2019-03-27T23:18:01.809Z,1553728681.809 [Supervisor](DEBUG): Initializing supervisor.
2019-03-27T23:18:01.812Z,1553728681.812 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-03-27T23:18:01.813Z,1553728681.813 [SyncHandler](INFO): Protected caller Thread ID is 9445
2019-03-27T23:18:01.813Z,1553728681.813 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-03-27T23:18:01.814Z,1553728681.814 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-03-27T23:18:01.815Z,1553728681.815 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 9446
2019-03-27T23:18:01.818Z,1553728681.818 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-03-27T23:18:01.830Z,1553728681.830 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-03-27T23:18:01.831Z,1553728681.831 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-03-27T23:18:01.831Z,1553728681.831 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 9447
2019-03-27T23:18:01.832Z,1553728681.832 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-03-27T23:18:01.833Z,1553728681.833 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-03-27T23:18:01.834Z,1553728681.834 [logger ThreadHandler](INFO): Protected caller Thread ID is 9448
2019-03-27T23:18:01.836Z,1553728681.836 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-03-27T23:18:01.836Z,1553728681.836 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-03-27T23:18:01.838Z,1553728681.838 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-03-27T23:18:02.298Z,1553728682.298 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-03-27T23:18:02.299Z,1553728682.299 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-03-27T23:18:02.398Z,1553728682.398 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-03-27T23:18:02.398Z,1553728682.398 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-03-27T23:18:02.734Z,1553728682.734 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-03-27T23:18:02.735Z,1553728682.735 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-03-27T23:18:02.879Z,1553728682.879 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-03-27T23:18:02.880Z,1553728682.880 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-03-27T23:18:03.076Z,1553728683.076 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-03-27T23:18:03.077Z,1553728683.077 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-03-27T23:18:03.552Z,1553728683.552 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-03-27T23:18:03.553Z,1553728683.553 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-03-27T23:18:03.768Z,1553728683.768 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-03-27T23:18:03.769Z,1553728683.769 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-03-27T23:18:03.929Z,1553728683.929 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-03-27T23:18:03.929Z,1553728683.929 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-03-27T23:18:04.208Z,1553728684.208 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-03-27T23:18:04.209Z,1553728684.209 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-03-27T23:18:04.306Z,1553728684.306 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-03-27T23:18:04.307Z,1553728684.307 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-03-27T23:18:04.642Z,1553728684.642 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-03-27T23:18:04.643Z,1553728684.643 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-03-27T23:18:04.724Z,1553728684.724 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-03-27T23:18:04.829Z,1553728684.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-03-27T23:18:04.829Z,1553728684.829 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-03-27T23:18:05.355Z,1553728685.355 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-03-27T23:18:05.356Z,1553728685.356 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-03-27T23:18:05.767Z,1553728685.767 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-03-27T23:18:05.769Z,1553728685.769 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-03-27T23:18:05.770Z,1553728685.770 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-03-27T23:18:05.987Z,1553728685.987 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-03-27T23:18:06.092Z,1553728686.092 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-03-27T23:18:06.192Z,1553728686.192 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-03-27T23:18:06.426Z,1553728686.426 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-03-27T23:18:06.426Z,1553728686.427 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-03-27T23:18:06.512Z,1553728686.512 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-03-27T23:18:06.606Z,1553728686.606 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-03-27T23:18:06.706Z,1553728686.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-03-27T23:18:06.789Z,1553728686.789 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-03-27T23:18:06.902Z,1553728686.902 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-03-27T23:18:07.092Z,1553728687.092 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-03-27T23:18:07.228Z,1553728687.228 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-03-27T23:18:07.229Z,1553728687.229 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-03-27T23:18:07.235Z,1553728687.235 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-03-27T23:18:07.620Z,1553728687.620 [AHRS_M2] Loaded
2019-03-27T23:18:07.620Z,1553728687.620 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-03-27T23:18:07.694Z,1553728687.694 [DataOverHttps] Loaded
2019-03-27T23:18:07.694Z,1553728687.694 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-03-27T23:18:07.695Z,1553728687.695 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2019-03-27T23:18:07.696Z,1553728687.696 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 9527
2019-03-27T23:18:07.710Z,1553728687.710 [Depth_Keller] Loaded
2019-03-27T23:18:07.710Z,1553728687.710 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-03-27T23:18:07.715Z,1553728687.715 [DropWeight] Loaded
2019-03-27T23:18:07.715Z,1553728687.715 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-03-27T23:18:07.769Z,1553728687.769 [DUSBL_Hydroid] Loaded
2019-03-27T23:18:07.770Z,1553728687.770 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-03-27T23:18:07.811Z,1553728687.811 [Micromodem] Loaded
2019-03-27T23:18:07.811Z,1553728687.811 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-03-27T23:18:07.912Z,1553728687.912 [NAL9602] Loaded
2019-03-27T23:18:07.912Z,1553728687.912 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-03-27T23:18:07.929Z,1553728687.929 [Onboard] Loaded
2019-03-27T23:18:07.929Z,1553728687.929 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-03-27T23:18:07.935Z,1553728687.935 [PowerOnly] Loaded
2019-03-27T23:18:07.935Z,1553728687.935 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-03-27T23:18:07.942Z,1553728687.942 [Radio_Surface] Loaded
2019-03-27T23:18:07.942Z,1553728687.942 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-03-27T23:18:07.943Z,1553728687.943 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2019-03-27T23:18:07.944Z,1553728687.944 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 9528
2019-03-27T23:18:08.005Z,1553728688.005 [RDI_Pathfinder] Loaded
2019-03-27T23:18:08.006Z,1553728688.006 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-03-27T23:18:08.028Z,1553728688.028 [RDI_PathfinderUp] Loaded
2019-03-27T23:18:08.028Z,1553728688.028 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2019-03-27T23:18:09.560Z,1553728689.560 [BPC1] Loaded
2019-03-27T23:18:09.561Z,1553728689.561 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-03-27T23:18:09.561Z,1553728689.561 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-03-27T23:18:09.562Z,1553728689.562 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-03-27T23:18:09.603Z,1553728689.603 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-03-27T23:18:09.604Z,1553728689.604 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-03-27T23:18:09.725Z,1553728689.725 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-03-27T23:18:09.725Z,1553728689.725 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-03-27T23:18:09.826Z,1553728689.826 [DeadReckonUsingSpeedCalculator] Loaded
2019-03-27T23:18:09.827Z,1553728689.827 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2019-03-27T23:18:09.911Z,1553728689.911 [DeadReckonWithRespectToSeafloor] Loaded
2019-03-27T23:18:09.911Z,1553728689.911 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2019-03-27T23:18:09.931Z,1553728689.931 [NavChart] Loaded
2019-03-27T23:18:09.932Z,1553728689.932 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-03-27T23:18:09.936Z,1553728689.936 [UniversalFixResidualReporter] Loaded
2019-03-27T23:18:09.936Z,1553728689.936 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-03-27T23:18:09.937Z,1553728689.937 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-03-27T23:18:09.937Z,1553728689.937 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-03-27T23:18:10.322Z,1553728690.322 [BuoyancyServo] Loaded
2019-03-27T23:18:10.322Z,1553728690.322 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-03-27T23:18:10.338Z,1553728690.338 [ElevatorServo] Loaded
2019-03-27T23:18:10.338Z,1553728690.338 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-03-27T23:18:10.354Z,1553728690.354 [MassServo] Loaded
2019-03-27T23:18:10.354Z,1553728690.354 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-03-27T23:18:10.370Z,1553728690.370 [RudderServo] Loaded
2019-03-27T23:18:10.370Z,1553728690.370 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-03-27T23:18:10.385Z,1553728690.385 [ThrusterServo] Loaded
2019-03-27T23:18:10.386Z,1553728690.386 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-03-27T23:18:10.386Z,1553728690.386 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-03-27T23:18:10.387Z,1553728690.387 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-03-27T23:18:10.746Z,1553728690.746 [CTD_NeilBrown] Loaded
2019-03-27T23:18:10.746Z,1553728690.746 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-03-27T23:18:10.747Z,1553728690.747 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408D04E0
2019-03-27T23:18:10.748Z,1553728690.748 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 9529
2019-03-27T23:18:10.795Z,1553728690.795 [WetLabsSeaOWL_UV_A] Loaded
2019-03-27T23:18:10.795Z,1553728690.795 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-03-27T23:18:10.796Z,1553728690.796 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409004E0
2019-03-27T23:18:10.797Z,1553728690.797 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 9530
2019-03-27T23:18:10.797Z,1553728690.797 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-03-27T23:18:10.798Z,1553728690.798 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-03-27T23:18:11.129Z,1553728691.129 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-03-27T23:18:11.129Z,1553728691.129 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-03-27T23:18:11.171Z,1553728691.171 [DepthRateCalculator] Loaded
2019-03-27T23:18:11.171Z,1553728691.171 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-03-27T23:18:11.217Z,1553728691.217 [PitchRateCalculator] Loaded
2019-03-27T23:18:11.217Z,1553728691.217 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-03-27T23:18:11.230Z,1553728691.230 [SpeedCalculator] Loaded
2019-03-27T23:18:11.230Z,1553728691.230 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-03-27T23:18:11.316Z,1553728691.316 [TempGradientCalculator] Loaded
2019-03-27T23:18:11.317Z,1553728691.317 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-03-27T23:18:11.335Z,1553728691.335 [YawRateCalculator] Loaded
2019-03-27T23:18:11.335Z,1553728691.335 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-03-27T23:18:11.495Z,1553728691.495 [ElevatorOffsetCalculator] Loaded
2019-03-27T23:18:11.495Z,1553728691.495 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-03-27T23:18:11.495Z,1553728691.495 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-03-27T23:18:11.496Z,1553728691.496 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-03-27T23:18:12.087Z,1553728692.087 [SBIT](DEBUG): Construct Startup Built In Test.
2019-03-27T23:18:12.139Z,1553728692.139 [SBIT] Loaded
2019-03-27T23:18:12.139Z,1553728692.139 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-03-27T23:18:12.140Z,1553728692.140 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-03-27T23:18:12.224Z,1553728692.224 [IBIT] Loaded
2019-03-27T23:18:12.226Z,1553728692.226 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-03-27T23:18:12.238Z,1553728692.238 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-03-27T23:18:12.664Z,1553728692.664 [CBIT] Loaded
2019-03-27T23:18:12.664Z,1553728692.664 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-03-27T23:18:12.664Z,1553728692.664 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-03-27T23:18:12.665Z,1553728692.665 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-03-27T23:18:12.742Z,1553728692.742 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-03-27T23:18:12.742Z,1553728692.742 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-03-27T23:18:12.844Z,1553728692.844 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-03-27T23:18:12.844Z,1553728692.844 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-03-27T23:18:12.913Z,1553728692.913 [VerticalControl](DEBUG): Construct VerticalControl.
2019-03-27T23:18:13.000Z,1553728693.000 [VerticalControl] Loaded
2019-03-27T23:18:13.001Z,1553728693.001 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-03-27T23:18:13.001Z,1553728693.001 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-03-27T23:18:13.061Z,1553728693.061 [HorizontalControl] Loaded
2019-03-27T23:18:13.062Z,1553728693.062 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-03-27T23:18:13.062Z,1553728693.062 [SpeedControl](DEBUG): Construct SpeedControl.
2019-03-27T23:18:13.064Z,1553728693.064 [SpeedControl] Loaded
2019-03-27T23:18:13.064Z,1553728693.064 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-03-27T23:18:13.065Z,1553728693.065 [LoopControl](DEBUG): Construct LoopControl.
2019-03-27T23:18:13.066Z,1553728693.066 [LoopControl] Loaded
2019-03-27T23:18:13.066Z,1553728693.066 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-03-27T23:18:13.066Z,1553728693.066 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-03-27T23:18:13.067Z,1553728693.067 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-03-27T23:18:13.094Z,1553728693.094 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-03-27T23:18:13.098Z,1553728693.098 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-03-27T23:18:13.099Z,1553728693.099 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-03-27T23:18:13.106Z,1553728693.106 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-03-27T23:18:13.107Z,1553728693.107 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACF4E0
2019-03-27T23:18:13.107Z,1553728693.107 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 9531
2019-03-27T23:18:13.112Z,1553728693.112 [Supervisor](INFO): Main Thread ID is 7788
2019-03-27T23:18:13.112Z,1553728693.112 [Supervisor](DEBUG): Running supervisor.
2019-03-27T23:18:13.113Z,1553728693.113 [CommandLine ThreadHandler](INFO): Handler Thread ID is 9532
2019-03-27T23:18:13.115Z,1553728693.115 [controlThread ThreadHandler](INFO): Handler Thread ID is 9533
2019-03-27T23:18:13.116Z,1553728693.116 [controlThread](DEBUG): Initializing ControlThread
2019-03-27T23:18:13.125Z,1553728693.125 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-27T23:18:13.126Z,1553728693.126 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-03-27T23:18:13.126Z,1553728693.126 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-03-27T23:18:13.128Z,1553728693.128 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-03-27T23:18:13.128Z,1553728693.128 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-03-27T23:18:13.128Z,1553728693.128 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-03-27T23:18:13.129Z,1553728693.129 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-03-27T23:18:13.129Z,1553728693.129 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-03-27T23:18:13.130Z,1553728693.130 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-03-27T23:18:13.130Z,1553728693.130 [SBIT](INFO): Initialize SBIT Component.
2019-03-27T23:18:13.131Z,1553728693.131 [SBIT](IMPORTANT): git: 2019-03-18-26-gc8399b8
2019-03-27T23:18:13.131Z,1553728693.131 [SBIT](INFO): git hash: c8399b8e53db2b8366337064c7df5542bc2caf88
2019-03-27T23:18:13.131Z,1553728693.131 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-03-27T23:18:13.131Z,1553728693.131 [SBIT](IMPORTANT): Kernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2019-03-27T23:18:13.132Z,1553728693.132 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-03-27T23:18:13.133Z,1553728693.133 [IBIT](INFO): Initialize IBIT Component.
2019-03-27T23:18:13.134Z,1553728693.134 [CBIT](DEBUG): Initialize CBIT Component.
2019-03-27T23:18:13.135Z,1553728693.135 [logger ThreadHandler](INFO): Handler Thread ID is 9534
2019-03-27T23:18:13.145Z,1553728693.145 [CBIT](DEBUG): Initialized mux pins.
2019-03-27T23:18:13.145Z,1553728693.145 [CBIT](DEBUG): Initializing the watchdog timer.
2019-03-27T23:18:13.153Z,1553728693.153 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 9535
2019-03-27T23:18:13.154Z,1553728693.154 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-03-27T23:18:13.165Z,1553728693.165 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 9536
2019-03-27T23:18:13.169Z,1553728693.169 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-03-27T23:18:13.169Z,1553728693.169 [CBIT](DEBUG): Initializing heartbeat.
2019-03-27T23:18:13.185Z,1553728693.185 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 9537
2019-03-27T23:18:13.186Z,1553728693.186 [CTD_NeilBrown](INFO): Powering down
2019-03-27T23:18:13.221Z,1553728693.221 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 9538
2019-03-27T23:18:13.222Z,1553728693.222 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-03-27T23:18:13.241Z,1553728693.241 [CBIT](DEBUG): Deactivating GF circuits.
2019-03-27T23:18:13.241Z,1553728693.241 [CBIT](DEBUG): Deactivating emergency mode.
2019-03-27T23:18:13.254Z,1553728693.254 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 9539
2019-03-27T23:18:13.257Z,1553728693.257 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-03-27T23:18:13.257Z,1553728693.257 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-03-27T23:18:13.257Z,1553728693.257 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-03-27T23:18:13.257Z,1553728693.257 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-03-27T23:18:13.257Z,1553728693.257 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-03-27T23:18:13.258Z,1553728693.258 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-03-27T23:18:13.258Z,1553728693.258 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-03-27T23:18:13.258Z,1553728693.258 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-03-27T23:18:13.258Z,1553728693.258 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-03-27T23:18:13.258Z,1553728693.258 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-03-27T23:18:13.259Z,1553728693.259 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-03-27T23:18:13.259Z,1553728693.259 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-03-27T23:18:13.259Z,1553728693.259 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-03-27T23:18:13.259Z,1553728693.259 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-03-27T23:18:13.259Z,1553728693.259 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-03-27T23:18:13.259Z,1553728693.259 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-03-27T23:18:13.277Z,1553728693.277 [CBIT](DEBUG): Backplane powered.
2019-03-27T23:18:13.277Z,1553728693.277 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-03-27T23:18:13.279Z,1553728693.279 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-03-27T23:18:13.279Z,1553728693.279 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-03-27T23:18:13.280Z,1553728693.280 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-03-27T23:18:13.281Z,1553728693.281 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-03-27T23:18:13.291Z,1553728693.291 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-27T23:18:13.302Z,1553728693.302 [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>


