890 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:41:36.913Z,1553560896.913 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:41:36.938Z,1553560896.938 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:41:36.949Z,1553560896.949 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:41:36.961Z,1553560896.961 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:41:36.992Z,1553560896.992 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:41:37.019Z,1553560897.019 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:41:37.066Z,1553560897.066 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>    

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <When>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </When>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <When>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </When>

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:41:37.068Z,1553560897.068 [CommandLine](IMPORTANT): Running ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:41:37.157Z,1553560897.157 [Default] Stopped
2019-03-26T00:41:37.158Z,1553560897.158 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:41:37.158Z,1553560897.158 [Default:B.GoToSurface] Stopped
2019-03-26T00:41:37.158Z,1553560897.158 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:41:37.158Z,1553560897.158 [Default:CheckIn] Stopped
2019-03-26T00:41:37.158Z,1553560897.158 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:41:37.158Z,1553560897.158 [Default:CheckIn:Read_Iridium] Stopped
2019-03-26T00:41:37.158Z,1553560897.158 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:41:37.158Z,1553560897.158 [lineCaptureHoming] Running Loop=1
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:41:37.159Z,1553560897.159 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:41:37.160Z,1553560897.160 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:41:37.161Z,1553560897.161 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:41:37.162Z,1553560897.162 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:41:37.162Z,1553560897.162 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:41:37.162Z,1553560897.162 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:41:37.163Z,1553560897.163 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:41:37.163Z,1553560897.163 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:41:37.163Z,1553560897.163 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:41:37.163Z,1553560897.163 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:41:37.164Z,1553560897.164 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:41:37.164Z,1553560897.164 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:41:37.164Z,1553560897.164 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:37.164Z,1553560897.164 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:37.165Z,1553560897.165 [lineCaptureHoming:B] Stopped
2019-03-26T00:41:37.165Z,1553560897.165 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:41:37.165Z,1553560897.165 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:41:37.165Z,1553560897.165 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:41:37.176Z,1553560897.176 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:41:37.177Z,1553560897.177 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:41:37.240Z,1553560897.240 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:41:37.527Z,1553560897.527 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:37.527Z,1553560897.527 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:37.528Z,1553560897.528 [lineCaptureHoming:C] Stopped
2019-03-26T00:41:37.528Z,1553560897.528 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:41:37.959Z,1553560897.959 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:37.960Z,1553560897.960 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:37.960Z,1553560897.960 [lineCaptureHoming:D] Stopped
2019-03-26T00:41:37.960Z,1553560897.960 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:41:38.350Z,1553560898.350 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:38.351Z,1553560898.351 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:38.351Z,1553560898.351 [lineCaptureHoming:F] Stopped
2019-03-26T00:41:38.351Z,1553560898.351 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:41:38.789Z,1553560898.789 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:38.789Z,1553560898.789 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:38.790Z,1553560898.790 [lineCaptureHoming:G] Stopped
2019-03-26T00:41:38.790Z,1553560898.790 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:41:38.790Z,1553560898.790 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:41:39.147Z,1553560899.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:39.147Z,1553560899.147 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:39.148Z,1553560899.148 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:41:39.148Z,1553560899.148 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:41:39.148Z,1553560899.148 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:41:39.148Z,1553560899.148 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:41:39.148Z,1553560899.148 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:41:39.148Z,1553560899.148 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:41:39.547Z,1553560899.547 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:39.547Z,1553560899.547 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:39.547Z,1553560899.547 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:41:39.548Z,1553560899.548 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:41:39.548Z,1553560899.548 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:41:39.548Z,1553560899.548 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:41:39.548Z,1553560899.548 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:41:39.548Z,1553560899.548 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:41:39.549Z,1553560899.549 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:41:39.549Z,1553560899.549 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:41:39.549Z,1553560899.549 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:41:39.550Z,1553560899.550 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:41:39.557Z,1553560899.557 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553560473.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:41:39.557Z,1553560899.557 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:41:39.961Z,1553560899.961 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:39.962Z,1553560899.962 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:39.967Z,1553560899.967 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:41:40.355Z,1553560900.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:40.355Z,1553560900.355 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:40.356Z,1553560900.356 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:41:40.775Z,1553560900.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:40.775Z,1553560900.775 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:40.878Z,1553560900.878 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190325T233344/Courier0025.lzma
2019-03-26T00:41:41.173Z,1553560901.173 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:41.173Z,1553560901.173 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:41.559Z,1553560901.559 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:41:41.614Z,1553560901.614 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:41.615Z,1553560901.615 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:41.684Z,1553560901.684 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0025.lzma.bak
2019-03-26T00:41:41.684Z,1553560901.684 [DataOverHttps](INFO): SBD MOMSN=10245639
2019-03-26T00:41:41.950Z,1553560901.950 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003442.00,A,3648.16652,N,12147.28392,W,0.117,115.36,260319,,,A*79
2019-03-26T00:41:41.953Z,1553560901.953 [NAL9602](INFO): GPS fix at 20190326T003442: (36.802775, -121.788065)
2019-03-26T00:41:42.024Z,1553560902.024 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:42.024Z,1553560902.024 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:42.024Z,1553560902.024 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:41:42.025Z,1553560902.025 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-26T00:41:42.416Z,1553560902.416 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:42.416Z,1553560902.416 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:42.417Z,1553560902.417 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-26T00:41:42.955Z,1553560902.955 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:42.955Z,1553560902.955 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:43.342Z,1553560903.342 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:43.342Z,1553560903.342 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:43.759Z,1553560903.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:43.759Z,1553560903.759 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:44.127Z,1553560904.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:44.127Z,1553560904.127 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:44.531Z,1553560904.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:44.531Z,1553560904.531 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:44.945Z,1553560904.945 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:44.945Z,1553560904.945 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:45.335Z,1553560905.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:41:45.335Z,1553560905.335 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:41:45.351Z,1553560905.351 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:41:45.351Z,1553560905.351 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:41:45.357Z,1553560905.357 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:41:45.357Z,1553560905.357 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:41:45.358Z,1553560905.358 [lineCaptureHoming] Stopped
2019-03-26T00:41:45.358Z,1553560905.358 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:41:45.358Z,1553560905.358 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:41:45.358Z,1553560905.358 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:41:45.358Z,1553560905.358 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:41:45.358Z,1553560905.358 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:41:45.362Z,1553560905.362 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:41:45.362Z,1553560905.362 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:41:45.362Z,1553560905.362 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:41:45.362Z,1553560905.362 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:I.] Stopped
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-26T00:41:45.363Z,1553560905.363 [lineCaptureHoming:J.Mass] Stopped
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:L] Stopped
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:M] Stopped
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:N] Stopped
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:41:45.364Z,1553560905.364 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:41:45.774Z,1553560905.774 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:41:45.782Z,1553560905.782 [Default] Running Loop=1
2019-03-26T00:41:45.782Z,1553560905.782 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:41:45.783Z,1553560905.783 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:41:45.783Z,1553560905.783 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:41:45.783Z,1553560905.783 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:41:45.783Z,1553560905.783 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:41:45.783Z,1553560905.783 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:41:45.784Z,1553560905.784 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:41:45.784Z,1553560905.784 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:41:45.784Z,1553560905.784 [Default:A.Wait] Running Loop=1
2019-03-26T00:41:45.784Z,1553560905.784 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:41:45.840Z,1553560905.840 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:41:54.438Z,1553560914.438 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190325T233344/Courier0028.lzma
2019-03-26T00:41:55.244Z,1553560915.244 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0028.lzma.bak
2019-03-26T00:41:55.244Z,1553560915.244 [DataOverHttps](INFO): SBD MOMSN=10245642
2019-03-26T00:41:59.079Z,1553560919.079 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:41:59.079Z,1553560919.079 [Default:A.Wait] Stopped
2019-03-26T00:41:59.079Z,1553560919.079 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:41:59.490Z,1553560919.490 [Default:CheckIn] Running Loop=1
2019-03-26T00:41:59.490Z,1553560919.490 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:41:59.491Z,1553560919.491 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:42:01.086Z,1553560921.086 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:42:01.482Z,1553560921.482 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,003502.00,A,3648.16907,N,12147.28817,W,0.097,115.36,260319,,,A*7C
2019-03-26T00:42:01.484Z,1553560921.484 [NAL9602](INFO): GPS fix at 20190326T003502: (36.802818, -121.788136)
2019-03-26T00:42:01.511Z,1553560921.511 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:42:01.511Z,1553560921.511 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-26T00:42:13.106Z,1553560933.106 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190325T233344/Courier0031.lzma
2019-03-26T00:42:13.912Z,1553560933.912 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0031.lzma.bak
2019-03-26T00:42:13.912Z,1553560933.912 [DataOverHttps](INFO): SBD MOMSN=10245645
2019-03-26T00:42:25.847Z,1553560945.847 [DataOverHttps](INFO): Sending 936 bytes from file Logs/20190325T233344/Express0026.lzma
2019-03-26T00:42:26.652Z,1553560946.652 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0026.lzma.bak
2019-03-26T00:42:26.652Z,1553560946.652 [DataOverHttps](INFO): SBD MOMSN=10245648
2019-03-26T00:42:29.366Z,1553560949.366 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:42:29.366Z,1553560949.366 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-26T00:42:29.366Z,1553560949.366 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:42:29.368Z,1553560949.368 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:42:29.368Z,1553560949.368 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-26T00:42:29.368Z,1553560949.368 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:42:29.370Z,1553560949.370 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:42:29.370Z,1553560949.370 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-26T00:42:29.371Z,1553560949.371 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:42:29.391Z,1553560949.391 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:42:29.391Z,1553560949.391 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:42:29.391Z,1553560949.391 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:42:29.812Z,1553560949.812 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:42:29.812Z,1553560949.812 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-26T00:42:29.813Z,1553560949.813 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:42:29.813Z,1553560949.813 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-26T00:42:29.814Z,1553560949.814 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:42:29.814Z,1553560949.814 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-26T00:42:30.183Z,1553560950.183 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:42:33.792Z,1553560953.792 [NAL9602](INFO): Powering down
2019-03-26T00:42:44.546Z,1553560964.546 [DataOverHttps](INFO): Sending 162 bytes from file Logs/20190325T233344/Express0029.lzma
2019-03-26T00:42:45.352Z,1553560965.352 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0029.lzma.bak
2019-03-26T00:42:45.352Z,1553560965.352 [DataOverHttps](INFO): SBD MOMSN=10245709
2019-03-26T00:42:57.651Z,1553560977.651 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:42:57.652Z,1553560977.652 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:42:58.061Z,1553560978.061 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:42:58.063Z,1553560978.063 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:42:58.065Z,1553560978.065 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:42:58.079Z,1553560978.079 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:42:58.081Z,1553560978.081 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:42:58.108Z,1553560978.108 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:42:58.110Z,1553560978.110 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:42:58.112Z,1553560978.112 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:42:58.139Z,1553560978.139 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:42:58.141Z,1553560978.141 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:42:58.147Z,1553560978.147 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:42:58.149Z,1553560978.149 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:42:58.160Z,1553560978.160 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:42:58.162Z,1553560978.162 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:42:58.172Z,1553560978.172 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:42:58.182Z,1553560978.182 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:42:58.185Z,1553560978.185 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:42:58.195Z,1553560978.195 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:42:58.197Z,1553560978.197 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:42:58.207Z,1553560978.207 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:42:58.210Z,1553560978.210 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:42:58.236Z,1553560978.236 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:42:58.251Z,1553560978.251 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:42:58.260Z,1553560978.260 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:42:58.262Z,1553560978.262 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:42:58.268Z,1553560978.268 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:42:58.281Z,1553560978.281 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:42:58.291Z,1553560978.291 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:42:58.293Z,1553560978.293 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:42:58.300Z,1553560978.300 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:42:58.300Z,1553560978.300 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:42:58.443Z,1553560978.443 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:42:58.445Z,1553560978.445 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:42:58.452Z,1553560978.452 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:42:58.452Z,1553560978.452 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:42:58.477Z,1553560978.477 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:42:58.492Z,1553560978.492 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:42:58.533Z,1553560978.533 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:42:58.803Z,1553560978.803 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:42:58.805Z,1553560978.805 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:42:58.824Z,1553560978.824 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:42:58.826Z,1553560978.826 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:42:58.844Z,1553560978.844 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:42:58.852Z,1553560978.852 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:42:58.867Z,1553560978.867 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:42:58.887Z,1553560978.887 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:42:58.994Z,1553560978.994 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:42:58.997Z,1553560978.997 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:42:59.020Z,1553560979.020 [lineCaptureHoming:DiveCmd:InitialDive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:42:59.053Z,1553560979.053 [lineCaptureHoming:DiveCmd:InitialDive:B.Pitch](DEBUG): Construct.
2019-03-26T00:42:59.086Z,1553560979.086 [lineCaptureHoming:DiveCmd:AltitudeServo:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:42:59.088Z,1553560979.088 [lineCaptureHoming:DiveCmd:AltitudeServo:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:42:59.213Z,1553560979.213 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:42:59.235Z,1553560979.235 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:42:59.239Z,1553560979.239 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:42:59.255Z,1553560979.255 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:42:59.259Z,1553560979.259 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:42:59.277Z,1553560979.277 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:42:59.283Z,1553560979.283 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:42:59.351Z,1553560979.351 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>