2019-03-27T23:18:13.303Z,1553728693.303 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-03-27T23:18:13.382Z,1553728693.382 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-03-27T23:18:13.383Z,1553728693.383 [Default:A.Wait](DEBUG): Construct Wait.
2019-03-27T23:18:13.405Z,1553728693.405 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-27T23:18:13.431Z,1553728693.431 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-03-27T23:18:13.434Z,1553728693.434 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-03-27T23:18:13.440Z,1553728693.440 [Default:E.Execute](DEBUG): Construct Execute.
2019-03-27T23:18:13.459Z,1553728693.459 [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>


2019-03-27T23:18:13.464Z,1553728693.464 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,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,
2019-03-27T23:18:13.490Z,1553728693.490 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-03-27T23:18:13.528Z,1553728693.528 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2019-03-27T23:18:13.529Z,1553728693.529 [DUSBL_Hydroid](INFO): Powering up
2019-03-27T23:18:13.529Z,1553728693.529 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-27T23:18:13.569Z,1553728693.569 [Radio_Surface](INFO): Powering up
2019-03-27T23:18:13.621Z,1553728693.621 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-27T23:18:13.643Z,1553728693.643 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-03-27T23:18:13.653Z,1553728693.653 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-03-27T23:18:13.654Z,1553728693.654 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-03-27T23:18:13.661Z,1553728693.661 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-03-27T23:18:13.662Z,1553728693.662 [MassServo](DEBUG): Initializing EZServoServo.
2019-03-27T23:18:13.669Z,1553728693.669 [MassServo](DEBUG): Initializing MassServo.
2019-03-27T23:18:13.670Z,1553728693.670 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-27T23:18:13.689Z,1553728693.689 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-27T23:18:13.690Z,1553728693.690 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-03-27T23:18:13.697Z,1553728693.697 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-03-27T23:18:13.887Z,1553728693.887 [Micromodem](INFO): Powering up
2019-03-27T23:18:13.887Z,1553728693.887 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-27T23:18:13.985Z,1553728693.985 [RDI_PathfinderUp](INFO): Powering down
2019-03-27T23:18:14.014Z,1553728694.014 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-27T23:18:14.297Z,1553728694.297 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-03-27T23:18:14.617Z,1553728694.617 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-03-27T23:18:14.617Z,1553728694.617 [RudderServo](FAULT): Rudder failed to initialize
2019-03-27T23:18:14.617Z,1553728694.617 [RudderServo] Communications Fault, FailCount= 1
2019-03-27T23:18:14.617Z,1553728694.617 [RudderServo](ERROR): Communications Fault
2019-03-27T23:18:14.728Z,1553728694.728 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-03-27T23:18:14.910Z,1553728694.910 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-03-27T23:18:14.910Z,1553728694.910 [RudderServo](INFO): Powering down
2019-03-27T23:18:15.590Z,1553728695.590 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-27T23:18:15.710Z,1553728695.710 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-27T23:18:15.714Z,1553728695.714 [CBIT](INFO): Clearing failed state for component RudderServo
2019-03-27T23:18:15.714Z,1553728695.714 [RudderServo] No Fault, FailCount= 1
2019-03-27T23:18:18.815Z,1553728698.815 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-27T23:18:20.836Z,1553728700.836 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-27T23:18:26.888Z,1553728706.888 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-03-27T23:18:28.879Z,1553728708.879 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-27T23:18:31.722Z,1553728711.722 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-27T23:18:38.171Z,1553728718.171 [NAL9602](INFO): Powering up NAL9602
2019-03-27T23:18:38.979Z,1553728718.979 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-27T23:18:40.596Z,1553728720.596 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-27T23:18:41Z,0*75

2019-03-27T23:18:40.999Z,1553728720.999 [Micromodem](ERROR): Response from modem unexpected: $CADQF,197,1*5F

2019-03-27T23:18:41.403Z,1553728721.403 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-27T23:18:41.811Z,1553728721.811 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190327231839.658563,05,464,14,0094,0150,246,00,00,02,02,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,197,-0.05,-999,9760,4000*7F

2019-03-27T23:18:41.923Z,1553728721.923 [SBIT](IMPORTANT): Beginning Startup BIT
2019-03-27T23:18:41.928Z,1553728721.928 [CBIT](IMPORTANT): Beginning ground fault scan
2019-03-27T23:18:49.239Z,1553728729.239 [NAL9602](INFO): NAL9602 initialized
2019-03-27T23:18:50.061Z,1553728730.061 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:18:52.095Z,1553728732.095 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-27T23:18:52.095Z,1553728732.095 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032716201824,35.0, -.0,1448.9,  0
2019-03-27T23:18:52.997Z,1553728732.997 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.019300
CHAN A1 (24V): -0.026213
CHAN A2 (12V): -0.007832
CHAN A3 (5V): -0.001556
CHAN B0 (3.3V): -0.000834
CHAN B1 (3.15aV): -0.000060
CHAN B2 (3.15bV): 0.000858
CHAN B3 (GND): 0.002103
OPEN: 0.007280
Full Scale Calc: 4.765 mA, -1.589 mA
2019-03-27T23:19:10.642Z,1553728750.642 [CommandLine](IMPORTANT): got command show variable range
2019-03-27T23:19:10.644Z,1553728750.644 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-03-27T23:19:10.854Z,1553728750.854 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-03-27T23:19:10.856Z,1553728750.856 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2019-03-27T23:19:10.856Z,1553728750.856 [CommandLine](IMPORTANT): Micromodem.range (meter)
2019-03-27T23:19:10.864Z,1553728750.864 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2019-03-27T23:19:10.887Z,1553728750.887 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2019-03-27T23:19:10.887Z,1553728750.887 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2019-03-27T23:19:10.888Z,1553728750.888 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2019-03-27T23:19:18.387Z,1553728758.387 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-03-27T23:19:26.099Z,1553728766.099 [CommandLine](IMPORTANT): got command report mod SpeedControl.speedCmd
2019-03-27T23:19:26.295Z,1553728766.295 [Reporter](INFO): SpeedControl.speedCmd no_value
2019-03-27T23:19:35.507Z,1553728775.507 [SBIT](IMPORTANT): SBIT PASSED
2019-03-27T23:19:35.566Z,1553728775.566 [CommandLine](IMPORTANT): got command configSet list
2019-03-27T23:19:35.567Z,1553728775.567 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-03-27T23:19:35.568Z,1553728775.568 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=20 count;

2019-03-27T23:19:35.568Z,1553728775.568 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.range 2.000000 meter;

2019-03-27T23:19:35.568Z,1553728775.568 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 angular_degree;

2019-03-27T23:19:35.568Z,1553728775.568 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-03-27T23:19:35.936Z,1553728775.936 [MissionManager](IMPORTANT): Started mission Startup
2019-03-27T23:19:35.936Z,1553728775.936 [Startup] Running Loop=1
2019-03-27T23:19:35.936Z,1553728775.936 [Startup](DEBUG): Aggregate::initialize Startup
2019-03-27T23:19:35.937Z,1553728775.937 [Startup:A.GoToSurface] Running Loop=1
2019-03-27T23:19:35.937Z,1553728775.937 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-27T23:19:35.937Z,1553728775.937 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-27T23:19:35.938Z,1553728775.938 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-27T23:19:35.938Z,1553728775.938 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-27T23:19:35.939Z,1553728775.939 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-27T23:19:35.939Z,1553728775.939 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-27T23:19:35.940Z,1553728775.940 [Startup:StartupSatComms] Running Loop=1
2019-03-27T23:19:35.940Z,1553728775.940 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-03-27T23:19:35.941Z,1553728775.941 [Startup:StartupSatComms:A] Running Loop=1
2019-03-27T23:19:35.951Z,1553728775.951 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-27T23:19:36.316Z,1553728776.316 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-03-27T23:20:36.107Z,1553728836.107 [Startup:StartupSatComms:A](INFO): Timed out from 2019-03-27T23:19:35.9Z
2019-03-27T23:20:36.107Z,1553728836.107 [Startup:StartupSatComms:A] Stopped
2019-03-27T23:20:36.107Z,1553728836.107 [Startup:StartupSatComms:B] Running Loop=1
2019-03-27T23:20:36.500Z,1553728836.500 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-27T23:20:39.470Z,1553728839.470 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004500
2019-03-27T23:20:44.784Z,1553728844.784 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T195558/Courier0122.lzma
2019-03-27T23:20:45.591Z,1553728845.591 [DataOverHttps](INFO): Moved sent file to Logs/20190327T195558/Courier0122.lzma.bak
2019-03-27T23:20:45.591Z,1553728845.591 [DataOverHttps](INFO): SBD MOMSN=10262459
2019-03-27T23:20:56.876Z,1553728856.876 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T195558/Courier0127.lzma
2019-03-27T23:20:57.685Z,1553728857.685 [DataOverHttps](INFO): Moved sent file to Logs/20190327T195558/Courier0127.lzma.bak
2019-03-27T23:20:57.686Z,1553728857.686 [DataOverHttps](INFO): SBD MOMSN=10262461
2019-03-27T23:21:09.864Z,1553728869.864 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T195558/Express0124.lzma
2019-03-27T23:21:10.671Z,1553728870.671 [DataOverHttps](INFO): Moved sent file to Logs/20190327T195558/Express0124.lzma.bak
2019-03-27T23:21:10.671Z,1553728870.671 [DataOverHttps](INFO): SBD MOMSN=10262463
2019-03-27T23:21:13.253Z,1553728873.253 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-27T23:21:13.253Z,1553728873.253 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-27T23:21:13.254Z,1553728873.254 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-27T23:21:13.254Z,1553728873.254 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-27T23:21:13.255Z,1553728873.255 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:21:13.256Z,1553728873.256 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:21:13.318Z,1553728873.318 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-27T23:21:13.318Z,1553728873.318 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-27T23:21:13.319Z,1553728873.319 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:21:13.716Z,1553728873.716 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-27T23:21:13.716Z,1553728873.716 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-27T23:21:13.725Z,1553728873.725 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-27T23:21:13.725Z,1553728873.725 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-27T23:21:13.726Z,1553728873.726 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:21:13.726Z,1553728873.726 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:21:14.088Z,1553728874.088 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-27T23:21:22.884Z,1553728882.884 [DataOverHttps](INFO): Sending 141 bytes from file Logs/20190327T195558/Express0128.lzma
2019-03-27T23:21:23.695Z,1553728883.695 [DataOverHttps](INFO): Moved sent file to Logs/20190327T195558/Express0128.lzma.bak
2019-03-27T23:21:23.696Z,1553728883.696 [DataOverHttps](INFO): SBD MOMSN=10262465
2019-03-27T23:21:36.316Z,1553728896.316 [Startup:StartupSatComms:B](INFO): Timed out from 2019-03-27T23:20:36.1Z
2019-03-27T23:21:36.316Z,1553728896.316 [Startup:StartupSatComms:B] Stopped
2019-03-27T23:21:36.316Z,1553728896.316 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-03-27T23:21:36.316Z,1553728896.316 [Startup:StartupSatComms] Stopped
2019-03-27T23:21:36.316Z,1553728896.316 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-03-27T23:21:36.329Z,1553728896.329 [Startup](INFO): Completed Startup
2019-03-27T23:21:36.330Z,1553728896.330 [MissionManager](INFO): Startup is completed.
2019-03-27T23:21:36.330Z,1553728896.330 [MissionManager](INFO): Uninitializing Mission Startup
2019-03-27T23:21:36.330Z,1553728896.330 [Startup] Stopped
2019-03-27T23:21:36.330Z,1553728896.330 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-03-27T23:21:36.330Z,1553728896.330 [Startup:A.GoToSurface] Stopped
2019-03-27T23:21:36.330Z,1553728896.330 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-27T23:21:36.723Z,1553728896.723 [MissionManager](IMPORTANT): Started mission Default
2019-03-27T23:21:36.723Z,1553728896.723 [Default] Running Loop=1
2019-03-27T23:21:36.724Z,1553728896.724 [Default](DEBUG): Aggregate::initialize Default
2019-03-27T23:21:36.724Z,1553728896.724 [Default:B.GoToSurface] Running Loop=1
2019-03-27T23:21:36.724Z,1553728896.724 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-27T23:21:36.724Z,1553728896.724 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-27T23:21:36.724Z,1553728896.724 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-27T23:21:36.729Z,1553728896.729 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-27T23:21:36.729Z,1553728896.729 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-27T23:21:36.729Z,1553728896.729 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-27T23:21:36.730Z,1553728896.730 [Default:A.Wait] Running Loop=1
2019-03-27T23:21:36.730Z,1553728896.730 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-27T23:21:40.566Z,1553728900.566 [DataOverHttps](INFO): Sending 949 bytes from file Logs/20190327T231801/Express0001.lzma
2019-03-27T23:21:41.370Z,1553728901.370 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Express0001.lzma.bak
2019-03-27T23:21:41.370Z,1553728901.370 [DataOverHttps](INFO): SBD MOMSN=10262469
2019-03-27T23:21:50.064Z,1553728910.064 [Default:A.Wait](INFO): Done Waiting.
2019-03-27T23:21:50.064Z,1553728910.064 [Default:A.Wait] Stopped
2019-03-27T23:21:50.064Z,1553728910.064 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-27T23:21:50.452Z,1553728910.452 [Default:CheckIn] Running Loop=1
2019-03-27T23:21:50.452Z,1553728910.452 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-27T23:21:50.452Z,1553728910.452 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-27T23:21:50.852Z,1553728910.852 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-27T23:21:59.718Z,1553728919.718 [NAL9602](INFO): SBD MO Status=0, MOMSN=2464, MT Status=0, MTMSN=0
2019-03-27T23:21:59.718Z,1553728919.718 [NAL9602](INFO): No messages in MT queue
2019-03-27T23:22:00.533Z,1553728920.533 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:02.949Z,1553728922.949 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:06.173Z,1553728926.173 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:09.001Z,1553728929.001 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:12.229Z,1553728932.229 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:15.061Z,1553728935.061 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:18.289Z,1553728938.289 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:21.129Z,1553728941.129 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:23.945Z,1553728943.945 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:27.185Z,1553728947.185 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:30.009Z,1553728950.009 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:33.241Z,1553728953.241 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:36.065Z,1553728956.065 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:38.897Z,1553728958.897 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:42.125Z,1553728962.125 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:44.981Z,1553728964.981 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:48.209Z,1553728968.209 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:51.037Z,1553728971.037 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:54.269Z,1553728974.269 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:57.109Z,1553728977.109 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:22:59.921Z,1553728979.921 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:03.153Z,1553728983.153 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:05.985Z,1553728985.985 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:09.225Z,1553728989.225 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:12.061Z,1553728992.061 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:15.281Z,1553728995.281 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:18.105Z,1553728998.105 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:20.937Z,1553729000.937 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:24.161Z,1553729004.161 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:26.993Z,1553729006.993 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:30.221Z,1553729010.221 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:33.053Z,1553729013.053 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:36.289Z,1553729016.289 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:39.113Z,1553729019.113 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:41.937Z,1553729021.937 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:45.169Z,1553729025.169 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:48.009Z,1553729028.009 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:51.229Z,1553729031.229 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:54.057Z,1553729034.057 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:23:57.289Z,1553729037.289 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:00.117Z,1553729040.117 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:02.949Z,1553729042.949 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:06.177Z,1553729046.177 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:09.017Z,1553729049.017 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:12.245Z,1553729052.245 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:14.269Z,1553729054.269 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-03-27T23:24:14.269Z,1553729054.269 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-27T23:24:14.270Z,1553729054.270 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 2
2019-03-27T23:24:14.270Z,1553729054.270 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-27T23:24:14.271Z,1553729054.271 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 2
2019-03-27T23:24:14.271Z,1553729054.271 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:24:14.282Z,1553729054.282 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-27T23:24:14.282Z,1553729054.282 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-27T23:24:14.282Z,1553729054.282 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:24:14.713Z,1553729054.713 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-27T23:24:14.713Z,1553729054.713 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-03-27T23:24:14.714Z,1553729054.714 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-27T23:24:14.714Z,1553729054.714 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 2
2019-03-27T23:24:14.714Z,1553729054.714 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:24:14.715Z,1553729054.715 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 2
2019-03-27T23:24:15.069Z,1553729055.069 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:15.183Z,1553729055.183 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-27T23:24:17.901Z,1553729057.901 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:21.125Z,1553729061.125 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:23.957Z,1553729063.957 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:27.185Z,1553729067.185 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:30.013Z,1553729070.013 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:33.249Z,1553729073.249 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:36.077Z,1553729076.077 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:38.905Z,1553729078.905 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:42.133Z,1553729082.133 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:44.965Z,1553729084.965 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:48.193Z,1553729088.193 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:51.021Z,1553729091.021 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:54.257Z,1553729094.257 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:24:57.505Z,1553729097.505 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:00.313Z,1553729100.313 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:03.149Z,1553729103.149 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:06.377Z,1553729106.377 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:09.205Z,1553729109.205 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:12.029Z,1553729112.029 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:15.265Z,1553729115.265 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:18.089Z,1553729118.089 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:21.321Z,1553729121.321 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:24.157Z,1553729124.157 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:27.384Z,1553729127.384 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:30.213Z,1553729130.213 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:33.457Z,1553729133.457 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:25:33.846Z,1553729133.846 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,231826.00,A,3648.16856,N,12147.28533,W,0.156,0.00,270319,,,A*77
2019-03-27T23:25:33.850Z,1553729133.850 [NAL9602](INFO): GPS fix at 20190327T231826: (36.802809, -121.788089)
2019-03-27T23:25:33.888Z,1553729133.888 [Default:CheckIn:Read_GPS] Stopped
2019-03-27T23:25:33.888Z,1553729133.888 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-27T23:25:34.369Z,1553729134.369 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-27T23:25:37.629Z,1553729137.629 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-03-27T23:25:37.632Z,1553729137.632 [BPC1](INFO): Received data from all battery sticks.
2019-03-27T23:25:43.733Z,1553729143.733 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20190327T231801/Courier0004.lzma
2019-03-27T23:25:44.538Z,1553729144.538 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0004.lzma.bak
2019-03-27T23:25:44.539Z,1553729144.539 [DataOverHttps](INFO): SBD MOMSN=10262508
2019-03-27T23:25:59.288Z,1553729159.288 [DataOverHttps](INFO): Sending 210 bytes from file Logs/20190327T231801/Express0005.lzma
2019-03-27T23:26:00.094Z,1553729160.094 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Express0005.lzma.bak
2019-03-27T23:26:00.094Z,1553729160.094 [DataOverHttps](INFO): SBD MOMSN=10262531
2019-03-27T23:26:01.476Z,1553729161.476 [Default:CheckIn:Read_Iridium] Stopped
2019-03-27T23:26:01.476Z,1553729161.476 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-27T23:26:01.481Z,1553729161.481 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-27T23:26:06.299Z,1553729166.299 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-27T23:27:42.077Z,1553729262.077 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  67.97,  95.59, 101.91,   0.00
2019-03-27T23:27:42.087Z,1553729262.087 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:27:42.087Z,1553729262.087 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:27:42.099Z,1553729262.099 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:27:42.484Z,1553729262.484 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:27:42.484Z,1553729262.484 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:27:53.566Z,1553729273.566 [CommandLine](IMPORTANT): got command failComponent
2019-03-27T23:27:53.566Z,1553729273.566 [CommandLine](IMPORTANT): Failed components:
2019-03-27T23:27:53.566Z,1553729273.566 [CommandLine](IMPORTANT): No failed Components.
2019-03-27T23:28:05.095Z,1553729285.095 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-27T23:28:05.095Z,1553729285.095 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  99.91,  94.42,  72.96
2019-03-27T23:28:34.683Z,1553729314.683 [DataOverHttps](IMPORTANT): SBD MTMSN=20190327T232128
2019-03-27T23:28:40.429Z,1553729320.429 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.DockRange 5 meter;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter" 49nja 1 2
2019-03-27T23:28:40.510Z,1553729320.510 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.DockRange 5 meter;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter" 49nja 1 2.000000
2019-03-27T23:28:40.510Z,1553729320.510 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=49nja
2019-03-27T23:28:40.511Z,1553729320.511 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='49nja'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.DockRange 5 meter;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter" ASAP
2019-03-27T23:28:41.235Z,1553729321.235 [DataOverHttps](IMPORTANT): SBD MTMSN=20190327T232134
2019-03-27T23:28:46.648Z,1553729326.648 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 49nja 2 2
2019-03-27T23:28:46.736Z,1553729326.736 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 49nja 2 2.000000
2019-03-27T23:28:46.736Z,1553729326.736 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=49nja
2019-03-27T23:28:46.737Z,1553729326.737 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='49nja'): "set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-27T23:28:46.928Z,1553729326.928 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-27T23:28:46.929Z,1553729326.929 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-27T23:28:47.190Z,1553729327.190 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-27T23:28:47.194Z,1553729327.194 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-27T23:28:47.201Z,1553729327.201 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-27T23:28:47.204Z,1553729327.204 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-27T23:28:47.211Z,1553729327.211 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-27T23:28:47.218Z,1553729327.218 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-27T23:28:47.225Z,1553729327.225 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-27T23:28:47.228Z,1553729327.228 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-27T23:28:47.235Z,1553729327.235 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-27T23:28:47.239Z,1553729327.239 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-27T23:28:47.251Z,1553729327.251 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-27T23:28:47.255Z,1553729327.255 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-27T23:28:47.277Z,1553729327.277 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-27T23:28:47.280Z,1553729327.280 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-27T23:28:47.287Z,1553729327.287 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-27T23:28:47.290Z,1553729327.290 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-27T23:28:47.306Z,1553729327.306 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-27T23:28:47.313Z,1553729327.313 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-27T23:28:47.316Z,1553729327.316 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-27T23:28:47.323Z,1553729327.323 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-27T23:28:47.332Z,1553729327.332 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-27T23:28:47.343Z,1553729327.343 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-27T23:28:47.352Z,1553729327.352 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-27T23:28:47.364Z,1553729327.364 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-27T23:28:47.367Z,1553729327.367 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-27T23:28:47.379Z,1553729327.379 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-27T23:28:47.388Z,1553729327.388 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-27T23:28:47.407Z,1553729327.407 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-27T23:28:47.413Z,1553729327.413 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-27T23:28:47.423Z,1553729327.423 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-27T23:28:47.424Z,1553729327.424 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-27T23:28:47.539Z,1553729327.539 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-27T23:28:47.546Z,1553729327.546 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-27T23:28:47.566Z,1553729327.566 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-27T23:28:47.568Z,1553729327.568 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-27T23:28:47.600Z,1553729327.600 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-27T23:28:47.621Z,1553729327.621 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-27T23:28:47.659Z,1553729327.659 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-27T23:28:47.775Z,1553729327.775 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-27T23:28:47.778Z,1553729327.778 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-27T23:28:47.782Z,1553729327.782 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-27T23:28:47.797Z,1553729327.797 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-27T23:28:47.800Z,1553729327.800 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-27T23:28:47.824Z,1553729327.824 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-27T23:28:47.828Z,1553729327.828 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-27T23:28:47.846Z,1553729327.846 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-27T23:28:47.920Z,1553729327.920 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-03-27T23:28:47.920Z,1553729327.920 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,    +0, 
2019-03-27T23:28:48.180Z,1553729328.180 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-27T23:28:48.195Z,1553729328.195 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-27T23:28:48.226Z,1553729328.226 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-27T23:28:48.234Z,1553729328.234 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-27T23:28:48.270Z,1553729328.270 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-27T23:28:48.296Z,1553729328.296 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-27T23:28:48.371Z,1553729328.371 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-27T23:28:48.383Z,1553729328.383 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-27T23:28:48.398Z,1553729328.398 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-27T23:28:48.422Z,1553729328.422 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-27T23:28:48.465Z,1553729328.465 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-27T23:28:48.476Z,1553729328.476 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-27T23:28:48.504Z,1553729328.504 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-27T23:28:48.554Z,1553729328.554 [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="cameraRange"><Description>
        Range to activate the camera 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><Sensor: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="cameraRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        camera 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>

        <ReadData>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
        </ReadData>

<!--
        <Aggregate Id="UseDUSBL">
            <Sequence/>
            <Break>
                <Not><Arg Name="EnabledDUSBL"/></Not>
            </Break>
                <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
                <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>            
        </Aggregate>     
-->    
        <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"/>
            </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/><Estimation:TrackAcousticContact.heading_to_contact/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateCamera">

                <When>
                    <Not><Arg Name="cameraRequested"/></Not>
                    <And><Universal:acoustic_contact_range/><Le><Arg Name="cameraRange"/></Le></And>                	   
                </When>
                
                <Syslog Severity="Important">Lights, Camera on at range: <Universal:acoustic_contact_range/><Units:meter/>.</Syslog>
                
                <ReadData Strategy="MinError">
                    <Sensor:PowerOnly.samplePowerOnly/>
                </ReadData>
                
                <Assign><Sequence/><Arg Name="cameraRequested"/><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="cameraRequested"/><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>