    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>    

<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">
            <When>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </When>
            
            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <When>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </When>

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:42:59.353Z,1553560979.353 [CommandLine](IMPORTANT): Running ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:42:59.588Z,1553560979.588 [Default] Stopped
2019-03-26T00:42:59.588Z,1553560979.588 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:42:59.589Z,1553560979.589 [Default:B.GoToSurface] Stopped
2019-03-26T00:42:59.589Z,1553560979.589 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:42:59.589Z,1553560979.589 [Default:CheckIn] Stopped
2019-03-26T00:42:59.589Z,1553560979.589 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:42:59.589Z,1553560979.589 [Default:CheckIn:Read_Iridium] Stopped
2019-03-26T00:42:59.590Z,1553560979.590 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:42:59.595Z,1553560979.595 [lineCaptureHoming] Running Loop=1
2019-03-26T00:42:59.595Z,1553560979.595 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:42:59.595Z,1553560979.595 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:42:59.596Z,1553560979.596 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:42:59.596Z,1553560979.596 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:42:59.596Z,1553560979.596 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:42:59.597Z,1553560979.597 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:42:59.597Z,1553560979.597 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:42:59.597Z,1553560979.597 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:42:59.597Z,1553560979.597 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:42:59.597Z,1553560979.597 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:42:59.598Z,1553560979.598 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:42:59.598Z,1553560979.598 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:42:59.603Z,1553560979.603 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:42:59.603Z,1553560979.603 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:42:59.603Z,1553560979.603 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:42:59.603Z,1553560979.603 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:42:59.604Z,1553560979.604 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:42:59.604Z,1553560979.604 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:42:59.604Z,1553560979.604 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:42:59.611Z,1553560979.611 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:42:59.612Z,1553560979.612 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:42:59.613Z,1553560979.613 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:42:59.613Z,1553560979.613 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:42:59.613Z,1553560979.613 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:42:59.613Z,1553560979.613 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:42:59.614Z,1553560979.614 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:42:59.614Z,1553560979.614 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:42:59.618Z,1553560979.618 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:42:59.619Z,1553560979.619 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:42:59.619Z,1553560979.619 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:42:59.619Z,1553560979.619 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:42:59.619Z,1553560979.619 [lineCaptureHoming:B] Stopped
2019-03-26T00:42:59.619Z,1553560979.619 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:42:59.619Z,1553560979.619 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:42:59.620Z,1553560979.620 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:42:59.635Z,1553560979.635 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:42:59.635Z,1553560979.635 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:42:59.688Z,1553560979.688 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:42:59.988Z,1553560979.988 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:42:59.988Z,1553560979.988 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:42:59.988Z,1553560979.988 [lineCaptureHoming:C] Stopped
2019-03-26T00:42:59.988Z,1553560979.988 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:43:00.394Z,1553560980.394 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:00.394Z,1553560980.394 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:00.394Z,1553560980.394 [lineCaptureHoming:D] Stopped
2019-03-26T00:43:00.394Z,1553560980.394 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:43:00.791Z,1553560980.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:00.791Z,1553560980.791 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:00.792Z,1553560980.792 [lineCaptureHoming:F] Stopped
2019-03-26T00:43:00.792Z,1553560980.792 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:43:01.199Z,1553560981.199 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:01.199Z,1553560981.199 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:01.200Z,1553560981.200 [lineCaptureHoming:G] Stopped
2019-03-26T00:43:01.200Z,1553560981.200 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:43:01.200Z,1553560981.200 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:43:01.426Z,1553560981.426 [DataOverHttps](INFO): Sending 117 bytes from file Logs/20190325T233344/Express0032.lzma
2019-03-26T00:43:01.613Z,1553560981.613 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:01.613Z,1553560981.613 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:01.613Z,1553560981.613 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:43:01.613Z,1553560981.613 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:43:01.613Z,1553560981.613 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:43:01.614Z,1553560981.614 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:43:01.614Z,1553560981.614 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:43:01.614Z,1553560981.614 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:43:01.999Z,1553560981.999 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:01.999Z,1553560981.999 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:01.999Z,1553560981.999 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:43:01.999Z,1553560981.999 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:43:01.999Z,1553560981.999 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:43:01.999Z,1553560981.999 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:43:01.000Z,1553560982.000 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:43:02.000Z,1553560982.000 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:43:02.001Z,1553560982.001 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:43:02.001Z,1553560982.001 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:43:02.001Z,1553560982.001 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:43:02.001Z,1553560982.001 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:43:02.003Z,1553560982.003 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553560502.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:43:02.003Z,1553560982.003 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:43:02.232Z,1553560982.232 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0032.lzma.bak
2019-03-26T00:43:02.232Z,1553560982.232 [DataOverHttps](INFO): SBD MOMSN=10245714
2019-03-26T00:43:02.396Z,1553560982.396 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:02.396Z,1553560982.396 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:02.397Z,1553560982.397 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:43:02.809Z,1553560982.809 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:02.809Z,1553560982.809 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:02.810Z,1553560982.810 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:43:03.176Z,1553560983.176 [NAL9602](INFO): Powering up
2019-03-26T00:43:03.218Z,1553560983.218 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:03.218Z,1553560983.218 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:03.628Z,1553560983.628 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-26T00:43:03.628Z,1553560983.628 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +55,   +0,A
2019-03-26T00:43:03.648Z,1553560983.648 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:03.648Z,1553560983.648 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:04.015Z,1553560984.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:04.015Z,1553560984.015 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:04.415Z,1553560984.415 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:04.415Z,1553560984.415 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:04.832Z,1553560984.832 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:04.832Z,1553560984.832 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:05.012Z,1553560985.012 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:43:05.012Z,1553560985.012 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:43:05.219Z,1553560985.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:43:05.219Z,1553560985.219 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:43:05.236Z,1553560985.236 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:43:05.236Z,1553560985.236 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming] Stopped
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:43:05.237Z,1553560985.237 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:43:05.238Z,1553560985.238 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:43:05.238Z,1553560985.238 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:43:05.238Z,1553560985.238 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:43:05.238Z,1553560985.238 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:43:05.238Z,1553560985.238 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:43:05.238Z,1553560985.238 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:43:05.242Z,1553560985.242 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:43:05.242Z,1553560985.242 [lineCaptureHoming:I.] Stopped
2019-03-26T00:43:05.242Z,1553560985.242 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:J.Mass] Stopped
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:L] Stopped
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:M] Stopped
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:N] Stopped
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:43:05.243Z,1553560985.243 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:43:05.652Z,1553560985.652 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:43:05.652Z,1553560985.652 [Default] Running Loop=1
2019-03-26T00:43:05.653Z,1553560985.653 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:43:05.653Z,1553560985.653 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:43:05.653Z,1553560985.653 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:43:05.653Z,1553560985.653 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:43:05.653Z,1553560985.653 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:43:05.654Z,1553560985.654 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:43:05.654Z,1553560985.654 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:43:05.659Z,1553560985.659 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:43:05.659Z,1553560985.659 [Default:A.Wait] Running Loop=1
2019-03-26T00:43:05.659Z,1553560985.659 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:43:05.708Z,1553560985.708 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:43:14.092Z,1553560994.092 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:43:18.964Z,1553560998.964 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:43:18.964Z,1553560998.964 [Default:A.Wait] Stopped
2019-03-26T00:43:18.964Z,1553560998.964 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:43:19.366Z,1553560999.366 [Default:CheckIn] Running Loop=1
2019-03-26T00:43:19.366Z,1553560999.366 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:43:19.367Z,1553560999.367 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:43:20.962Z,1553561000.962 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:43:52.056Z,1553561032.056 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-26T00:43:52.130Z,1553561032.130 [NAL9602](FAULT): received: 
+CSQ:0

OK49, 2, 0, 0, 0

OK
2019-03-26T00:43:52.130Z,1553561032.130 [NAL9602] Data Fault, FailCount= 1
2019-03-26T00:43:52.130Z,1553561032.130 [NAL9602](ERROR): Data Fault
2019-03-26T00:43:52.235Z,1553561032.235 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-26T00:43:52.465Z,1553561032.465 [NAL9602](INFO): Powering down
2019-03-26T00:43:53.312Z,1553561033.312 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-26T00:43:53.312Z,1553561033.312 [NAL9602] No Fault, FailCount= 1
2019-03-26T00:44:22.762Z,1553561062.762 [NAL9602](INFO): Powering up NAL9602
2019-03-26T00:44:30.474Z,1553561070.474 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:44:30.474Z,1553561070.474 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-26T00:44:30.474Z,1553561070.474 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:44:30.476Z,1553561070.476 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:44:30.476Z,1553561070.476 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-26T00:44:30.476Z,1553561070.476 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:44:30.483Z,1553561070.483 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:44:30.483Z,1553561070.483 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-26T00:44:30.483Z,1553561070.483 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:44:30.503Z,1553561070.503 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:44:30.503Z,1553561070.503 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:44:30.503Z,1553561070.503 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:44:31.125Z,1553561071.125 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:44:31.125Z,1553561071.125 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-26T00:44:31.126Z,1553561071.126 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:44:31.126Z,1553561071.126 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-26T00:44:31.126Z,1553561071.126 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:44:31.126Z,1553561071.126 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-26T00:44:31.298Z,1553561071.298 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:44:33.668Z,1553561073.668 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:44:34.490Z,1553561074.490 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:44:38.560Z,1553561078.560 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:44:38.561Z,1553561078.561 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:44:38.817Z,1553561078.817 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:44:38.820Z,1553561078.820 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:44:38.822Z,1553561078.822 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:44:38.824Z,1553561078.824 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:44:38.826Z,1553561078.826 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:44:38.828Z,1553561078.828 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:44:38.831Z,1553561078.831 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:44:38.833Z,1553561078.833 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:44:38.835Z,1553561078.835 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:44:38.837Z,1553561078.837 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:44:38.840Z,1553561078.840 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:44:38.842Z,1553561078.842 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:44:38.844Z,1553561078.844 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:44:38.846Z,1553561078.846 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:44:38.848Z,1553561078.848 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:44:38.851Z,1553561078.851 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:44:38.853Z,1553561078.853 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:44:38.855Z,1553561078.855 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:44:38.857Z,1553561078.857 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:44:38.859Z,1553561078.859 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:44:38.862Z,1553561078.862 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:44:38.864Z,1553561078.864 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:44:38.866Z,1553561078.866 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:44:38.868Z,1553561078.868 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:44:38.871Z,1553561078.871 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:44:38.873Z,1553561078.873 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:44:38.875Z,1553561078.875 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:44:38.877Z,1553561078.877 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:44:38.879Z,1553561078.879 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:44:38.881Z,1553561078.881 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:44:38.882Z,1553561078.882 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:44:38.950Z,1553561078.950 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:44:38.968Z,1553561078.968 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:44:38.970Z,1553561078.970 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:44:38.983Z,1553561078.983 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:44:39.012Z,1553561079.012 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:44:39.047Z,1553561079.047 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:44:39.078Z,1553561079.078 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:44:39.200Z,1553561079.200 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:44:39.202Z,1553561079.202 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:44:39.204Z,1553561079.204 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:44:39.214Z,1553561079.214 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:44:39.217Z,1553561079.217 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:44:39.223Z,1553561079.223 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:44:39.226Z,1553561079.226 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:44:39.236Z,1553561079.236 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:44:39.378Z,1553561079.378 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:44:39.393Z,1553561079.393 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:44:39.409Z,1553561079.409 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:44:39.415Z,1553561079.415 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-26T00:44:39.439Z,1553561079.439 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:44:39.442Z,1553561079.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:44:39.473Z,1553561079.473 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:44:39.505Z,1553561079.505 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:44:39.514Z,1553561079.514 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:44:39.533Z,1553561079.533 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:44:39.549Z,1553561079.549 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:44:39.568Z,1553561079.568 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:44:39.608Z,1553561079.608 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:44:39.672Z,1553561079.672 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>
    