2019-03-27T23:28:48.554Z,1553729328.554 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-27T23:28:59.846Z,1553729339.846 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 5.000000 meter
2019-03-27T23:28:59.847Z,1553729339.847 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-27T23:28:59.847Z,1553729339.847 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-27T23:28:59.848Z,1553729339.848 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-27T23:29:09.867Z,1553729349.867 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-27T23:29:09.868Z,1553729349.868 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-27T23:29:09.874Z,1553729349.874 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-27T23:29:09.875Z,1553729349.875 [CommandLine](IMPORTANT): got command run 
2019-03-27T23:29:09.881Z,1553729349.881 [CommandLine](IMPORTANT): Running 
2019-03-27T23:29:10.148Z,1553729350.148 [Default] Stopped
2019-03-27T23:29:10.148Z,1553729350.148 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-27T23:29:10.148Z,1553729350.148 [Default:B.GoToSurface] Stopped
2019-03-27T23:29:10.148Z,1553729350.148 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-27T23:29:10.148Z,1553729350.148 [Default:CheckIn] Stopped
2019-03-27T23:29:10.148Z,1553729350.148 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-27T23:29:10.148Z,1553729350.148 [Default:CheckIn:C.Wait] Stopped
2019-03-27T23:29:10.148Z,1553729350.148 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-27T23:29:10.148Z,1553729350.148 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-27T23:29:10.165Z,1553729350.165 [lineCaptureHoming] Running Loop=1
2019-03-27T23:29:10.165Z,1553729350.165 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-27T23:29:10.165Z,1553729350.165 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-27T23:29:10.165Z,1553729350.165 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-27T23:29:10.165Z,1553729350.165 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-27T23:29:10.165Z,1553729350.165 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-27T23:29:10.166Z,1553729350.166 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-27T23:29:10.166Z,1553729350.166 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-27T23:29:10.166Z,1553729350.166 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-27T23:29:10.166Z,1553729350.166 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-27T23:29:10.166Z,1553729350.166 [lineCaptureHoming:I.] Running Loop=1
2019-03-27T23:29:10.166Z,1553729350.166 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:L] Running Loop=1
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:M] Running Loop=1
2019-03-27T23:29:10.167Z,1553729350.167 [lineCaptureHoming:B] Running Loop=1
2019-03-27T23:29:10.168Z,1553729350.168 [lineCaptureHoming:M] Running Loop=1
2019-03-27T23:29:10.169Z,1553729350.169 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-27T23:29:10.169Z,1553729350.169 [lineCaptureHoming:L] Running Loop=1
2019-03-27T23:29:10.170Z,1553729350.170 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-27T23:29:10.170Z,1553729350.170 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-27T23:29:10.170Z,1553729350.170 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-27T23:29:10.171Z,1553729350.171 [lineCaptureHoming:I.] Running Loop=1
2019-03-27T23:29:10.171Z,1553729350.171 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:10.171Z,1553729350.171 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:10.172Z,1553729350.172 [lineCaptureHoming:B] Stopped
2019-03-27T23:29:10.172Z,1553729350.172 [lineCaptureHoming:C] Running Loop=1
2019-03-27T23:29:10.172Z,1553729350.172 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-27T23:29:10.172Z,1553729350.172 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-27T23:29:10.181Z,1553729350.181 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-27T23:29:10.182Z,1553729350.182 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-27T23:29:10.550Z,1553729350.550 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:10.550Z,1553729350.550 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:10.550Z,1553729350.550 [lineCaptureHoming:C] Stopped
2019-03-27T23:29:10.550Z,1553729350.550 [lineCaptureHoming:D] Running Loop=1
2019-03-27T23:29:10.962Z,1553729350.962 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:10.962Z,1553729350.962 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:10.962Z,1553729350.962 [lineCaptureHoming:D] Stopped
2019-03-27T23:29:10.962Z,1553729350.962 [lineCaptureHoming:F] Running Loop=1
2019-03-27T23:29:11.354Z,1553729351.354 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:11.355Z,1553729351.355 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:11.355Z,1553729351.355 [lineCaptureHoming:F] Stopped
2019-03-27T23:29:11.355Z,1553729351.355 [lineCaptureHoming:G] Running Loop=1
2019-03-27T23:29:11.775Z,1553729351.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:11.776Z,1553729351.776 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:11.776Z,1553729351.776 [lineCaptureHoming:G] Stopped
2019-03-27T23:29:11.776Z,1553729351.776 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-27T23:29:11.776Z,1553729351.776 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-27T23:29:12.174Z,1553729352.174 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:12.174Z,1553729352.174 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:12.174Z,1553729352.174 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-27T23:29:12.174Z,1553729352.174 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-27T23:29:12.175Z,1553729352.175 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-27T23:29:12.175Z,1553729352.175 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-27T23:29:12.175Z,1553729352.175 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-27T23:29:12.175Z,1553729352.175 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-27T23:29:12.609Z,1553729352.609 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:12.609Z,1553729352.609 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:12.610Z,1553729352.610 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-27T23:29:12.610Z,1553729352.610 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-27T23:29:12.610Z,1553729352.610 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-27T23:29:12.610Z,1553729352.610 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-27T23:29:12.610Z,1553729352.610 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-27T23:29:12.611Z,1553729352.611 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-27T23:29:12.611Z,1553729352.611 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-27T23:29:12.611Z,1553729352.611 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-27T23:29:12.612Z,1553729352.612 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-27T23:29:12.612Z,1553729352.612 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-27T23:29:12.617Z,1553729352.617 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553728706.000000 second since 1970/01/01T00:00:00Z 
2019-03-27T23:29:12.617Z,1553729352.617 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-27T23:29:13.002Z,1553729353.002 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:13.002Z,1553729353.002 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:13.003Z,1553729353.003 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-27T23:29:13.376Z,1553729353.376 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:13.377Z,1553729353.377 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:13.378Z,1553729353.378 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-27T23:29:13.795Z,1553729353.795 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:13.795Z,1553729353.795 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:14.184Z,1553729354.184 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:14.185Z,1553729354.185 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:14.573Z,1553729354.573 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:29:14.601Z,1553729354.601 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:14.601Z,1553729354.601 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:14.968Z,1553729354.968 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,232208.00,A,3648.16322,N,12147.28199,W,0.505,0.00,270319,,,A*7C
2019-03-27T23:29:14.970Z,1553729354.970 [NAL9602](INFO): GPS fix at 20190327T232208: (36.802720, -121.788033)
2019-03-27T23:29:15.008Z,1553729355.008 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:15.009Z,1553729355.009 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:15.009Z,1553729355.009 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-27T23:29:15.009Z,1553729355.009 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-27T23:29:15.417Z,1553729355.417 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:15.417Z,1553729355.417 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:15.418Z,1553729355.418 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-27T23:29:15.859Z,1553729355.859 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:15.859Z,1553729355.859 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:16.236Z,1553729356.236 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:16.236Z,1553729356.236 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:16.654Z,1553729356.654 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:16.654Z,1553729356.654 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:17.075Z,1553729357.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:17.075Z,1553729357.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:17.452Z,1553729357.452 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:17.453Z,1553729357.453 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:17.867Z,1553729357.867 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:17.867Z,1553729357.867 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:18.244Z,1553729358.244 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:18.249Z,1553729358.249 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:18.644Z,1553729358.644 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:18.649Z,1553729358.649 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:19.081Z,1553729359.081 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:19.081Z,1553729359.081 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:19.464Z,1553729359.464 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:19.469Z,1553729359.469 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:19.887Z,1553729359.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:19.887Z,1553729359.887 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:20.260Z,1553729360.260 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:20.281Z,1553729360.281 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:20.721Z,1553729360.721 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:20.722Z,1553729360.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:21.120Z,1553729361.120 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:21.120Z,1553729361.120 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:21.484Z,1553729361.484 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:21.489Z,1553729361.489 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:21.899Z,1553729361.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:21.899Z,1553729361.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:22.265Z,1553729362.265 [DataOverHttps](INFO): Sending 220 bytes from file Logs/20190327T231801/Courier0007.lzma
2019-03-27T23:29:22.304Z,1553729362.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:22.305Z,1553729362.305 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:22.736Z,1553729362.736 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:22.736Z,1553729362.736 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:23.070Z,1553729363.070 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0007.lzma.bak
2019-03-27T23:29:23.071Z,1553729363.071 [DataOverHttps](INFO): SBD MOMSN=10262654
2019-03-27T23:29:23.135Z,1553729363.135 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:23.135Z,1553729363.135 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:23.550Z,1553729363.550 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:23.550Z,1553729363.550 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:23.939Z,1553729363.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:23.940Z,1553729363.940 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:24.308Z,1553729364.308 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:24.308Z,1553729364.308 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:24.738Z,1553729364.738 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:24.739Z,1553729364.739 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:25.131Z,1553729365.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:25.132Z,1553729365.132 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:25.536Z,1553729365.536 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:25.536Z,1553729365.536 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:25.989Z,1553729365.989 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:25.989Z,1553729365.989 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:26.353Z,1553729366.353 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:26.353Z,1553729366.353 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:26.819Z,1553729366.819 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:26.819Z,1553729366.819 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:27.189Z,1553729367.189 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:27.189Z,1553729367.189 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:27.597Z,1553729367.597 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:27.597Z,1553729367.597 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:27.975Z,1553729367.975 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:27.975Z,1553729367.975 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:28.352Z,1553729368.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:28.361Z,1553729368.361 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:28.444Z,1553729368.444 [CommandLine](IMPORTANT): got command report touch TrackAcousticContact.heading_to_contact
2019-03-27T23:29:28.789Z,1553729368.789 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:28.789Z,1553729368.789 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:29.165Z,1553729369.165 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:29.165Z,1553729369.165 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:29.581Z,1553729369.581 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:29.582Z,1553729369.582 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:29.998Z,1553729369.998 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:29.998Z,1553729369.998 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:30.365Z,1553729370.365 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:30.365Z,1553729370.365 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:30.784Z,1553729370.784 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:30.785Z,1553729370.785 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:31.184Z,1553729371.184 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:31.185Z,1553729371.185 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:31.593Z,1553729371.593 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:31.593Z,1553729371.593 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:32.006Z,1553729372.006 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:32.006Z,1553729372.006 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:32.271Z,1553729372.271 [CommandLine](IMPORTANT): got command show stack
2019-03-27T23:29:32.271Z,1553729372.271 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-27T23:29:32.271Z,1553729372.271 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-27T23:29:32.272Z,1553729372.272 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-27T23:29:32.272Z,1553729372.272 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-27T23:29:32.272Z,1553729372.272 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-27T23:29:32.273Z,1553729372.273 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-03-27T23:29:32.273Z,1553729372.273 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.
2019-03-27T23:29:32.273Z,1553729372.273 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Mass
2019-03-27T23:29:32.274Z,1553729372.274 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Buoyancy
2019-03-27T23:29:32.274Z,1553729372.274 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-27T23:29:32.274Z,1553729372.274 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-27T23:29:32.433Z,1553729372.433 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:32.433Z,1553729372.433 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:32.820Z,1553729372.820 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:32.825Z,1553729372.825 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:33.193Z,1553729373.193 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:33.193Z,1553729373.193 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:33.592Z,1553729373.592 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:33.597Z,1553729373.597 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:34.017Z,1553729374.017 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:34.018Z,1553729374.018 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:34.405Z,1553729374.405 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:34.405Z,1553729374.405 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:34.822Z,1553729374.822 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:34.822Z,1553729374.822 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:35.213Z,1553729375.213 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:35.213Z,1553729375.213 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:35.633Z,1553729375.633 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:35.633Z,1553729375.633 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:36.093Z,1553729376.093 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:36.093Z,1553729376.093 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:36.460Z,1553729376.460 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:36.469Z,1553729376.469 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:36.882Z,1553729376.882 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:36.883Z,1553729376.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:37.254Z,1553729377.254 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:37.254Z,1553729377.254 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:37.648Z,1553729377.648 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:37.657Z,1553729377.657 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:38.062Z,1553729378.062 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:38.062Z,1553729378.062 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:38.456Z,1553729378.456 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:38.456Z,1553729378.456 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:38.876Z,1553729378.876 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T231801/Courier0010.lzma
2019-03-27T23:29:38.881Z,1553729378.881 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:38.881Z,1553729378.881 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:39.251Z,1553729379.251 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:39.251Z,1553729379.251 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:39.660Z,1553729379.660 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:39.661Z,1553729379.661 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:39.686Z,1553729379.686 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0010.lzma.bak
2019-03-27T23:29:39.686Z,1553729379.686 [DataOverHttps](INFO): SBD MOMSN=10262657
2019-03-27T23:29:40.065Z,1553729380.065 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:40.065Z,1553729380.065 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:40.473Z,1553729380.473 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:40.473Z,1553729380.473 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:40.885Z,1553729380.885 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:40.885Z,1553729380.885 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:41.284Z,1553729381.284 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:41.289Z,1553729381.289 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:41.718Z,1553729381.718 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:41.718Z,1553729381.718 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:42.121Z,1553729382.121 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:42.122Z,1553729382.122 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:42.517Z,1553729382.517 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:42.517Z,1553729382.517 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:42.946Z,1553729382.946 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:42.947Z,1553729382.947 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:43.288Z,1553729383.288 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:43.293Z,1553729383.293 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:43.749Z,1553729383.749 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:43.750Z,1553729383.750 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:44.125Z,1553729384.125 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:44.125Z,1553729384.125 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:44.513Z,1553729384.513 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:44.513Z,1553729384.513 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:44.945Z,1553729384.945 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:44.945Z,1553729384.945 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:45.320Z,1553729385.320 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:45.325Z,1553729385.325 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:45.785Z,1553729385.785 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:45.785Z,1553729385.785 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:46.007Z,1553729386.007 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553729408.000000 second
2019-03-27T23:29:46.120Z,1553729386.120 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:46.120Z,1553729386.120 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:46.523Z,1553729386.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:46.524Z,1553729386.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:46.950Z,1553729386.950 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:46.951Z,1553729386.951 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:47.348Z,1553729387.348 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:47.349Z,1553729387.349 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:47.770Z,1553729387.770 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:47.770Z,1553729387.770 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:48.157Z,1553729388.157 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:48.157Z,1553729388.157 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:48.561Z,1553729388.561 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:48.561Z,1553729388.561 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:48.979Z,1553729388.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:48.979Z,1553729388.979 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:49.348Z,1553729389.348 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:49.373Z,1553729389.373 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:49.793Z,1553729389.793 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:49.793Z,1553729389.793 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:50.156Z,1553729390.156 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:50.161Z,1553729390.161 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:50.560Z,1553729390.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:50.565Z,1553729390.565 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:50.981Z,1553729390.981 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:50.981Z,1553729390.981 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:51.375Z,1553729391.375 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:51.375Z,1553729391.375 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:51.817Z,1553729391.817 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:51.818Z,1553729391.818 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:52.200Z,1553729392.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:52.205Z,1553729392.205 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:52.608Z,1553729392.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:52.608Z,1553729392.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:52.865Z,1553729392.865 [DataOverHttps](INFO): Sending 597 bytes from file Logs/20190327T231801/Express0008.lzma
2019-03-27T23:29:53.026Z,1553729393.026 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:53.026Z,1553729393.026 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:53.392Z,1553729393.392 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:53.393Z,1553729393.393 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:53.678Z,1553729393.678 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Express0008.lzma.bak
2019-03-27T23:29:53.679Z,1553729393.679 [DataOverHttps](INFO): SBD MOMSN=10262659