<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:44:39.679Z,1553561079.679 [CommandLine](IMPORTANT): Running ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:44:39.810Z,1553561079.810 [Default] Stopped
2019-03-26T00:44:39.810Z,1553561079.810 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:44:39.810Z,1553561079.810 [Default:B.GoToSurface] Stopped
2019-03-26T00:44:39.810Z,1553561079.810 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:44:39.810Z,1553561079.810 [Default:CheckIn] Stopped
2019-03-26T00:44:39.811Z,1553561079.811 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:44:39.811Z,1553561079.811 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:44:39.811Z,1553561079.811 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:44:39.811Z,1553561079.811 [lineCaptureHoming] Running Loop=1
2019-03-26T00:44:39.811Z,1553561079.811 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:44:39.811Z,1553561079.811 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:44:39.811Z,1553561079.811 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:44:39.811Z,1553561079.811 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:44:39.812Z,1553561079.812 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:44:39.813Z,1553561079.813 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:44:39.813Z,1553561079.813 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:44:39.813Z,1553561079.813 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:44:39.813Z,1553561079.813 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:44:39.813Z,1553561079.813 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:44:39.814Z,1553561079.814 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:44:39.814Z,1553561079.814 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:44:39.815Z,1553561079.815 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:44:39.815Z,1553561079.815 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:44:39.815Z,1553561079.815 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:44:39.815Z,1553561079.815 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:44:39.816Z,1553561079.816 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:44:39.816Z,1553561079.816 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:44:39.816Z,1553561079.816 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:B] Stopped
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:44:39.817Z,1553561079.817 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:44:39.825Z,1553561079.825 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:44:39.825Z,1553561079.825 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:44:39.836Z,1553561079.836 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:44:40.190Z,1553561080.190 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:40.190Z,1553561080.190 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:40.195Z,1553561080.195 [lineCaptureHoming:C] Stopped
2019-03-26T00:44:40.195Z,1553561080.195 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:44:40.568Z,1553561080.568 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:40.568Z,1553561080.568 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:40.568Z,1553561080.568 [lineCaptureHoming:D] Stopped
2019-03-26T00:44:40.568Z,1553561080.568 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:44:40.979Z,1553561080.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:40.980Z,1553561080.980 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:40.980Z,1553561080.980 [lineCaptureHoming:F] Stopped
2019-03-26T00:44:40.980Z,1553561080.980 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:44:41.396Z,1553561081.396 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:41.396Z,1553561081.396 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:41.396Z,1553561081.396 [lineCaptureHoming:G] Stopped
2019-03-26T00:44:41.396Z,1553561081.396 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:44:41.396Z,1553561081.396 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:44:41.801Z,1553561081.801 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:41.802Z,1553561081.802 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:41.802Z,1553561081.802 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:44:41.802Z,1553561081.802 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:44:41.802Z,1553561081.802 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:44:41.803Z,1553561081.803 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:44:41.803Z,1553561081.803 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:44:41.803Z,1553561081.803 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:44:42.199Z,1553561082.199 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:42.199Z,1553561082.199 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:42.199Z,1553561082.199 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:44:42.199Z,1553561082.199 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:44:42.200Z,1553561082.200 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:44:42.200Z,1553561082.200 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:44:42.200Z,1553561082.200 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:44:42.200Z,1553561082.200 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:44:42.201Z,1553561082.201 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:44:42.201Z,1553561082.201 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:44:42.201Z,1553561082.201 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:44:42.202Z,1553561082.202 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:44:42.203Z,1553561082.203 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553560502.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:44:42.203Z,1553561082.203 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:44:42.699Z,1553561082.699 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:42.699Z,1553561082.699 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:42.700Z,1553561082.700 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:44:43.012Z,1553561083.012 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:44:43.012Z,1553561083.012 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:44:43.013Z,1553561083.013 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:44:43.023Z,1553561083.023 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:44:43.023Z,1553561083.023 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:44:43.035Z,1553561083.035 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:44:43.035Z,1553561083.035 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:44:43.035Z,1553561083.035 [lineCaptureHoming] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:44:43.036Z,1553561083.036 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:I.] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:J.Mass] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:L] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:M] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:N] Stopped
2019-03-26T00:44:43.037Z,1553561083.037 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:44:43.038Z,1553561083.038 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:44:43.466Z,1553561083.466 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:44:43.466Z,1553561083.466 [Default] Running Loop=1
2019-03-26T00:44:43.466Z,1553561083.466 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:44:43.466Z,1553561083.466 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:44:43.466Z,1553561083.466 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:44:43.467Z,1553561083.467 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:44:43.467Z,1553561083.467 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:44:43.467Z,1553561083.467 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:44:43.467Z,1553561083.467 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:44:43.468Z,1553561083.468 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:44:43.468Z,1553561083.468 [Default:A.Wait] Running Loop=1
2019-03-26T00:44:43.468Z,1553561083.468 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:44:43.539Z,1553561083.539 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:44:56.764Z,1553561096.764 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:44:56.764Z,1553561096.764 [Default:A.Wait] Stopped
2019-03-26T00:44:56.764Z,1553561096.764 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:44:57.179Z,1553561097.179 [Default:CheckIn] Running Loop=1
2019-03-26T00:44:57.179Z,1553561097.179 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:44:57.179Z,1553561097.179 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:45:33.062Z,1553561133.062 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:45:33.062Z,1553561133.062 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:45:50.034Z,1553561150.034 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:45:50.034Z,1553561150.034 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:46:31.675Z,1553561191.675 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:46:31.675Z,1553561191.675 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-03-26T00:46:31.675Z,1553561191.675 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:46:31.677Z,1553561191.677 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:46:31.677Z,1553561191.677 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 3
2019-03-26T00:46:31.677Z,1553561191.677 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:46:31.679Z,1553561191.679 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:46:31.680Z,1553561191.680 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 3
2019-03-26T00:46:31.680Z,1553561191.680 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:46:31.691Z,1553561191.691 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:46:31.691Z,1553561191.691 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:46:31.692Z,1553561191.692 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:46:32.080Z,1553561192.080 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:46:32.080Z,1553561192.080 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-03-26T00:46:32.081Z,1553561192.081 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:46:32.081Z,1553561192.081 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 3
2019-03-26T00:46:32.082Z,1553561192.082 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:46:32.082Z,1553561192.082 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 3
2019-03-26T00:46:32.482Z,1553561192.482 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:46:34.874Z,1553561194.874 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:46:34.874Z,1553561194.874 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:47:03.877Z,1553561223.877 [CommandLine](IMPORTANT): got command run ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:47:03.877Z,1553561223.877 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:47:04.137Z,1553561224.137 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:47:04.139Z,1553561224.139 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:47:04.142Z,1553561224.142 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:47:04.144Z,1553561224.144 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:47:04.146Z,1553561224.146 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:47:04.148Z,1553561224.148 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:47:04.150Z,1553561224.150 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:47:04.152Z,1553561224.152 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:47:04.154Z,1553561224.154 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:47:04.156Z,1553561224.156 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:47:04.158Z,1553561224.158 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:47:04.160Z,1553561224.160 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:47:04.162Z,1553561224.162 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:47:04.164Z,1553561224.164 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:47:04.166Z,1553561224.166 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:47:04.168Z,1553561224.168 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:47:04.171Z,1553561224.171 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:47:04.173Z,1553561224.173 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:47:04.175Z,1553561224.175 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:47:04.177Z,1553561224.177 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:47:04.180Z,1553561224.180 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:47:04.182Z,1553561224.182 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:47:04.184Z,1553561224.184 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:47:04.186Z,1553561224.186 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:47:04.188Z,1553561224.188 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:47:04.190Z,1553561224.190 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:47:04.192Z,1553561224.192 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:47:04.194Z,1553561224.194 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:47:04.196Z,1553561224.196 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:47:04.198Z,1553561224.198 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:47:04.199Z,1553561224.199 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:47:04.261Z,1553561224.261 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:47:04.271Z,1553561224.271 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:47:04.273Z,1553561224.273 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:47:04.279Z,1553561224.279 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:47:04.302Z,1553561224.302 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:47:04.320Z,1553561224.320 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:47:04.330Z,1553561224.330 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:47:04.503Z,1553561224.503 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:47:04.505Z,1553561224.505 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:47:04.512Z,1553561224.512 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:47:04.514Z,1553561224.514 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:47:04.540Z,1553561224.540 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:47:04.542Z,1553561224.542 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:47:04.559Z,1553561224.559 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:47:04.569Z,1553561224.569 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:47:04.671Z,1553561224.671 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:47:04.678Z,1553561224.678 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:47:04.705Z,1553561224.705 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:47:04.711Z,1553561224.711 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-26T00:47:04.730Z,1553561224.730 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:47:04.736Z,1553561224.736 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:47:04.831Z,1553561224.831 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:47:04.863Z,1553561224.863 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:47:04.871Z,1553561224.871 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:47:04.888Z,1553561224.888 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:47:04.896Z,1553561224.896 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:47:04.910Z,1553561224.910 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:47:04.924Z,1553561224.924 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:47:04.972Z,1553561224.972 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>
    
<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:47:04.978Z,1553561224.978 [CommandLine](IMPORTANT): Running ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:47:05.202Z,1553561225.202 [Default] Stopped
2019-03-26T00:47:05.202Z,1553561225.202 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:47:05.202Z,1553561225.202 [Default:B.GoToSurface] Stopped
2019-03-26T00:47:05.202Z,1553561225.202 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:47:05.203Z,1553561225.203 [Default:CheckIn] Stopped
2019-03-26T00:47:05.203Z,1553561225.203 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:47:05.203Z,1553561225.203 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:47:05.203Z,1553561225.203 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:47:05.203Z,1553561225.203 [lineCaptureHoming] Running Loop=1
2019-03-26T00:47:05.203Z,1553561225.203 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:47:05.203Z,1553561225.203 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:47:05.203Z,1553561225.203 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:47:05.204Z,1553561225.204 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:47:05.205Z,1553561225.205 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:47:05.205Z,1553561225.205 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:47:05.205Z,1553561225.205 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:47:05.205Z,1553561225.205 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:47:05.205Z,1553561225.205 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:47:05.205Z,1553561225.205 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:47:05.206Z,1553561225.206 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:47:05.207Z,1553561225.207 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:47:05.207Z,1553561225.207 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:47:05.207Z,1553561225.207 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:47:05.208Z,1553561225.208 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:47:05.208Z,1553561225.208 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:47:05.208Z,1553561225.208 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:47:05.208Z,1553561225.208 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:47:05.209Z,1553561225.209 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:47:05.209Z,1553561225.209 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:47:05.209Z,1553561225.209 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:05.209Z,1553561225.209 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:05.209Z,1553561225.209 [lineCaptureHoming:B] Stopped
2019-03-26T00:47:05.210Z,1553561225.210 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:47:05.210Z,1553561225.210 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:47:05.210Z,1553561225.210 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:47:05.217Z,1553561225.217 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:47:05.217Z,1553561225.217 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:47:05.228Z,1553561225.228 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:47:05.635Z,1553561225.635 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:05.635Z,1553561225.635 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:05.635Z,1553561225.635 [lineCaptureHoming:C] Stopped
2019-03-26T00:47:05.635Z,1553561225.635 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:47:06.015Z,1553561226.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:06.015Z,1553561226.015 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:06.015Z,1553561226.015 [lineCaptureHoming:D] Stopped
2019-03-26T00:47:06.015Z,1553561226.015 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:47:06.415Z,1553561226.415 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:06.415Z,1553561226.415 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:06.415Z,1553561226.415 [lineCaptureHoming:F] Stopped
2019-03-26T00:47:06.415Z,1553561226.415 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:47:06.827Z,1553561226.827 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:06.828Z,1553561226.828 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:06.828Z,1553561226.828 [lineCaptureHoming:G] Stopped
2019-03-26T00:47:06.828Z,1553561226.828 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:47:06.828Z,1553561226.828 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:47:07.240Z,1553561227.240 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:07.240Z,1553561227.240 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:07.240Z,1553561227.240 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:47:07.240Z,1553561227.240 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:47:07.240Z,1553561227.240 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:47:07.240Z,1553561227.240 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:47:07.241Z,1553561227.241 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:47:07.241Z,1553561227.241 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:47:07.653Z,1553561227.653 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:07.653Z,1553561227.653 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:07.653Z,1553561227.653 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:47:07.653Z,1553561227.653 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:47:07.654Z,1553561227.654 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:47:07.654Z,1553561227.654 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:47:07.654Z,1553561227.654 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:47:07.657Z,1553561227.657 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:47:07.657Z,1553561227.657 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:47:07.657Z,1553561227.657 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:47:07.658Z,1553561227.658 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:47:07.658Z,1553561227.658 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:47:07.659Z,1553561227.659 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553560502.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:47:07.659Z,1553561227.659 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:47:08.029Z,1553561228.029 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:08.030Z,1553561228.030 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:08.031Z,1553561228.031 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:47:08.439Z,1553561228.439 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:08.439Z,1553561228.439 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:08.440Z,1553561228.440 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:47:08.849Z,1553561228.849 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:08.849Z,1553561228.849 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:09.251Z,1553561229.251 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:09.251Z,1553561229.251 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:09.663Z,1553561229.663 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:09.664Z,1553561229.664 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:10.184Z,1553561230.184 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:10.184Z,1553561230.184 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:10.471Z,1553561230.471 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:10.471Z,1553561230.471 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:10.887Z,1553561230.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:10.887Z,1553561230.887 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:11.271Z,1553561231.271 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:11.271Z,1553561231.271 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:11.675Z,1553561231.675 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:11.676Z,1553561231.676 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:12.091Z,1553561232.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:12.091Z,1553561232.091 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:12.475Z,1553561232.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:12.475Z,1553561232.475 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:12.946Z,1553561232.946 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:12.956Z,1553561232.956 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:13.279Z,1553561233.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:13.279Z,1553561233.279 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:13.697Z,1553561233.697 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:13.697Z,1553561233.697 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:14.087Z,1553561234.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:14.087Z,1553561234.087 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:14.491Z,1553561234.491 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:14.491Z,1553561234.491 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:14.937Z,1553561234.937 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:14.937Z,1553561234.937 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:15.204Z,1553561235.204 [CommandLine](IMPORTANT): got command show stack
2019-03-26T00:47:15.204Z,1553561235.204 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-26T00:47:15.205Z,1553561235.205 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-26T00:47:15.205Z,1553561235.205 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-26T00:47:15.205Z,1553561235.205 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-26T00:47:15.206Z,1553561235.206 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-26T00:47:15.206Z,1553561235.206 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-03-26T00:47:15.206Z,1553561235.206 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.
2019-03-26T00:47:15.207Z,1553561235.207 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Mass
2019-03-26T00:47:15.207Z,1553561235.207 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Buoyancy
2019-03-26T00:47:15.207Z,1553561235.207 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-26T00:47:15.207Z,1553561235.207 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-26T00:47:15.208Z,1553561235.208 [lineCaptureHoming](IMPORTANT): Priority 10: lineCaptureHoming:N
2019-03-26T00:47:15.587Z,1553561235.587 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:15.588Z,1553561235.588 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:15.792Z,1553561235.792 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:15.792Z,1553561235.792 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:16.179Z,1553561236.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:16.179Z,1553561236.179 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:16.605Z,1553561236.605 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:16.606Z,1553561236.606 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:16.992Z,1553561236.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:16.993Z,1553561236.993 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:17.367Z,1553561237.367 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:17.367Z,1553561237.367 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:17.794Z,1553561237.794 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:17.794Z,1553561237.794 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:18.175Z,1553561238.175 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:18.175Z,1553561238.175 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:18.614Z,1553561238.614 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:18.618Z,1553561238.618 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:19.022Z,1553561239.022 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:19.023Z,1553561239.023 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:19.417Z,1553561239.417 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:19.418Z,1553561239.418 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:19.831Z,1553561239.831 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:19.831Z,1553561239.831 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:20.227Z,1553561240.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:20.227Z,1553561240.227 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:20.676Z,1553561240.676 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:20.676Z,1553561240.676 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:21.003Z,1553561241.003 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:21.003Z,1553561241.003 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:21.407Z,1553561241.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:21.407Z,1553561241.407 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:21.855Z,1553561241.855 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:21.855Z,1553561241.855 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:22.219Z,1553561242.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:22.219Z,1553561242.219 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:22.667Z,1553561242.667 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:22.667Z,1553561242.667 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:23.027Z,1553561243.027 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:23.027Z,1553561243.027 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:23.490Z,1553561243.490 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:23.491Z,1553561243.491 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:23.867Z,1553561243.867 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:23.867Z,1553561243.867 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:24.209Z,1553561244.209 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:47:24.210Z,1553561244.210 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:47:24.255Z,1553561244.255 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:24.255Z,1553561244.255 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:24.694Z,1553561244.694 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:24.695Z,1553561244.695 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:25.051Z,1553561245.