2019-03-27T23:29:53.802Z,1553729393.802 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:53.803Z,1553729393.803 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:54.209Z,1553729394.209 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:54.209Z,1553729394.209 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:54.605Z,1553729394.605 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:54.605Z,1553729394.605 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:55.034Z,1553729395.034 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:55.034Z,1553729395.034 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:55.425Z,1553729395.425 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:55.425Z,1553729395.425 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:55.849Z,1553729395.849 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:55.849Z,1553729395.849 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:56.216Z,1553729396.216 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:56.221Z,1553729396.221 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:56.633Z,1553729396.633 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:56.633Z,1553729396.633 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:57.070Z,1553729397.070 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:57.070Z,1553729397.070 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:57.433Z,1553729397.433 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:57.433Z,1553729397.433 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:57.853Z,1553729397.853 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:57.854Z,1553729397.854 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:58.236Z,1553729398.236 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:58.241Z,1553729398.241 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:58.658Z,1553729398.658 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:58.659Z,1553729398.659 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:59.105Z,1553729399.105 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:59.105Z,1553729399.105 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:59.460Z,1553729399.460 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:59.465Z,1553729399.465 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:29:59.901Z,1553729399.901 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:29:59.901Z,1553729399.901 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:00.264Z,1553729400.264 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:00.265Z,1553729400.265 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:00.679Z,1553729400.679 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:00.679Z,1553729400.679 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:01.096Z,1553729401.096 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:01.096Z,1553729401.096 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:01.500Z,1553729401.500 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:01.501Z,1553729401.501 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:01.886Z,1553729401.886 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:01.887Z,1553729401.887 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:02.300Z,1553729402.300 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:02.301Z,1553729402.301 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:02.738Z,1553729402.738 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:02.739Z,1553729402.739 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:03.114Z,1553729403.114 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:03.114Z,1553729403.114 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:03.503Z,1553729403.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:03.504Z,1553729403.504 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:03.941Z,1553729403.941 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:03.942Z,1553729403.942 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:04.305Z,1553729404.305 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:04.305Z,1553729404.305 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:04.787Z,1553729404.787 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:04.787Z,1553729404.787 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:05.124Z,1553729405.124 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:05.133Z,1553729405.133 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:05.525Z,1553729405.525 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:05.525Z,1553729405.525 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:05.956Z,1553729405.956 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:05.961Z,1553729405.961 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:06.367Z,1553729406.367 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:06.367Z,1553729406.367 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:06.844Z,1553729406.844 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:06.881Z,1553729406.881 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:07.136Z,1553729407.136 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:07.136Z,1553729407.136 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:07.541Z,1553729407.541 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:07.541Z,1553729407.541 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:07.942Z,1553729407.942 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:07.942Z,1553729407.942 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:07.972Z,1553729407.972 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T231801/Express0011.lzma
2019-03-27T23:30:08.349Z,1553729408.349 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:08.349Z,1553729408.349 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:08.770Z,1553729408.770 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:08.770Z,1553729408.770 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:08.778Z,1553729408.778 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Express0011.lzma.bak
2019-03-27T23:30:08.779Z,1553729408.779 [DataOverHttps](INFO): SBD MOMSN=10262684
2019-03-27T23:30:09.156Z,1553729409.156 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:09.157Z,1553729409.157 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:09.593Z,1553729409.593 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:09.593Z,1553729409.593 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:10.011Z,1553729410.011 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:10.011Z,1553729410.011 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:10.381Z,1553729410.381 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:10.381Z,1553729410.381 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:10.381Z,1553729410.381 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-27T23:30:10.382Z,1553729410.382 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-27T23:30:10.775Z,1553729410.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:10.775Z,1553729410.775 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:10.776Z,1553729410.776 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-27T23:30:11.168Z,1553729411.168 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:11.169Z,1553729411.169 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:11.581Z,1553729411.581 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:11.581Z,1553729411.581 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:12.003Z,1553729412.003 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:12.003Z,1553729412.003 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:12.405Z,1553729412.405 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:12.405Z,1553729412.405 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
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2019-03-27T23:30:55.625Z,1553729455.625 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:56.050Z,1553729456.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:56.050Z,1553729456.050 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:56.433Z,1553729456.433 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:56.433Z,1553729456.433 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:56.852Z,1553729456.852 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:56.861Z,1553729456.861 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:57.225Z,1553729457.225 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:57.225Z,1553729457.225 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:57.629Z,1553729457.629 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:57.629Z,1553729457.629 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:58.069Z,1553729458.069 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:58.069Z,1553729458.069 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:58.437Z,1553729458.437 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:58.437Z,1553729458.437 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:58.855Z,1553729458.855 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:58.856Z,1553729458.856 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:59.253Z,1553729459.253 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:59.253Z,1553729459.253 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:30:59.705Z,1553729459.705 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:30:59.706Z,1553729459.706 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:00.083Z,1553729460.083 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:00.083Z,1553729460.083 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:00.492Z,1553729460.492 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:00.497Z,1553729460.497 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:00.865Z,1553729460.865 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:00.865Z,1553729460.865 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:01.087Z,1553729461.087 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553729408.000000 second
2019-03-27T23:31:01.262Z,1553729461.262 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:01.262Z,1553729461.262 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:01.262Z,1553729461.262 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-27T23:31:01.263Z,1553729461.263 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-27T23:31:01.263Z,1553729461.263 [lineCaptureHoming:NeedComms] Stopped
2019-03-27T23:31:01.263Z,1553729461.263 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-27T23:31:01.263Z,1553729461.263 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-27T23:31:01.263Z,1553729461.263 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-27T23:31:01.691Z,1553729461.691 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:01.692Z,1553729461.692 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:01.693Z,1553729461.693 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-27T23:31:01.694Z,1553729461.694 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-27T23:31:01.694Z,1553729461.694 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-27T23:31:01.694Z,1553729461.694 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-27T23:31:02.091Z,1553729462.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:02.091Z,1553729462.091 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:02.091Z,1553729462.091 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-27T23:31:02.091Z,1553729462.091 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-27T23:31:02.481Z,1553729462.481 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:02.482Z,1553729462.482 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:02.482Z,1553729462.482 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-27T23:31:02.482Z,1553729462.482 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-27T23:31:02.482Z,1553729462.482 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-27T23:31:02.482Z,1553729462.482 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-27T23:31:02.913Z,1553729462.913 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-27T23:31:02.913Z,1553729462.913 [lineCaptureHoming:StartingMission] Stopped
2019-03-27T23:31:02.913Z,1553729462.913 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-27T23:31:02.913Z,1553729462.913 [lineCaptureHoming:Lap] Running Loop=1
2019-03-27T23:31:02.913Z,1553729462.913 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-27T23:31:02.913Z,1553729462.913 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-27T23:31:02.914Z,1553729462.914 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-27T23:31:02.915Z,1553729462.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:02.915Z,1553729462.915 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:03.281Z,1553729463.281 [lineCaptureHoming:Lap:C] Stopped
2019-03-27T23:31:03.281Z,1553729463.281 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-27T23:31:03.281Z,1553729463.281 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-27T23:31:03.282Z,1553729463.282 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-27T23:31:03.282Z,1553729463.282 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-27T23:31:03.282Z,1553729463.282 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-27T23:31:03.282Z,1553729463.282 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-27T23:31:03.282Z,1553729463.282 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-27T23:31:03.283Z,1553729463.283 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-27T23:31:03.284Z,1553729463.284 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-27T23:31:03.285Z,1553729463.285 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-27T23:31:03.285Z,1553729463.285 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-27T23:31:03.285Z,1553729463.285 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-27T23:31:03.285Z,1553729463.285 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-27T23:31:03.285Z,1553729463.285 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-27T23:31:03.286Z,1553729463.286 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-27T23:31:03.287Z,1553729463.287 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-27T23:31:03.288Z,1553729463.288 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-27T23:31:03.309Z,1553729463.309 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-27T23:31:03.310Z,1553729463.310 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:03.310Z,1553729463.310 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:03.358Z,1553729463.358 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-27T23:31:03.657Z,1553729463.657 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:03.661Z,1553729463.661 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:03.782Z,1553729463.782 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:03.783Z,1553729463.783 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:04.087Z,1553729464.087 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-27T23:31:04.087Z,1553729464.087 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +43,   17,A
2019-03-27T23:31:04.098Z,1553729464.098 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:31:04.098Z,1553729464.098 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:31:04.103Z,1553729464.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:04.103Z,1553729464.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:04.233Z,1553729464.233 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:31:04.517Z,1553729464.517 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:04.517Z,1553729464.517 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:04.640Z,1553729464.640 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:31:04.640Z,1553729464.640 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:31:04.935Z,1553729464.935 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:04.935Z,1553729464.935 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:05.302Z,1553729465.302 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:05.302Z,1553729465.302 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:05.736Z,1553729465.736 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:05.736Z,1553729465.736 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:06.117Z,1553729466.117 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:06.117Z,1553729466.117 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:06.532Z,1553729466.532 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:06.532Z,1553729466.532 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:06.944Z,1553729466.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:06.944Z,1553729466.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:07.319Z,1553729467.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:07.319Z,1553729467.319 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:07.715Z,1553729467.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:07.721Z,1553729467.721 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:07.860Z,1553729467.860 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:07.860Z,1553729467.860 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:08.139Z,1553729468.139 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:08.139Z,1553729468.139 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:08.139Z,1553729468.139 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:31:08.141Z,1553729468.141 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964327 forward, -0.264715 starboard, 0.000000 keelward ]
2019-03-27T23:31:08.141Z,1553729468.141 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:31:08.141Z,1553729468.141 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:08.141Z,1553729468.141 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:08.143Z,1553729468.143 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.953149,-0.282251,-0.108818;0.279852,-0.959328,0.037040;-0.114847,0.004852,0.993371 ]
2019-03-27T23:31:08.144Z,1553729468.144 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.123237 rad -- adding 2pi
2019-03-27T23:31:08.145Z,1553729468.145 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.159949 rad after adding 2pi
2019-03-27T23:31:08.146Z,1553729468.146 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.051718 degrees FINAL. Radians:3.159949
2019-03-27T23:31:08.146Z,1553729468.146 [lineCaptureHoming:I.](INFO): ContactLat = 36.802633 ContactLon = -121.788048
2019-03-27T23:31:08.146Z,1553729468.146 [lineCaptureHoming:I.](INFO): First numStartingFixesToIgnoreSetting_ hits rejected because the vehicle just left the surface, and the bearing estimate can be way wrong.
2019-03-27T23:31:08.238Z,1553729468.238 [Reporter](INFO): acoustic_contact_range 8.759999 m
2019-03-27T23:31:08.239Z,1553729468.239 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.159949 rad
2019-03-27T23:31:08.539Z,1553729468.539 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-27T23:31:08.539Z,1553729468.539 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-27T23:31:08.539Z,1553729468.539 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-27T23:31:08.539Z,1553729468.539 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-27T23:31:08.540Z,1553729468.540 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-27T23:31:08.540Z,1553729468.540 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-27T23:31:08.540Z,1553729468.540 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-27T23:31:08.540Z,1553729468.540 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Initialize.
2019-03-27T23:31:08.540Z,1553729468.540 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait] Running Loop=1
2019-03-27T23:31:08.540Z,1553729468.540 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Initialize Wait Component.
2019-03-27T23:31:08.542Z,1553729468.542 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:08.543Z,1553729468.543 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:08.958Z,1553729468.958 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-27T23:31:08.958Z,1553729468.958 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-27T23:31:08.958Z,1553729468.958 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-27T23:31:08.959Z,1553729468.959 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-27T23:31:08.959Z,1553729468.959 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-27T23:31:08.959Z,1553729468.959 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-27T23:31:08.960Z,1553729468.960 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.759999 m .
2019-03-27T23:31:08.960Z,1553729468.960 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-27T23:31:08.960Z,1553729468.960 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-27T23:31:08.960Z,1553729468.960 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-27T23:31:08.963Z,1553729468.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:08.963Z,1553729468.963 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:09.343Z,1553729469.343 [PowerOnly](INFO): Powering up
2019-03-27T23:31:09.368Z,1553729469.368 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-27T23:31:09.370Z,1553729469.370 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-27T23:31:09.370Z,1553729469.370 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-27T23:31:09.370Z,1553729469.370 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-27T23:31:09.370Z,1553729469.370 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-27T23:31:09.373Z,1553729469.373 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:09.373Z,1553729469.373 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:09.778Z,1553729469.778 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:09.779Z,1553729469.779 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:10.172Z,1553729470.172 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:10.172Z,1553729470.172 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:10.574Z,1553729470.574 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:10.574Z,1553729470.574 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:11.048Z,1553729471.048 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:11.048Z,1553729471.048 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:11.372Z,1553729471.372 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:11.372Z,1553729471.372 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:11.749Z,1553729471.749 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:11.753Z,1553729471.753 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:11.868Z,1553729471.868 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:11.868Z,1553729471.868 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:12.154Z,1553729472.154 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EF7,80,81,07,FF
2019-03-27T23:31:12.207Z,1553729472.207 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:12.207Z,1553729472.207 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:12.587Z,1553729472.587 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:12.588Z,1553729472.588 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:13.020Z,1553729473.020 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:13.020Z,1553729473.020 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:13.407Z,1553729473.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:13.408Z,1553729473.408 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:13.812Z,1553729473.812 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:13.813Z,1553729473.813 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:14.212Z,1553729474.212 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:14.212Z,1553729474.212 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:14.625Z,1553729474.625 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:14.625Z,1553729474.625 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:15.012Z,1553729475.012 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:15.012Z,1553729475.012 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:15.410Z,1553729475.410 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:15.411Z,1553729475.411 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:15.783Z,1553729475.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:15.787Z,1553729475.787 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:15.898Z,1553729475.898 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:15.898Z,1553729475.898 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:16.182Z,1553729476.182 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:31:16.242Z,1553729476.242 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:16.242Z,1553729476.242 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:16.625Z,1553729476.625 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:16.625Z,1553729476.625 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:17.038Z,1553729477.038 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:17.039Z,1553729477.039 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:17.448Z,1553729477.448 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:17.448Z,1553729477.448 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:17.833Z,1553729477.833 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:17.834Z,1553729477.834 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:18.227Z,1553729478.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:18.228Z,1553729478.228 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:18.638Z,1553729478.638 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:18.638Z,1553729478.638 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:19.045Z,1553729479.045 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:19.046Z,1553729479.046 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:19.451Z,1553729479.451 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:19.451Z,1553729479.451 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:19.829Z,1553729479.829 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:19.830Z,1553729479.830 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:19.938Z,1553729479.938 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:19.938Z,1553729479.938 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:20.222Z,1553729480.222 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-27T23:31:20.288Z,1553729480.288 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:20.288Z,1553729480.288 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:20.674Z,1553729480.674 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:20.674Z,1553729480.674 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:21.092Z,1553729481.092 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:21.093Z,1553729481.093 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:21.464Z,1553729481.464 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:21.464Z,1553729481.464 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:21.885Z,1553729481.885 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:21.885Z,1553729481.885 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:22.272Z,1553729482.272 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:22.272Z,1553729482.272 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:22.689Z,1553729482.689 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:22.690Z,1553729482.690 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:23.095Z,1553729483.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:23.095Z,1553729483.095 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:23.496Z,1553729483.496 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:23.496Z,1553729483.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:23.859Z,1553729483.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:23.864Z,1553729483.864 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:23.974Z,1553729483.974 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:23.974Z,1553729483.974 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:24.262Z,1553729484.262 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,18A,80,81,07,FF