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:25.051Z,1553561245.051 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:25.454Z,1553561245.454 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:25.455Z,1553561245.455 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:25.865Z,1553561245.865 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:25.866Z,1553561245.866 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:26.262Z,1553561246.262 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:26.262Z,1553561246.262 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:26.676Z,1553561246.676 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:26.677Z,1553561246.677 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:27.071Z,1553561247.071 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:27.071Z,1553561247.071 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:27.475Z,1553561247.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:27.475Z,1553561247.475 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:27.887Z,1553561247.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:27.887Z,1553561247.887 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:28.295Z,1553561248.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:28.295Z,1553561248.295 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:28.708Z,1553561248.708 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:28.709Z,1553561248.709 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:29.151Z,1553561249.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:29.151Z,1553561249.151 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:29.507Z,1553561249.507 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:29.507Z,1553561249.507 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:29.731Z,1553561249.731 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:47:29.731Z,1553561249.731 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:47:29.917Z,1553561249.917 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:47:29.917Z,1553561249.917 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:47:29.926Z,1553561249.926 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:47:29.927Z,1553561249.927 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming] Stopped
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:47:29.927Z,1553561249.927 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:I.] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:J.Mass] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-26T00:47:29.928Z,1553561249.928 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:47:29.929Z,1553561249.929 [lineCaptureHoming:L] Stopped
2019-03-26T00:47:29.929Z,1553561249.929 [lineCaptureHoming:M] Stopped
2019-03-26T00:47:29.929Z,1553561249.929 [lineCaptureHoming:N] Stopped
2019-03-26T00:47:29.929Z,1553561249.929 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:47:29.929Z,1553561249.929 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:47:30.313Z,1553561250.313 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:47:30.313Z,1553561250.313 [Default] Running Loop=1
2019-03-26T00:47:30.313Z,1553561250.313 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:47:30.314Z,1553561250.314 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:47:30.314Z,1553561250.314 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:47:30.314Z,1553561250.314 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:47:30.314Z,1553561250.314 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:47:30.315Z,1553561250.315 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:47:30.315Z,1553561250.315 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:47:30.315Z,1553561250.315 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:47:30.316Z,1553561250.316 [Default:A.Wait] Running Loop=1
2019-03-26T00:47:30.316Z,1553561250.316 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:47:30.352Z,1553561250.352 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:47:43.667Z,1553561263.667 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:47:43.667Z,1553561263.667 [Default:A.Wait] Stopped
2019-03-26T00:47:43.667Z,1553561263.667 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:47:44.051Z,1553561264.051 [Default:CheckIn] Running Loop=1
2019-03-26T00:47:44.052Z,1553561264.052 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:47:44.052Z,1553561264.052 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:48:17.542Z,1553561297.542 [NAL9602](INFO): SBD MO Status=2, MOMSN=2449, MT Status=2, MTMSN=0
2019-03-26T00:48:17.542Z,1553561297.542 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-26T00:48:22.795Z,1553561302.795 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-26T00:48:23.614Z,1553561303.614 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:26.034Z,1553561306.034 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:28.862Z,1553561308.862 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:32.098Z,1553561312.098 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:32.530Z,1553561312.530 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:48:32.530Z,1553561312.530 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-03-26T00:48:32.530Z,1553561312.530 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:48:32.532Z,1553561312.532 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:48:32.532Z,1553561312.532 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 4
2019-03-26T00:48:32.532Z,1553561312.532 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:48:32.534Z,1553561312.534 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:48:32.534Z,1553561312.534 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 4
2019-03-26T00:48:32.534Z,1553561312.534 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:48:32.545Z,1553561312.545 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:48:32.546Z,1553561312.546 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:48:32.546Z,1553561312.546 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:48:32.949Z,1553561312.949 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:48:32.949Z,1553561312.949 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-03-26T00:48:32.950Z,1553561312.950 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:48:32.950Z,1553561312.950 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 4
2019-03-26T00:48:32.951Z,1553561312.951 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:48:32.951Z,1553561312.951 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 4
2019-03-26T00:48:33.325Z,1553561313.325 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:48:34.922Z,1553561314.922 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:38.158Z,1553561318.158 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:40.986Z,1553561320.986 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:43.810Z,1553561323.810 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:47.042Z,1553561327.042 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:48.264Z,1553561328.264 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-03-26T00:48:48.267Z,1553561328.267 [BPC1](INFO): Received data from all battery sticks.
2019-03-26T00:48:49.874Z,1553561329.874 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:53.102Z,1553561333.102 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:55.930Z,1553561335.930 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:48:58.754Z,1553561338.754 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:49:01.998Z,1553561341.998 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:49:04.818Z,1553561344.818 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:49:05.210Z,1553561345.210 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,004207.00,A,3648.17259,N,12147.27109,W,0.661,271.16,260319,,,A*7D
2019-03-26T00:49:05.212Z,1553561345.212 [NAL9602](INFO): GPS fix at 20190326T004207: (36.802876, -121.787852)
2019-03-26T00:49:05.244Z,1553561345.244 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:49:05.245Z,1553561345.245 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-26T00:49:10.613Z,1553561350.613 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20190325T233344/Courier0034.lzma
2019-03-26T00:49:11.416Z,1553561351.416 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Courier0034.lzma.bak
2019-03-26T00:49:11.416Z,1553561351.416 [DataOverHttps](INFO): SBD MOMSN=10245733
2019-03-26T00:49:18.903Z,1553561358.903 [CommandLine](IMPORTANT): got command get depth
2019-03-26T00:49:18.904Z,1553561358.904 [CommandLine](IMPORTANT): depth 0.000000 m
2019-03-26T00:49:22.524Z,1553561362.524 [DataOverHttps](INFO): Sending 676 bytes from file Logs/20190325T233344/Express0035.lzma
2019-03-26T00:49:23.328Z,1553561363.328 [DataOverHttps](INFO): Moved sent file to Logs/20190325T233344/Express0035.lzma.bak
2019-03-26T00:49:23.328Z,1553561363.328 [DataOverHttps](INFO): SBD MOMSN=10245736
2019-03-26T00:49:24.662Z,1553561364.662 [Default:CheckIn:Read_Iridium] Stopped
2019-03-26T00:49:24.662Z,1553561364.662 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-26T00:49:24.662Z,1553561364.662 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:49:37.932Z,1553561377.932 [NAL9602](INFO): Powering down
2019-03-26T00:49:39.028Z,1553561379.028 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:49:39.028Z,1553561379.028 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:49:39.275Z,1553561379.275 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:49:39.277Z,1553561379.277 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:49:39.279Z,1553561379.279 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:49:39.281Z,1553561379.281 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:49:39.283Z,1553561379.283 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:49:39.285Z,1553561379.285 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:49:39.287Z,1553561379.287 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:49:39.289Z,1553561379.289 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:49:39.291Z,1553561379.291 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:49:39.293Z,1553561379.293 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:49:39.295Z,1553561379.295 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:49:39.297Z,1553561379.297 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:49:39.299Z,1553561379.299 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:49:39.301Z,1553561379.301 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:49:39.303Z,1553561379.303 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:49:39.305Z,1553561379.305 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:49:39.307Z,1553561379.307 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:49:39.310Z,1553561379.310 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:49:39.312Z,1553561379.312 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:49:39.314Z,1553561379.314 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:49:39.316Z,1553561379.316 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:49:39.318Z,1553561379.318 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:49:39.320Z,1553561379.320 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:49:39.322Z,1553561379.322 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:49:39.324Z,1553561379.324 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:49:39.326Z,1553561379.326 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:49:39.328Z,1553561379.328 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:49:39.330Z,1553561379.330 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:49:39.332Z,1553561379.332 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0 bool
2019-03-26T00:49:39.334Z,1553561379.334 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:49:39.335Z,1553561379.335 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:49:39.352Z,1553561379.352 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:49:39.354Z,1553561379.354 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:49:39.356Z,1553561379.356 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:49:39.357Z,1553561379.357 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:49:39.397Z,1553561379.397 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:49:39.412Z,1553561379.412 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:49:39.424Z,1553561379.424 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:49:39.635Z,1553561379.635 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:49:39.637Z,1553561379.637 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:49:39.660Z,1553561379.660 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:49:39.662Z,1553561379.662 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:49:39.674Z,1553561379.674 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:49:39.680Z,1553561379.680 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:49:39.691Z,1553561379.691 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:49:39.701Z,1553561379.701 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:49:39.798Z,1553561379.798 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:49:39.801Z,1553561379.801 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:49:39.825Z,1553561379.825 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:49:39.833Z,1553561379.833 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-26T00:49:39.901Z,1553561379.901 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:49:39.915Z,1553561379.915 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:49:40.026Z,1553561380.026 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:49:40.045Z,1553561380.045 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:49:40.069Z,1553561380.069 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:49:40.097Z,1553561380.097 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:49:40.106Z,1553561380.106 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:49:40.123Z,1553561380.123 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:49:40.133Z,1553561380.133 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:49:40.230Z,1553561380.230 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>
    
<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:49:40.231Z,1553561380.231 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:49:43.364Z,1553561383.364 [CommandLine](IMPORTANT): got command show variable shore
2019-03-26T00:49:43.366Z,1553561383.366 [CommandLine](IMPORTANT): distance_from_shore (meter)
2019-03-26T00:49:43.372Z,1553561383.372 [CommandLine](IMPORTANT): Vehicle.sendDataToShore (bool)
2019-03-26T00:49:43.511Z,1553561383.511 [CommandLine](IMPORTANT): NavChart.distance_from_shore (meter)
2019-03-26T00:49:43.520Z,1553561383.520 [CommandLine](IMPORTANT): CBIT.shorePowerOn (bool)
2019-03-26T00:49:43.530Z,1553561383.530 [CommandLine](IMPORTANT): lineCaptureHoming.MinOffshore (kilometer)
2019-03-26T00:49:43.531Z,1553561383.531 [CommandLine](IMPORTANT): lineCaptureHoming:StandardEnvelopes.MinOffshore (meter)
2019-03-26T00:49:51.268Z,1553561391.268 [CommandLine](IMPORTANT): got command get lineCaptureHoming.MinOffshore
2019-03-26T00:49:51.269Z,1553561391.269 [CommandLine](IMPORTANT): lineCaptureHoming.MinOffshore 2.000000 km
2019-03-26T00:49:58.500Z,1553561398.500 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 meter
2019-03-26T00:50:00.924Z,1553561400.924 [CommandLine](IMPORTANT): got command run
2019-03-26T00:50:00.926Z,1553561400.926 [CommandLine](IMPORTANT): Running 
2019-03-26T00:50:01.022Z,1553561401.022 [Default] Stopped
2019-03-26T00:50:01.023Z,1553561401.023 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:50:01.023Z,1553561401.023 [Default:B.GoToSurface] Stopped
2019-03-26T00:50:01.023Z,1553561401.023 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:50:01.023Z,1553561401.023 [Default:CheckIn] Stopped
2019-03-26T00:50:01.023Z,1553561401.023 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:50:01.023Z,1553561401.023 [Default:CheckIn:C.Wait] Stopped
2019-03-26T00:50:01.023Z,1553561401.023 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:50:01.023Z,1553561401.023 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming] Running Loop=1
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:50:01.024Z,1553561401.024 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:50:01.025Z,1553561401.025 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:50:01.026Z,1553561401.026 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:50:01.027Z,1553561401.027 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:50:01.027Z,1553561401.027 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:50:01.028Z,1553561401.028 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:50:01.028Z,1553561401.028 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:50:01.028Z,1553561401.028 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:50:01.029Z,1553561401.029 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:50:01.029Z,1553561401.029 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:50:01.029Z,1553561401.029 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:50:01.029Z,1553561401.029 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:50:01.029Z,1553561401.029 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:01.030Z,1553561401.030 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:01.030Z,1553561401.030 [lineCaptureHoming:B] Stopped
2019-03-26T00:50:01.030Z,1553561401.030 [lineCaptureHoming:C] Running Loop=1
2019-03-26T00:50:01.030Z,1553561401.030 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:50:01.030Z,1553561401.030 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:50:01.037Z,1553561401.037 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:50:01.038Z,1553561401.038 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:50:01.049Z,1553561401.049 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-26T00:50:01.395Z,1553561401.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:01.395Z,1553561401.395 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:01.396Z,1553561401.396 [lineCaptureHoming:C] Stopped
2019-03-26T00:50:01.396Z,1553561401.396 [lineCaptureHoming:D] Running Loop=1
2019-03-26T00:50:01.811Z,1553561401.811 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:01.811Z,1553561401.811 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:01.811Z,1553561401.811 [lineCaptureHoming:D] Stopped
2019-03-26T00:50:01.811Z,1553561401.811 [lineCaptureHoming:F] Running Loop=1
2019-03-26T00:50:02.203Z,1553561402.203 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:02.203Z,1553561402.203 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:02.203Z,1553561402.203 [lineCaptureHoming:F] Stopped
2019-03-26T00:50:02.203Z,1553561402.203 [lineCaptureHoming:G] Running Loop=1
2019-03-26T00:50:02.643Z,1553561402.643 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:02.643Z,1553561402.643 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:02.644Z,1553561402.644 [lineCaptureHoming:G] Stopped
2019-03-26T00:50:02.644Z,1553561402.644 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-26T00:50:02.644Z,1553561402.644 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-26T00:50:03.011Z,1553561403.011 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:03.011Z,1553561403.011 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:03.011Z,1553561403.011 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:50:03.011Z,1553561403.011 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:50:03.012Z,1553561403.012 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:50:03.012Z,1553561403.012 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:50:03.012Z,1553561403.012 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:50:03.012Z,1553561403.012 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:50:03.414Z,1553561403.414 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:03.414Z,1553561403.414 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:03.415Z,1553561403.415 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:50:03.415Z,1553561403.415 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:50:03.415Z,1553561403.415 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:50:03.415Z,1553561403.415 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:50:03.415Z,1553561403.415 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:50:03.416Z,1553561403.416 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:50:03.416Z,1553561403.416 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:50:03.416Z,1553561403.416 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:50:03.417Z,1553561403.417 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:50:03.417Z,1553561403.417 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:50:03.418Z,1553561403.418 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553560927.000000 second since 1970/01/01T00:00:00Z 
2019-03-26T00:50:03.418Z,1553561403.418 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-26T00:50:03.429Z,1553561403.429 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-26T00:50:03.821Z,1553561403.821 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:03.822Z,1553561403.822 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:03.823Z,1553561403.823 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-26T00:50:04.227Z,1553561404.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:04.227Z,1553561404.227 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:04.228Z,1553561404.228 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-26T00:50:04.613Z,1553561404.613 [NAL9602](INFO): Powering up
2019-03-26T00:50:04.646Z,1553561404.646 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:04.646Z,1553561404.646 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:05.032Z,1553561405.032 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:05.032Z,1553561405.032 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:05.059Z,1553561405.059 [CommandLine](IMPORTANT): got command stop
2019-03-26T00:50:05.060Z,1553561405.060 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-26T00:50:05.443Z,1553561405.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:05.443Z,1553561405.443 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:05.445Z,1553561405.445 [MissionManager](INFO): MissionManager is completed.
2019-03-26T00:50:05.445Z,1553561405.445 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming] Stopped
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-26T00:50:05.445Z,1553561405.445 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:NeedComms] Stopped
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-26T00:50:05.446Z,1553561405.446 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:I.] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:J.Mass] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:L] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:M] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:N] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:StartingMission] Stopped
2019-03-26T00:50:05.447Z,1553561405.447 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-26T00:50:05.863Z,1553561405.863 [MissionManager](IMPORTANT): Started mission Default
2019-03-26T00:50:05.864Z,1553561405.864 [Default] Running Loop=1
2019-03-26T00:50:05.864Z,1553561405.864 [Default](DEBUG): Aggregate::initialize Default
2019-03-26T00:50:05.864Z,1553561405.864 [Default:B.GoToSurface] Running Loop=1
2019-03-26T00:50:05.864Z,1553561405.864 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:50:05.864Z,1553561405.864 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-26T00:50:05.864Z,1553561405.864 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-26T00:50:05.865Z,1553561405.865 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-26T00:50:05.865Z,1553561405.865 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:50:05.865Z,1553561405.865 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:50:05.866Z,1553561405.866 [Default:A.Wait] Running Loop=1
2019-03-26T00:50:05.866Z,1553561405.866 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-26T00:50:15.504Z,1553561415.504 [NAL9602](INFO): NAL9602 initialized
2019-03-26T00:50:19.170Z,1553561419.170 [Default:A.Wait](INFO): Done Waiting.
2019-03-26T00:50:19.170Z,1553561419.170 [Default:A.Wait] Stopped
2019-03-26T00:50:19.170Z,1553561419.170 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-26T00:50:19.589Z,1553561419.589 [Default:CheckIn] Running Loop=1
2019-03-26T00:50:19.589Z,1553561419.589 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-26T00:50:19.589Z,1553561419.589 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-26T00:50:21.174Z,1553561421.174 [NAL9602](DEBUG): Fix Requested
2019-03-26T00:50:33.718Z,1553561433.718 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:50:33.718Z,1553561433.718 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-26T00:50:33.718Z,1553561433.718 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-26T00:50:33.720Z,1553561433.720 [DeadReckonUsingSpeedCalculator](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:50:33.720Z,1553561433.720 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-26T00:50:33.720Z,1553561433.720 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-26T00:50:33.722Z,1553561433.722 [DeadReckonWithRespectToSeafloor](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-03-26T00:50:33.722Z,1553561433.722 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-26T00:50:33.722Z,1553561433.722 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-26T00:50:33.733Z,1553561433.733 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-26T00:50:33.733Z,1553561433.733 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-26T00:50:33.734Z,1553561433.734 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-26T00:50:34.124Z,1553561434.124 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-26T00:50:34.124Z,1553561434.124 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-26T00:50:34.124Z,1553561434.124 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-26T00:50:34.124Z,1553561434.124 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-26T00:50:34.125Z,1553561434.125 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-26T00:50:34.125Z,1553561434.125 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-26T00:50:34.518Z,1553561434.518 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-26T00:50:40.311Z,1553561440.311 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:50:40.312Z,1553561440.312 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:50:40.528Z,1553561440.528 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-26T00:50:40.531Z,1553561440.531 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-26T00:50:40.533Z,1553561440.533 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-26T00:50:40.535Z,1553561440.535 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-26T00:50:40.537Z,1553561440.537 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-26T00:50:40.540Z,1553561440.540 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-26T00:50:40.542Z,1553561440.542 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-26T00:50:40.626Z,1553561440.626 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-26T00:50:40.628Z,1553561440.628 [MissionManager](INFO): DefineArg lineCaptureHoming.SCPIRange = 25.000000 m
2019-03-26T00:50:40.635Z,1553561440.635 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-26T00:50:40.637Z,1553561440.637 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-26T00:50:40.647Z,1553561440.647 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-26T00:50:40.649Z,1553561440.649 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-26T00:50:40.657Z,1553561440.657 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-26T00:50:40.671Z,1553561440.671 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-26T00:50:40.673Z,1553561440.673 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-26T00:50:40.696Z,1553561440.696 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-26T00:50:40.698Z,1553561440.698 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-26T00:50:40.708Z,1553561440.708 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-26T00:50:40.715Z,1553561440.715 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-26T00:50:40.717Z,1553561440.717 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = 1.000000 bool
2019-03-26T00:50:40.724Z,1553561440.724 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-26T00:50:40.731Z,1553561440.731 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-26T00:50:40.733Z,1553561440.733 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-26T00:50:40.740Z,1553561440.740 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-26T00:50:40.742Z,1553561440.742 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-26T00:50:40.760Z,1553561440.760 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-26T00:50:40.767Z,1553561440.767 [MissionManager](INFO): DefineOutput lineCaptureHoming.SCPIRequested = 0 bool
2019-03-26T00:50:40.769Z,1553561440.769 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-26T00:50:40.775Z,1553561440.775 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-26T00:50:40.776Z,1553561440.776 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-26T00:50:40.820Z,1553561440.820 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-26T00:50:40.822Z,1553561440.822 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-26T00:50:40.824Z,1553561440.824 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-26T00:50:40.825Z,1553561440.825 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-26T00:50:40.842Z,1553561440.842 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-26T00:50:40.864Z,1553561440.864 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-26T00:50:40.895Z,1553561440.895 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-26T00:50:41.046Z,1553561441.046 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-26T00:50:41.048Z,1553561441.048 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-26T00:50:41.050Z,1553561441.050 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-26T00:50:41.064Z,1553561441.064 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-26T00:50:41.066Z,1553561441.066 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-26T00:50:41.068Z,1553561441.068 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-26T00:50:41.070Z,1553561441.070 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-26T00:50:41.103Z,1553561441.103 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-26T00:50:41.175Z,1553561441.175 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-26T00:50:41.178Z,1553561441.178 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-26T00:50:41.199Z,1553561441.199 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-26T00:50:41.201Z,1553561441.201 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-26T00:50:41.232Z,1553561441.232 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-26T00:50:41.239Z,1553561441.239 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-26T00:50:41.292Z,1553561441.292 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:50:41.299Z,1553561441.299 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-26T00:50:41.303Z,1553561441.303 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:50:41.310Z,1553561441.310 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-26T00:50:41.314Z,1553561441.314 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-26T00:50:41.320Z,1553561441.320 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-26T00:50:41.326Z,1553561441.326 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-26T00:50:41.351Z,1553561441.351 [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: 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>120</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>NaN</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>NaN</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
        *RolloutTimeout* 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
        *RolloutTimeout* 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="SCPIRange"><Description>
        Range to activate the SCPI payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</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><Units:bool/><Value><False/></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>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</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>NaN</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>30</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="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="EnabledDUSBL"><Description>
        Automatically set to true if the DUSBL is enabled. Set to false to
        disable reading from the DUSBL.
    </Description><Science:DUSBL_Hydroid.loadAtStartup/></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.0</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>