2019-03-27T23:31:24.339Z,1553729484.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:24.339Z,1553729484.339 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:24.747Z,1553729484.747 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:24.747Z,1553729484.747 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:25.113Z,1553729485.113 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:25.113Z,1553729485.113 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:25.500Z,1553729485.500 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:25.500Z,1553729485.500 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:25.915Z,1553729485.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:25.915Z,1553729485.915 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:26.314Z,1553729486.314 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:26.314Z,1553729486.314 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:26.756Z,1553729486.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:26.756Z,1553729486.756 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:27.135Z,1553729487.135 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:27.135Z,1553729487.135 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:27.556Z,1553729487.556 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:27.556Z,1553729487.556 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:27.895Z,1553729487.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:27.898Z,1553729487.898 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:28.006Z,1553729488.006 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:28.007Z,1553729488.007 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:28.299Z,1553729488.299 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0E,FF
2019-03-27T23:31:28.375Z,1553729488.375 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:28.375Z,1553729488.375 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:28.819Z,1553729488.819 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:28.820Z,1553729488.820 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:29.144Z,1553729489.144 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:29.144Z,1553729489.144 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:29.548Z,1553729489.548 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:29.548Z,1553729489.548 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:29.975Z,1553729489.975 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:29.976Z,1553729489.976 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:30.367Z,1553729490.367 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:30.368Z,1553729490.368 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:30.792Z,1553729490.792 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:30.797Z,1553729490.797 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:31.183Z,1553729491.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:31.183Z,1553729491.183 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:31.584Z,1553729491.584 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:31.584Z,1553729491.584 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:31.935Z,1553729491.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:31.935Z,1553729491.935 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:32.075Z,1553729492.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:32.075Z,1553729492.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:32.395Z,1553729492.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:32.396Z,1553729492.396 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:32.396Z,1553729492.396 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:31:32.421Z,1553729492.421 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.948046 forward, 0.318132 starboard, 0.000000 keelward ]
2019-03-27T23:31:32.421Z,1553729492.421 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:31:32.421Z,1553729492.421 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:32.421Z,1553729492.421 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:32.423Z,1553729492.423 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.938189,-0.291176,-0.187131;0.285737,-0.956669,0.056027;-0.195336,-0.000906,0.980736 ]
2019-03-27T23:31:32.424Z,1553729492.424 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.513095 rad -- adding 2pi
2019-03-27T23:31:32.424Z,1553729492.424 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.770091 rad after adding 2pi
2019-03-27T23:31:32.433Z,1553729492.433 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 216.010279 degrees FINAL. Radians:3.770091
2019-03-27T23:31:32.434Z,1553729492.434 [lineCaptureHoming:I.](INFO): ContactLat = 36.802328 ContactLon = -121.788395
2019-03-27T23:31:32.434Z,1553729492.434 [lineCaptureHoming:I.](DEBUG): Still accumulating hits to do low-pass filtering (after rejecting starting hits). Will return contact position after NumberOfFixesLowPass_+1 hits have been received.
2019-03-27T23:31:32.519Z,1553729492.519 [Reporter](INFO): acoustic_contact_range 53.280003 m
2019-03-27T23:31:32.520Z,1553729492.520 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.770091 rad
2019-03-27T23:31:32.870Z,1553729492.870 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:32.870Z,1553729492.870 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:33.188Z,1553729493.188 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:33.188Z,1553729493.188 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:33.587Z,1553729493.587 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:33.588Z,1553729493.588 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:34.015Z,1553729494.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:34.016Z,1553729494.016 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:34.402Z,1553729494.402 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:34.402Z,1553729494.402 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:34.819Z,1553729494.819 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:34.819Z,1553729494.819 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:35.200Z,1553729495.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:35.200Z,1553729495.200 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:35.600Z,1553729495.600 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:35.600Z,1553729495.600 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:35.979Z,1553729495.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:35.984Z,1553729495.984 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:35.994Z,1553729495.994 [NAL9602](INFO): SBD MO Status=2, MOMSN=2465, MT Status=2, MTMSN=0
2019-03-27T23:31:35.995Z,1553729495.995 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-27T23:31:36.117Z,1553729496.117 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:36.118Z,1553729496.118 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:36.376Z,1553729496.376 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-27T23:31:36.443Z,1553729496.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:36.443Z,1553729496.443 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:36.836Z,1553729496.836 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:36.836Z,1553729496.836 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:37.232Z,1553729497.232 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:37.232Z,1553729497.232 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:37.630Z,1553729497.630 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:37.630Z,1553729497.630 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:38.050Z,1553729498.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:38.050Z,1553729498.050 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:38.432Z,1553729498.432 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:38.432Z,1553729498.432 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:38.841Z,1553729498.841 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:38.842Z,1553729498.842 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:39.244Z,1553729499.244 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:39.244Z,1553729499.244 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:39.648Z,1553729499.648 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:39.648Z,1553729499.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:40.015Z,1553729500.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:40.019Z,1553729500.019 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:40.093Z,1553729500.093 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:40.093Z,1553729500.093 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:40.471Z,1553729500.471 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:40.472Z,1553729500.472 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:40.472Z,1553729500.472 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:31:40.473Z,1553729500.473 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.949972 forward, -0.312335 starboard, 0.000000 keelward ]
2019-03-27T23:31:40.473Z,1553729500.473 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:31:40.473Z,1553729500.473 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:40.473Z,1553729500.473 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:40.475Z,1553729500.475 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.931724,-0.294518,-0.212484;0.288030,-0.955638,0.061595;-0.221198,-0.003812,0.975221 ]
2019-03-27T23:31:40.476Z,1553729500.476 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 178.901560 degrees FINAL. Radians:3.122421
2019-03-27T23:31:40.477Z,1553729500.477 [lineCaptureHoming:I.](INFO): ContactLat = 36.802539 ContactLon = -121.788044
2019-03-27T23:31:40.550Z,1553729500.550 [Reporter](INFO): acoustic_contact_range 19.560001 m
2019-03-27T23:31:40.550Z,1553729500.550 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.122421 rad
2019-03-27T23:31:40.880Z,1553729500.880 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:40.880Z,1553729500.880 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:41.283Z,1553729501.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:41.284Z,1553729501.284 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:41.723Z,1553729501.723 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:41.724Z,1553729501.724 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:42.092Z,1553729502.092 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:42.092Z,1553729502.092 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:42.468Z,1553729502.468 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:42.468Z,1553729502.468 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:42.883Z,1553729502.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:42.884Z,1553729502.884 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:43.280Z,1553729503.280 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:43.280Z,1553729503.280 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:43.724Z,1553729503.724 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:43.724Z,1553729503.724 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:44.061Z,1553729504.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:44.064Z,1553729504.064 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:44.201Z,1553729504.201 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:44.202Z,1553729504.202 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:44.458Z,1553729504.458 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-27T23:31:44.522Z,1553729504.522 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:44.522Z,1553729504.522 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:44.913Z,1553729504.913 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:44.914Z,1553729504.914 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:45.332Z,1553729505.332 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:45.332Z,1553729505.332 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:45.771Z,1553729505.771 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:45.771Z,1553729505.771 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:46.110Z,1553729506.110 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:46.110Z,1553729506.110 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:46.510Z,1553729506.510 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:46.511Z,1553729506.511 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:46.928Z,1553729506.928 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:46.928Z,1553729506.928 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:47.327Z,1553729507.327 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:47.327Z,1553729507.327 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:47.775Z,1553729507.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:47.775Z,1553729507.775 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:48.111Z,1553729508.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:48.132Z,1553729508.132 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:48.205Z,1553729508.205 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:48.205Z,1553729508.205 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:48.560Z,1553729508.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:48.560Z,1553729508.560 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:48.560Z,1553729508.560 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:31:48.565Z,1553729508.565 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966600 forward, -0.256289 starboard, 0.000000 keelward ]
2019-03-27T23:31:48.565Z,1553729508.565 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:31:48.565Z,1553729508.565 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:48.566Z,1553729508.566 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:48.567Z,1553729508.567 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925444,-0.300316,-0.231003;0.293168,-0.953813,0.065519;-0.240010,-0.007089,0.970744 ]
2019-03-27T23:31:48.568Z,1553729508.568 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.094361 rad -- adding 2pi
2019-03-27T23:31:48.568Z,1553729508.568 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.188824 rad after adding 2pi
2019-03-27T23:31:48.573Z,1553729508.573 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.706181 degrees FINAL. Radians:3.188824
2019-03-27T23:31:48.574Z,1553729508.574 [lineCaptureHoming:I.](INFO): ContactLat = 36.802658 ContactLon = -121.788051
2019-03-27T23:31:48.689Z,1553729508.689 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:31:48.692Z,1553729508.692 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.188824 rad
2019-03-27T23:31:48.986Z,1553729508.986 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:48.986Z,1553729508.986 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:49.367Z,1553729509.367 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:49.367Z,1553729509.367 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:49.767Z,1553729509.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:49.767Z,1553729509.767 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:50.162Z,1553729510.162 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:50.162Z,1553729510.162 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:50.566Z,1553729510.566 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:50.566Z,1553729510.566 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:50.979Z,1553729510.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:50.979Z,1553729510.979 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:51.380Z,1553729511.380 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:51.380Z,1553729511.380 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:51.775Z,1553729511.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:51.776Z,1553729511.776 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:52.133Z,1553729512.133 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:52.137Z,1553729512.137 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:52.192Z,1553729512.192 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:52.192Z,1553729512.192 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:52.575Z,1553729512.575 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:52.575Z,1553729512.575 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:52.575Z,1553729512.575 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:31:52.576Z,1553729512.576 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971342 forward, -0.237686 starboard, 0.000000 keelward ]
2019-03-27T23:31:52.576Z,1553729512.576 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:31:52.577Z,1553729512.577 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:52.577Z,1553729512.577 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:31:52.579Z,1553729512.579 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.926520,-0.299485,-0.227748;0.292824,-0.954067,0.063320;-0.236250,-0.008023,0.971659 ]
2019-03-27T23:31:52.579Z,1553729512.579 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.075542 rad -- adding 2pi
2019-03-27T23:31:52.580Z,1553729512.580 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.207643 rad after adding 2pi
2019-03-27T23:31:52.580Z,1553729512.580 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.784422 degrees FINAL. Radians:3.207643
2019-03-27T23:31:52.581Z,1553729512.581 [lineCaptureHoming:I.](INFO): ContactLat = 36.802658 ContactLon = -121.788051
2019-03-27T23:31:52.630Z,1553729512.630 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:31:52.631Z,1553729512.631 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.207643 rad
2019-03-27T23:31:52.985Z,1553729512.985 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:52.985Z,1553729512.985 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:53.384Z,1553729513.384 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:53.384Z,1553729513.384 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:53.805Z,1553729513.805 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:53.806Z,1553729513.806 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:54.197Z,1553729514.197 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:54.198Z,1553729514.198 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:54.611Z,1553729514.611 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:54.611Z,1553729514.611 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:55.024Z,1553729515.024 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:55.024Z,1553729515.024 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:55.403Z,1553729515.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:55.403Z,1553729515.403 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:55.812Z,1553729515.812 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:55.812Z,1553729515.812 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:56.175Z,1553729516.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:31:56.179Z,1553729516.179 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:31:56.241Z,1553729516.241 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:56.242Z,1553729516.242 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:56.582Z,1553729516.582 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-27T23:31:56.632Z,1553729516.632 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:56.632Z,1553729516.632 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:57.035Z,1553729517.035 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:57.036Z,1553729517.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:57.448Z,1553729517.448 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:57.448Z,1553729517.448 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:57.858Z,1553729517.858 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:57.859Z,1553729517.859 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:58.230Z,1553729518.230 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:58.230Z,1553729518.230 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:58.628Z,1553729518.628 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:58.628Z,1553729518.628 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:59.043Z,1553729519.043 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:59.044Z,1553729519.044 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:59.444Z,1553729519.444 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:59.444Z,1553729519.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:31:59.855Z,1553729519.855 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:31:59.856Z,1553729519.856 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:00.215Z,1553729520.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:00.220Z,1553729520.220 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:00.304Z,1553729520.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:00.320Z,1553729520.320 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:00.733Z,1553729520.733 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:00.733Z,1553729520.733 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:00.733Z,1553729520.733 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:00.734Z,1553729520.734 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]
2019-03-27T23:32:00.734Z,1553729520.734 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:00.734Z,1553729520.734 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:00.734Z,1553729520.734 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:00.736Z,1553729520.736 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.928911,-0.290904,-0.229128;0.283998,-0.956732,0.063321;-0.237634,-0.006253,0.971335 ]
2019-03-27T23:32:00.745Z,1553729520.745 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.095551 rad -- adding 2pi
2019-03-27T23:32:00.745Z,1553729520.745 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.187635 rad after adding 2pi
2019-03-27T23:32:00.746Z,1553729520.746 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.638015 degrees FINAL. Radians:3.187635
2019-03-27T23:32:00.747Z,1553729520.747 [lineCaptureHoming:I.](INFO): ContactLat = 36.802655 ContactLon = -121.788050
2019-03-27T23:32:00.815Z,1553729520.815 [Reporter](INFO): acoustic_contact_range 6.479999 m
2019-03-27T23:32:00.816Z,1553729520.816 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.187635 rad
2019-03-27T23:32:01.081Z,1553729521.081 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:01.081Z,1553729521.081 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:01.459Z,1553729521.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:01.460Z,1553729521.460 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:01.906Z,1553729521.906 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:01.907Z,1553729521.907 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:02.284Z,1553729522.284 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:02.284Z,1553729522.284 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:02.695Z,1553729522.695 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:02.696Z,1553729522.696 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:03.088Z,1553729523.088 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:03.088Z,1553729523.088 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:03.484Z,1553729523.484 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](INFO): Timed out from 2019-03-27T23:31:03.3Z
2019-03-27T23:32:03.484Z,1553729523.484 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout] Running Loop=1
2019-03-27T23:32:03.484Z,1553729523.484 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout
2019-03-27T23:32:03.485Z,1553729523.485 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout:A] Running Loop=1
2019-03-27T23:32:03.485Z,1553729523.485 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout:A](IMPORTANT): Timed out at current depth of 0.527432 m . Switching to altitude servo.
2019-03-27T23:32:03.485Z,1553729523.485 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout:A] Stopped
2019-03-27T23:32:03.486Z,1553729523.486 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout
2019-03-27T23:32:03.486Z,1553729523.486 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-27T23:32:03.486Z,1553729523.486 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-27T23:32:03.487Z,1553729523.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:03.487Z,1553729523.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:03.919Z,1553729523.919 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-27T23:32:03.920Z,1553729523.920 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-27T23:32:03.920Z,1553729523.920 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-27T23:32:03.920Z,1553729523.920 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-27T23:32:03.920Z,1553729523.920 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-27T23:32:03.920Z,1553729523.920 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-27T23:32:03.920Z,1553729523.920 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-27T23:32:03.925Z,1553729523.925 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:03.925Z,1553729523.925 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:04.254Z,1553729524.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:04.255Z,1553729524.255 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:04.354Z,1553729524.354 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-27T23:32:04.354Z,1553729524.354 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-27T23:32:04.355Z,1553729524.355 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-27T23:32:04.356Z,1553729524.356 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-27T23:32:04.356Z,1553729524.356 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-27T23:32:04.374Z,1553729524.374 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:04.374Z,1553729524.374 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:04.767Z,1553729524.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:04.768Z,1553729524.768 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:04.768Z,1553729524.768 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:04.777Z,1553729524.777 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970716 forward, -0.240228 starboard, 0.000000 keelward ]
2019-03-27T23:32:04.777Z,1553729524.777 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:04.778Z,1553729524.778 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:04.778Z,1553729524.778 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:04.780Z,1553729524.780 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.927149,-0.296540,-0.229040;0.289703,-0.954993,0.063729;-0.237629,-0.007267,0.971329 ]
2019-03-27T23:32:04.780Z,1553729524.780 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.081392 rad -- adding 2pi
2019-03-27T23:32:04.789Z,1553729524.789 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.201793 rad after adding 2pi
2019-03-27T23:32:04.789Z,1553729524.789 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.449223 degrees FINAL. Radians:3.201793
2019-03-27T23:32:04.790Z,1553729524.790 [lineCaptureHoming:I.](INFO): ContactLat = 36.802654 ContactLon = -121.788051
2019-03-27T23:32:04.854Z,1553729524.854 [Reporter](INFO): acoustic_contact_range 6.539999 m
2019-03-27T23:32:04.855Z,1553729524.855 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.201793 rad
2019-03-27T23:32:05.170Z,1553729525.170 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:05.171Z,1553729525.171 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:05.504Z,1553729525.504 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:05.504Z,1553729525.504 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:05.972Z,1553729525.972 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:05.972Z,1553729525.972 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:06.328Z,1553729526.328 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:06.328Z,1553729526.328 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:06.769Z,1553729526.769 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:06.769Z,1553729526.769 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:07.134Z,1553729527.134 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:07.134Z,1553729527.134 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:07.540Z,1553729527.540 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:07.540Z,1553729527.540 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:07.964Z,1553729527.964 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:07.964Z,1553729527.964 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:08.295Z,1553729528.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:08.295Z,1553729528.295 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:08.409Z,1553729528.409 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:08.409Z,1553729528.409 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:08.812Z,1553729528.812 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:08.812Z,1553729528.812 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:08.812Z,1553729528.812 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:08.817Z,1553729528.817 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.977416 forward, -0.211325 starboard, 0.000000 keelward ]
2019-03-27T23:32:08.818Z,1553729528.818 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:08.818Z,1553729528.818 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:08.818Z,1553729528.818 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:08.820Z,1553729528.820 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925809,-0.299883,-0.230102;0.292727,-0.953952,0.065471;-0.239140,-0.006744,0.970962 ]
2019-03-27T23:32:08.820Z,1553729528.820 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.047210 rad -- adding 2pi
2019-03-27T23:32:08.825Z,1553729528.825 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.235975 rad after adding 2pi
2019-03-27T23:32:08.825Z,1553729528.825 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 185.407698 degrees FINAL. Radians:3.235975
2019-03-27T23:32:08.826Z,1553729528.826 [lineCaptureHoming:I.](INFO): ContactLat = 36.802507 ContactLon = -121.788072
2019-03-27T23:32:08.884Z,1553729528.884 [Reporter](INFO): acoustic_contact_range 23.519997 m
2019-03-27T23:32:08.888Z,1553729528.888 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.235975 rad
2019-03-27T23:32:09.136Z,1553729529.136 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:09.136Z,1553729529.136 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:09.552Z,1553729529.552 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:09.552Z,1553729529.552 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:09.965Z,1553729529.965 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:09.965Z,1553729529.965 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:10.361Z,1553729530.361 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:10.361Z,1553729530.361 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:10.770Z,1553729530.770 [PowerOnly](INFO): Powering down
2019-03-27T23:32:10.797Z,1553729530.797 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:10.797Z,1553729530.797 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:11.151Z,1553729531.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:11.152Z,1553729531.152 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:11.562Z,1553729531.562 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:11.563Z,1553729531.563 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:11.976Z,1553729531.976 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:11.976Z,1553729531.976 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:12.335Z,1553729532.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:12.341Z,1553729532.341 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:12.402Z,1553729532.402 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:12.402Z,1553729532.402 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:12.791Z,1553729532.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:12.792Z,1553729532.792 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:12.792Z,1553729532.792 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:12.792Z,1553729532.792 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971549 forward, -0.236838 starboard, 0.000000 keelward ]
2019-03-27T23:32:12.793Z,1553729532.793 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:12.793Z,1553729532.793 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:12.793Z,1553729532.793 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:12.795Z,1553729532.795 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925900,-0.300665,-0.228713;0.293891,-0.953696,0.063963;-0.237354,-0.007993,0.971390 ]
2019-03-27T23:32:12.796Z,1553729532.796 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.073352 rad -- adding 2pi
2019-03-27T23:32:12.796Z,1553729532.796 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.209833 rad after adding 2pi
2019-03-27T23:32:12.796Z,1553729532.796 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.909906 degrees FINAL. Radians:3.209833
2019-03-27T23:32:12.797Z,1553729532.797 [lineCaptureHoming:I.](INFO): ContactLat = 36.802654 ContactLon = -121.788053
2019-03-27T23:32:12.838Z,1553729532.838 [Reporter](INFO): acoustic_contact_range 6.479999 m
2019-03-27T23:32:12.839Z,1553729532.839 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.209833 rad
2019-03-27T23:32:13.194Z,1553729533.194 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:13.194Z,1553729533.194 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:13.596Z,1553729533.596 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:13.596Z,1553729533.596 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:14.012Z,1553729534.012 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:14.012Z,1553729534.012 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:14.390Z,1553729534.390 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:14.391Z,1553729534.391 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:14.805Z,1553729534.805 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:14.805Z,1553729534.805 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:15.192Z,1553729535.192 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:15.192Z,1553729535.192 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:15.604Z,1553729535.604 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:15.604Z,1553729535.604 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:16.016Z,1553729536.016 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:16.017Z,1553729536.017 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:16.378Z,1553729536.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:16.382Z,1553729536.382 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:16.489Z,1553729536.489 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:16.490Z,1553729536.490 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:16.843Z,1553729536.843 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:16.843Z,1553729536.843 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:16.843Z,1553729536.843 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:16.844Z,1553729536.844 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965926 forward, -0.258819 starboard, 0.000000 keelward ]
2019-03-27T23:32:16.844Z,1553729536.844 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:16.845Z,1553729536.845 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:16.845Z,1553729536.845 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:16.847Z,1553729536.847 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.926213,-0.299228,-0.229328;0.292403,-0.954150,0.064016;-0.237969,-0.007764,0.971242 ]
2019-03-27T23:32:16.847Z,1553729536.847 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.098253 rad -- adding 2pi
2019-03-27T23:32:16.848Z,1553729536.848 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.184932 rad after adding 2pi
2019-03-27T23:32:16.848Z,1553729536.848 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.483161 degrees FINAL. Radians:3.184932
2019-03-27T23:32:16.849Z,1553729536.849 [lineCaptureHoming:I.](INFO): ContactLat = 36.802657 ContactLon = -121.788051
2019-03-27T23:32:16.890Z,1553729536.890 [Reporter](INFO): acoustic_contact_range 6.240000 m
2019-03-27T23:32:16.891Z,1553729536.891 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.184932 rad
2019-03-27T23:32:17.255Z,1553729537.255 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:17.255Z,1553729537.255 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:17.644Z,1553729537.644 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:17.644Z,1553729537.644 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:18.056Z,1553729538.056 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:18.056Z,1553729538.056 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:18.430Z,1553729538.430 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:18.430Z,1553729538.430 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:18.840Z,1553729538.840 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:18.840Z,1553729538.840 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:19.238Z,1553729539.238 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:19.238Z,1553729539.238 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:19.648Z,1553729539.648 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:19.648Z,1553729539.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:20.051Z,1553729540.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:20.051Z,1553729540.051 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:20.415Z,1553729540.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:20.419Z,1553729540.419 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:20.528Z,1553729540.528 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:20.528Z,1553729540.528 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:20.881Z,1553729540.881 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:20.881Z,1553729540.881 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:21.280Z,1553729541.280 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:21.280Z,1553729541.280 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:21.716Z,1553729541.716 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:21.716Z,1553729541.716 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:22.096Z,1553729542.096 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:22.096Z,1553729542.096 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:22.483Z,1553729542.483 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:22.483Z,1553729542.483 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:22.888Z,1553729542.888 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:22.889Z,1553729542.889 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:23.283Z,1553729543.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:23.283Z,1553729543.283 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:23.718Z,1553729543.718 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:23.718Z,1553729543.718 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:24.104Z,1553729544.104 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:24.104Z,1553729544.104 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:24.455Z,1553729544.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:24.460Z,1553729544.460 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:24.573Z,1553729544.573 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:24.573Z,1553729544.573 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:24.925Z,1553729544.925 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:24.925Z,1553729544.925 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:24.925Z,1553729544.925 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:24.926Z,1553729544.926 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965926 forward, -0.258819 starboard, 0.000000 keelward ]
2019-03-27T23:32:24.926Z,1553729544.926 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:24.926Z,1553729544.926 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:24.927Z,1553729544.927 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:24.928Z,1553729544.928 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923980,-0.305912,-0.229519;0.299317,-0.952011,0.063914;-0.238056,-0.009644,0.971204 ]
2019-03-27T23:32:24.929Z,1553729544.929 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.091026 rad -- adding 2pi
2019-03-27T23:32:24.930Z,1553729544.930 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.192160 rad after adding 2pi
2019-03-27T23:32:24.930Z,1553729544.930 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.897276 degrees FINAL. Radians:3.192160
2019-03-27T23:32:24.931Z,1553729544.931 [lineCaptureHoming:I.](INFO): ContactLat = 36.802638 ContactLon = -121.788050
2019-03-27T23:32:24.970Z,1553729544.970 [Reporter](INFO): acoustic_contact_range 8.579998 m
2019-03-27T23:32:24.970Z,1553729544.970 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.192160 rad
2019-03-27T23:32:25.304Z,1553729545.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:25.304Z,1553729545.304 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:25.767Z,1553729545.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:25.767Z,1553729545.767 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:26.110Z,1553729546.110 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:26.110Z,1553729546.110 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:26.508Z,1553729546.508 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:26.508Z,1553729546.508 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:26.946Z,1553729546.946 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:26.946Z,1553729546.946 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:27.319Z,1553729547.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:27.319Z,1553729547.319 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:27.762Z,1553729547.762 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:27.762Z,1553729547.762 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:28.134Z,1553729548.134 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:28.134Z,1553729548.134 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:28.499Z,1553729548.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:28.503Z,1553729548.503 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:28.608Z,1553729548.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:28.608Z,1553729548.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:28.947Z,1553729548.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:28.947Z,1553729548.947 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:28.947Z,1553729548.947 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:28.948Z,1553729548.948 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967709 forward, -0.252069 starboard, 0.000000 keelward ]
2019-03-27T23:32:28.948Z,1553729548.948 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:28.948Z,1553729548.948 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:28.948Z,1553729548.948 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:28.967Z,1553729548.967 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923471,-0.307412,-0.229561;0.300927,-0.951521,0.063650;-0.237999,-0.010302,0.971211 ]
2019-03-27T23:32:28.967Z,1553729548.967 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.082213 rad -- adding 2pi
2019-03-27T23:32:28.968Z,1553729548.968 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.200972 rad after adding 2pi
2019-03-27T23:32:28.968Z,1553729548.968 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.402191 degrees FINAL. Radians:3.200972
2019-03-27T23:32:28.973Z,1553729548.973 [lineCaptureHoming:I.](INFO): ContactLat = 36.802660 ContactLon = -121.788049
2019-03-27T23:32:29.022Z,1553729549.022 [Reporter](INFO): acoustic_contact_range 6.059999 m
2019-03-27T23:32:29.023Z,1553729549.023 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.200972 rad
2019-03-27T23:32:29.340Z,1553729549.340 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:29.340Z,1553729549.340 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:29.762Z,1553729549.762 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:29.762Z,1553729549.762 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:30.120Z,1553729550.120 [NAL9602](INFO): SBD MO Status=2, MOMSN=2465, MT Status=2, MTMSN=0
2019-03-27T23:32:30.120Z,1553729550.120 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-27T23:32:30.152Z,1553729550.152 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:30.152Z,1553729550.152 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:30.560Z,1553729550.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:30.560Z,1553729550.560 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:30.972Z,1553729550.972 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:30.973Z,1553729550.973 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:31.369Z,1553729551.369 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:31.370Z,1553729551.370 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:31.787Z,1553729551.787 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:31.787Z,1553729551.787 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:32.166Z,1553729552.166 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:32.166Z,1553729552.166 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:32.536Z,1553729552.536 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:32.540Z,1553729552.540 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:32.595Z,1553729552.595 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:32.595Z,1553729552.595 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:32.939Z,1553729552.939 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-27T23:32:32.998Z,1553729552.998 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:32.998Z,1553729552.998 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:33.380Z,1553729553.380 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:33.380Z,1553729553.380 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:33.824Z,1553729553.824 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:33.824Z,1553729553.824 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:34.196Z,1553729554.196 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:34.196Z,1553729554.196 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:34.619Z,1553729554.619 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:34.620Z,1553729554.620 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:35.040Z,1553729555.040 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:35.040Z,1553729555.040 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:35.392Z,1553729555.392 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:35.392Z,1553729555.392 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:35.808Z,1553729555.808 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:35.808Z,1553729555.808 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:36.208Z,1553729556.208 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:36.209Z,1553729556.209 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:36.575Z,1553729556.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:36.580Z,1553729556.580 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:36.639Z,1553729556.639 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:36.640Z,1553729556.640 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:37.031Z,1553729557.031 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:37.031Z,1553729557.031 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:37.031Z,1553729557.031 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:37.032Z,1553729557.032 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966376 forward, -0.257133 starboard, 0.000000 keelward ]
2019-03-27T23:32:37.032Z,1553729557.032 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:37.033Z,1553729557.033 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:37.033Z,1553729557.033 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:37.035Z,1553729557.035 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923309,-0.307874,-0.229596;0.301541,-0.951364,0.063088;-0.237852,-0.010983,0.971239 ]
2019-03-27T23:32:37.035Z,1553729557.035 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.087104 rad -- adding 2pi
2019-03-27T23:32:37.036Z,1553729557.036 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.196081 rad after adding 2pi
2019-03-27T23:32:37.036Z,1553729557.036 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.121962 degrees FINAL. Radians:3.196081
2019-03-27T23:32:37.037Z,1553729557.037 [lineCaptureHoming:I.](INFO): ContactLat = 36.802659 ContactLon = -121.788049
2019-03-27T23:32:37.110Z,1553729557.110 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:32:37.110Z,1553729557.110 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.196081 rad
2019-03-27T23:32:37.443Z,1553729557.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:37.444Z,1553729557.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:37.849Z,1553729557.849 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:37.850Z,1553729557.850 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:38.248Z,1553729558.248 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:38.248Z,1553729558.248 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:38.623Z,1553729558.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:38.623Z,1553729558.623 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:39.054Z,1553729559.054 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:39.054Z,1553729559.054 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:39.440Z,1553729559.440 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:39.440Z,1553729559.440 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:39.892Z,1553729559.892 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:39.925Z,1553729559.925 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:40.268Z,1553729560.268 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:40.268Z,1553729560.268 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:40.644Z,1553729560.644 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:40.657Z,1553729560.657 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:40.733Z,1553729560.733 [RDI_Pathfinder](ERROR): only read 2 of 5 data items
2019-03-27T23:32:40.733Z,1553729560.733 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,    +4,    0A