    <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="SCPIRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        SCPI is requested (prevents multipul req).
    </Description><False/></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission sets this to true before
        the vehicle surfaces for comms.
    </Description><True/></DefineOutput>

    <DefineOutput Name="StartFromSurface"><Description>
        Mission variable (don't change). The mission sets this to true after
        surface comms are done.
    </Description><True/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- 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="MissionTimeout"/></Assign>

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

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


    <Estimation:TrackAcousticContact>
        <Parallel/>
        <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
    </Estimation:TrackAcousticContact>
    
<!-- Set default mass and VBS positions -->

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

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

<!-- Request desired engineering data -->

    <ReadData Strategy="MinError">
        <Universal:height_above_sea_floor/>
    </ReadData>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

    <ReadData>
        <While>
            <Arg Name="EnabledDUSBL"/>
        </While>
        <Universal:acoustic_contact_range/>
        <Universal:acoustic_contact_direction_vehicle_frame/>
    </ReadData>

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

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates between 2
            dive modes: 1) descend from the surface to initial depth. 2) follow
            commanded altitude.
<!-- TODO: move to an insert -->
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

            <Description>
                Descend from the surface to initial depth. Necessary when no
                altitude reading is available form the surface.
            </Description>

            <While>
                <Arg Name="StartFromSurface"/>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to altitude servo.</Syslog>
                    </Timeout>
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

            <While>
                <Not><Arg Name="StartFromSurface"/></Not>
                <And><Not><Arg Name="DoingComms"/></Not></And>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

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

                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

        <Description>
            Request a ping form the dock transponder.
<!-- TODO: move to an insert that abstracts the use of DAT/DUSBL -->
        </Description>

        <When>
            <Called/>
        </When>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>

        <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>

    </Aggregate>

<!-- Start mission sequence. -->

    <Call Id="StartingMission" RefId="SurfaceComms"/>

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DoingComms"/></Not>
            </While>

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
                <And><Estimation:TrackAcousticContact.range_to_contact/><Gt><Arg Name="DockRange"/></Gt></And>
            </While>

            <Call RefId="RequestPing"/>

        </Aggregate>

<!-- Start the homing sequence -->

        <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/>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Sensor:TrackAcousticContact.azimuth_to_contact_vehicle_frame/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateSCPI">

                <When>
                    <Not><Arg Name="SCPIRequested"/></Not>
                    <And><Estimation:.range_to_contact/><Le><Arg Name="SCPIRange"/></Le></And>
                </When>

                <ReadData Strategy="MinError">
                    <Sensor:SCPI.sampleSCPI/>
                </ReadData>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Dock">

            <Description>
                Final approach. Close in on the target at the last commanded
                heading until *DockTimeout* has passed. No DUSBL heading
                updates.
            </Description>

            <Sequence/>

            <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="DockTimeout" /></Setting>
            </Guidance:Wait>

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

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

        </Aggregate>

        <Aggregate Id="Rollout">

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

            <Sequence/>

            <Aggregate Id="NavToStart">

                <Sequence/>

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

                <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>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-03-26T00:50:41.352Z,1553561441.352 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-26T00:50:44.598Z,1553561444.598 [CommandLine](IMPORTANT): got command show variable shore
2019-03-26T00:50:44.642Z,1553561444.642 [CommandLine](IMPORTANT): distance_from_shore (meter)
2019-03-26T00:50:44.657Z,1553561444.657 [CommandLine](IMPORTANT): Vehicle.sendDataToShore (bool)
2019-03-26T00:50:44.990Z,1553561444.990 [CommandLine](IMPORTANT): NavChart.distance_from_shore (meter)
2019-03-26T00:50:45.003Z,1553561445.003 [CommandLine](IMPORTANT): CBIT.shorePowerOn (bool)
2019-03-26T00:50:45.072Z,1553561445.072 [CommandLine](IMPORTANT): lineCaptureHoming.MinOffshore (kilometer)
2019-03-26T00:50:45.073Z,1553561445.073 [CommandLine](IMPORTANT): lineCaptureHoming:StandardEnvelopes.MinOffshore (meter)
2019-03-26T00:50:52.292Z,1553561452.292 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-26T00:50:52.366Z,1553561452.366 [NAL9602](FAULT): received: 
+CSQ:0

OK49, 2, 0, 0, 0

OK
2019-03-26T00:50:52.366Z,1553561452.366 [NAL9602] Data Fault, FailCount= 1
2019-03-26T00:50:52.367Z,1553561452.367 [NAL9602](ERROR): Data Fault
2019-03-26T00:50:52.447Z,1553561452.447 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-26T00:50:52.696Z,1553561452.696 [NAL9602](INFO): Powering down
2019-03-26T00:50:53.559Z,1553561453.559 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-26T00:50:53.559Z,1553561453.559 [NAL9602] No Fault, FailCount= 1
2019-03-26T00:50:55.661Z,1553561455.661 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 meter
2019-03-26T00:50:56.932Z,1553561456.932 [CommandLine](IMPORTANT): got command run
2019-03-26T00:50:56.934Z,1553561456.934 [CommandLine](IMPORTANT): Running 
2019-03-26T00:50:57.169Z,1553561457.169 [Default] Stopped
2019-03-26T00:50:57.170Z,1553561457.170 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-26T00:50:57.170Z,1553561457.170 [Default:B.GoToSurface] Stopped
2019-03-26T00:50:57.170Z,1553561457.170 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-26T00:50:57.170Z,1553561457.170 [Default:CheckIn] Stopped
2019-03-26T00:50:57.170Z,1553561457.170 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-26T00:50:57.170Z,1553561457.170 [Default:CheckIn:Read_GPS] Stopped
2019-03-26T00:50:57.170Z,1553561457.170 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming] Running Loop=1
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-26T00:50:57.171Z,1553561457.171 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:50:57.172Z,1553561457.172 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:50:57.173Z,1553561457.173 [lineCaptureHoming:B] Running Loop=1
2019-03-26T00:50:57.173Z,1553561457.173 [lineCaptureHoming:N] Running Loop=1
2019-03-26T00:50:57.174Z,1553561457.174 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-26T00:50:57.174Z,1553561457.174 [lineCaptureHoming:N](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-26T00:50:57.175Z,1553561457.175 [lineCaptureHoming:M] Running Loop=1
2019-03-26T00:50:57.175Z,1553561457.175 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-26T00:50:57.175Z,1553561457.175 [lineCaptureHoming:L] Running Loop=1
2019-03-26T00:50:57.176Z,1553561457.176 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-26T00:50:57.176Z,1553561457.176 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-26T00:50:57.176Z,1553561457.176 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-26T00:50:57.176Z,1553561457.176 [lineCaptureHoming:I.] Running Loop=1
2019-03-26T00:50:57.176Z,1553561457.176 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-26T00:50:57.177Z,1553561457.177 [lineCaptureHoming:I.](INFO): Tracking contact label: 2
2019-03-26T00:50:57.177Z,1553561457.177 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-26T00:50:57.177Z,1553561457.177 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-26T00:50:57.177Z,1553561457.177 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-26T00:50:57.177Z,1553561457.177 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-26T00:50:57.177Z,1553561457.177 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-26T00:50:57.178Z,1553561457.178 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-26T00:50:57.178Z,1553561457.178 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-26T00:50:57.178Z,1553561457.178 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-26T00:50:57.178Z,1553561457.178 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-26T00:50:57.178Z,1553561457.178 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-26T00:50:57.179Z,1553561457.179 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-26T00:50:57.179Z,1553561457.179 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-26T00:50:57.179Z,1553561457.179 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-26T00:50:57.180Z,1553561457.180 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-26T00:50:57.180Z,1553561457.180 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-26T00:50:57.180Z,1553561457.180 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-26T00:50:57.256Z,1553561457.256 [MissionManager](CRITICAL): SIGSEGV: address not mapped to object
2019-03-26T00:50:57.256Z,1553561457.256 [MissionManager](CRITICAL): Bad address: 0x0
2019-03-26T00:50:57.257Z,1553561457.257 [MissionManager](CRITICAL): Backtrace: 
./bi