2019-03-27T23:32:40.901Z,1553729560.901 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:40.902Z,1553729560.902 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:41.095Z,1553729561.095 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,185,80,81,0D,FF
2019-03-27T23:32:41.212Z,1553729561.212 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:41.212Z,1553729561.212 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:41.531Z,1553729561.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:41.531Z,1553729561.531 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:42.096Z,1553729562.096 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:42.096Z,1553729562.096 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:42.349Z,1553729562.349 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:42.349Z,1553729562.349 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:42.782Z,1553729562.782 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:42.783Z,1553729562.783 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:43.144Z,1553729563.144 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:43.144Z,1553729563.144 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:43.524Z,1553729563.524 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:43.524Z,1553729563.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:44.020Z,1553729564.020 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:44.020Z,1553729564.020 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:44.332Z,1553729564.332 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:44.332Z,1553729564.332 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:44.731Z,1553729564.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:44.741Z,1553729564.741 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:44.971Z,1553729564.971 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:44.971Z,1553729564.971 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:45.246Z,1553729565.246 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:45.246Z,1553729565.246 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:45.247Z,1553729565.247 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:45.247Z,1553729565.247 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.996041 forward, -0.088894 starboard, 0.000000 keelward ]
2019-03-27T23:32:45.248Z,1553729565.248 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:45.248Z,1553729565.248 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:45.248Z,1553729565.248 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:45.262Z,1553729565.262 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.921955,-0.311361,-0.230331;0.305300,-0.950206,0.062451;-0.238307,-0.012743,0.971106 ]
2019-03-27T23:32:45.263Z,1553729565.263 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.907295 rad -- adding 2pi
2019-03-27T23:32:45.263Z,1553729565.263 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.375891 rad after adding 2pi
2019-03-27T23:32:45.263Z,1553729565.263 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 193.424291 degrees FINAL. Radians:3.375891
2019-03-27T23:32:45.264Z,1553729565.264 [lineCaptureHoming:I.](INFO): ContactLat = 36.802564 ContactLon = -121.788090
2019-03-27T23:32:45.378Z,1553729565.378 [Reporter](INFO): acoustic_contact_range 17.520002 m
2019-03-27T23:32:45.380Z,1553729565.380 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.375891 rad
2019-03-27T23:32:45.640Z,1553729565.640 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:45.666Z,1553729565.666 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:46.087Z,1553729566.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:46.087Z,1553729566.087 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:46.443Z,1553729566.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:46.443Z,1553729566.443 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:46.854Z,1553729566.854 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:46.854Z,1553729566.854 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:47.184Z,1553729567.184 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:47.184Z,1553729567.184 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:47.592Z,1553729567.592 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:47.592Z,1553729567.592 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:48.024Z,1553729568.024 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:48.024Z,1553729568.024 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:48.443Z,1553729568.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:48.444Z,1553729568.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:48.758Z,1553729568.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:48.760Z,1553729568.760 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:48.917Z,1553729568.917 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:48.918Z,1553729568.918 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:49.282Z,1553729569.282 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:49.282Z,1553729569.282 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:49.282Z,1553729569.282 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:49.283Z,1553729569.283 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970084 forward, -0.242769 starboard, 0.000000 keelward ]
2019-03-27T23:32:49.283Z,1553729569.283 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:49.283Z,1553729569.283 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:49.283Z,1553729569.283 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:49.297Z,1553729569.297 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922219,-0.310526,-0.230406;0.304539,-0.950477,0.062047;-0.238262,-0.012947,0.971115 ]
2019-03-27T23:32:49.298Z,1553729569.298 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.068943 rad -- adding 2pi
2019-03-27T23:32:49.298Z,1553729569.298 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.214243 rad after adding 2pi
2019-03-27T23:32:49.299Z,1553729569.299 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.162541 degrees FINAL. Radians:3.214243
2019-03-27T23:32:49.299Z,1553729569.299 [lineCaptureHoming:I.](INFO): ContactLat = 36.802136 ContactLon = -121.788099
2019-03-27T23:32:49.370Z,1553729569.370 [Reporter](INFO): acoustic_contact_range 66.180000 m
2019-03-27T23:32:49.371Z,1553729569.371 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.214243 rad
2019-03-27T23:32:49.647Z,1553729569.647 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:49.648Z,1553729569.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:50.050Z,1553729570.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:50.050Z,1553729570.050 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:50.453Z,1553729570.453 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:50.454Z,1553729570.454 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:50.868Z,1553729570.868 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:50.868Z,1553729570.868 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:51.218Z,1553729571.218 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:51.219Z,1553729571.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:51.615Z,1553729571.615 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:51.615Z,1553729571.615 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:52.072Z,1553729572.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:52.072Z,1553729572.072 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:52.455Z,1553729572.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:52.455Z,1553729572.455 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:52.798Z,1553729572.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:52.799Z,1553729572.799 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:53.002Z,1553729573.002 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:53.002Z,1553729573.002 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:53.268Z,1553729573.268 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:53.268Z,1553729573.268 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:53.268Z,1553729573.268 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:53.278Z,1553729573.278 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966600 forward, -0.256289 starboard, 0.000000 keelward ]
2019-03-27T23:32:53.278Z,1553729573.278 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:53.278Z,1553729573.278 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:53.278Z,1553729573.278 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:53.280Z,1553729573.280 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922661,-0.308926,-0.230787;0.302973,-0.950998,0.061732;-0.238548,-0.012965,0.971044 ]
2019-03-27T23:32:53.289Z,1553729573.289 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.085049 rad -- adding 2pi
2019-03-27T23:32:53.289Z,1553729573.289 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.198136 rad after adding 2pi
2019-03-27T23:32:53.290Z,1553729573.290 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.239700 degrees FINAL. Radians:3.198136
2019-03-27T23:32:53.290Z,1553729573.290 [lineCaptureHoming:I.](INFO): ContactLat = 36.802105 ContactLon = -121.788089
2019-03-27T23:32:53.373Z,1553729573.373 [Reporter](INFO): acoustic_contact_range 69.720001 m
2019-03-27T23:32:53.375Z,1553729573.375 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.198136 rad
2019-03-27T23:32:53.758Z,1553729573.758 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:53.758Z,1553729573.758 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:54.087Z,1553729574.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:54.087Z,1553729574.087 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:54.486Z,1553729574.486 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:54.487Z,1553729574.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:54.902Z,1553729574.902 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:54.902Z,1553729574.902 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:55.298Z,1553729575.298 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:55.298Z,1553729575.298 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:55.738Z,1553729575.738 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:55.738Z,1553729575.738 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:56.138Z,1553729576.138 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:56.138Z,1553729576.138 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:56.476Z,1553729576.476 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:56.476Z,1553729576.476 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:56.839Z,1553729576.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:32:56.843Z,1553729576.843 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:32:56.952Z,1553729576.952 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:56.952Z,1553729576.952 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:57.277Z,1553729577.277 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:57.277Z,1553729577.277 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:57.278Z,1553729577.278 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:32:57.278Z,1553729577.278 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.973976 forward, -0.226651 starboard, 0.000000 keelward ]
2019-03-27T23:32:57.279Z,1553729577.279 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:32:57.279Z,1553729577.279 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:57.279Z,1553729577.279 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:32:57.281Z,1553729577.281 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922864,-0.307997,-0.231212;0.302088,-0.951297,0.061462;-0.238881,-0.013126,0.970960 ]
2019-03-27T23:32:57.282Z,1553729577.282 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.054593 rad -- adding 2pi
2019-03-27T23:32:57.282Z,1553729577.282 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.228593 rad after adding 2pi
2019-03-27T23:32:57.282Z,1553729577.282 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.984732 degrees FINAL. Radians:3.228593
2019-03-27T23:32:57.283Z,1553729577.283 [lineCaptureHoming:I.](INFO): ContactLat = 36.802635 ContactLon = -121.788055
2019-03-27T23:32:57.362Z,1553729577.362 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:32:57.363Z,1553729577.363 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.228593 rad
2019-03-27T23:32:57.707Z,1553729577.707 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:57.708Z,1553729577.708 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:58.103Z,1553729578.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:58.104Z,1553729578.104 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:58.493Z,1553729578.493 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:58.493Z,1553729578.493 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:58.912Z,1553729578.912 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:58.912Z,1553729578.912 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:59.315Z,1553729579.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:59.315Z,1553729579.315 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:32:59.735Z,1553729579.735 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:32:59.735Z,1553729579.735 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:00.116Z,1553729580.116 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:00.116Z,1553729580.116 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:00.504Z,1553729580.504 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:00.504Z,1553729580.504 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:00.876Z,1553729580.876 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:00.883Z,1553729580.883 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:00.999Z,1553729580.999 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:00.999Z,1553729580.999 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:01.324Z,1553729581.324 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:01.325Z,1553729581.325 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:01.325Z,1553729581.325 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:01.326Z,1553729581.326 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.969445 forward, -0.245307 starboard, 0.000000 keelward ]
2019-03-27T23:33:01.326Z,1553729581.326 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:01.326Z,1553729581.326 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:01.326Z,1553729581.326 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:01.328Z,1553729581.328 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922848,-0.307569,-0.231848;0.301714,-0.951431,0.061222;-0.239417,-0.013453,0.970824 ]
2019-03-27T23:33:01.329Z,1553729581.329 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.074818 rad -- adding 2pi
2019-03-27T23:33:01.329Z,1553729581.329 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.208367 rad after adding 2pi
2019-03-27T23:33:01.330Z,1553729581.330 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.825894 degrees FINAL. Radians:3.208367
2019-03-27T23:33:01.330Z,1553729581.330 [lineCaptureHoming:I.](INFO): ContactLat = 36.802636 ContactLon = -121.788053
2019-03-27T23:33:01.385Z,1553729581.385 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-27T23:33:01.386Z,1553729581.386 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.208367 rad
2019-03-27T23:33:01.761Z,1553729581.761 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:01.761Z,1553729581.761 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:02.134Z,1553729582.134 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:02.134Z,1553729582.134 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:02.539Z,1553729582.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:02.539Z,1553729582.539 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:02.962Z,1553729582.962 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:02.963Z,1553729582.963 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:03.338Z,1553729583.338 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:03.338Z,1553729583.338 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:03.760Z,1553729583.760 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:03.760Z,1553729583.760 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:04.146Z,1553729584.146 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:04.147Z,1553729584.147 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:04.517Z,1553729584.517 [NAL9602](INFO): SBD MO Status=2, MOMSN=2465, MT Status=2, MTMSN=0
2019-03-27T23:33:04.517Z,1553729584.517 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-27T23:33:04.552Z,1553729584.552 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:04.552Z,1553729584.552 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:04.923Z,1553729584.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:04.927Z,1553729584.927 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:05.050Z,1553729585.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:05.050Z,1553729585.050 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:05.383Z,1553729585.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:05.384Z,1553729585.384 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:05.384Z,1553729585.384 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:05.385Z,1553729585.385 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966600 forward, -0.256289 starboard, 0.000000 keelward ]
2019-03-27T23:33:05.385Z,1553729585.385 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:05.385Z,1553729585.385 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:05.385Z,1553729585.385 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:05.387Z,1553729585.387 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923283,-0.306211,-0.231912;0.300290,-0.951875,0.061323;-0.239529,-0.013022,0.970802 ]
2019-03-27T23:33:05.388Z,1553729585.388 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.087974 rad -- adding 2pi
2019-03-27T23:33:05.388Z,1553729585.388 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.195211 rad after adding 2pi
2019-03-27T23:33:05.388Z,1553729585.388 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.072101 degrees FINAL. Radians:3.195211
2019-03-27T23:33:05.389Z,1553729585.389 [lineCaptureHoming:I.](INFO): ContactLat = 36.802659 ContactLon = -121.788050
2019-03-27T23:33:05.430Z,1553729585.430 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:33:05.431Z,1553729585.431 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.195211 rad
2019-03-27T23:33:05.784Z,1553729585.784 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:05.784Z,1553729585.784 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:06.179Z,1553729586.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:06.179Z,1553729586.179 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:06.570Z,1553729586.570 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:06.570Z,1553729586.570 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:06.984Z,1553729586.984 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:06.984Z,1553729586.984 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:07.380Z,1553729587.380 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:07.380Z,1553729587.380 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:07.788Z,1553729587.788 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:07.788Z,1553729587.788 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:08.187Z,1553729588.187 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:08.187Z,1553729588.187 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:08.596Z,1553729588.596 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:08.596Z,1553729588.596 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:08.959Z,1553729588.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:08.963Z,1553729588.963 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:09.083Z,1553729589.083 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:09.083Z,1553729589.083 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:09.366Z,1553729589.366 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-27T23:33:09.447Z,1553729589.447 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:09.448Z,1553729589.448 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:09.824Z,1553729589.824 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:09.824Z,1553729589.824 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:10.203Z,1553729590.203 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:10.203Z,1553729590.203 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:10.612Z,1553729590.612 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:10.612Z,1553729590.612 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:11.020Z,1553729591.020 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:11.020Z,1553729591.020 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:11.422Z,1553729591.422 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:11.423Z,1553729591.423 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:11.837Z,1553729591.837 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:11.838Z,1553729591.838 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:12.252Z,1553729592.252 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:12.252Z,1553729592.252 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:12.666Z,1553729592.666 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:12.666Z,1553729592.666 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:13.003Z,1553729593.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:13.008Z,1553729593.008 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:13.124Z,1553729593.124 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:13.124Z,1553729593.124 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:13.444Z,1553729593.444 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:13.444Z,1553729593.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:13.444Z,1553729593.444 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:13.445Z,1553729593.445 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967268 forward, -0.253758 starboard, 0.000000 keelward ]
2019-03-27T23:33:13.446Z,1553729593.446 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:13.446Z,1553729593.446 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:13.446Z,1553729593.446 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:13.448Z,1553729593.448 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924206,-0.303416,-0.231912;0.297441,-0.952777,0.061191;-0.239526,-0.012427,0.970810 ]
2019-03-27T23:33:13.448Z,1553729593.448 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.088303 rad -- adding 2pi
2019-03-27T23:33:13.449Z,1553729593.449 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.194882 rad after adding 2pi
2019-03-27T23:33:13.449Z,1553729593.449 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.053250 degrees FINAL. Radians:3.194882
2019-03-27T23:33:13.450Z,1553729593.450 [lineCaptureHoming:I.](INFO): ContactLat = 36.802658 ContactLon = -121.788050
2019-03-27T23:33:13.514Z,1553729593.514 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:33:13.514Z,1553729593.514 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.194882 rad
2019-03-27T23:33:13.848Z,1553729593.848 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:13.848Z,1553729593.848 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:14.280Z,1553729594.280 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:14.280Z,1553729594.280 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:14.652Z,1553729594.652 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:14.652Z,1553729594.652 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:15.080Z,1553729595.080 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:15.080Z,1553729595.080 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:15.480Z,1553729595.480 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:15.480Z,1553729595.480 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:15.896Z,1553729595.896 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:15.896Z,1553729595.896 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:16.336Z,1553729596.336 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:16.336Z,1553729596.336 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:16.756Z,1553729596.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:16.756Z,1553729596.756 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:17.038Z,1553729597.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:17.039Z,1553729597.039 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:17.168Z,1553729597.168 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:17.168Z,1553729597.168 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:17.488Z,1553729597.488 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:17.488Z,1553729597.488 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:17.906Z,1553729597.906 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:17.906Z,1553729597.906 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:18.288Z,1553729598.288 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:18.288Z,1553729598.288 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:18.731Z,1553729598.731 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:18.732Z,1553729598.732 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:19.124Z,1553729599.124 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:19.124Z,1553729599.124 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:19.508Z,1553729599.508 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:19.508Z,1553729599.508 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:19.921Z,1553729599.921 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:19.922Z,1553729599.922 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:20.328Z,1553729600.328 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:20.328Z,1553729600.328 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:20.755Z,1553729600.755 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:20.755Z,1553729600.755 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:21.079Z,1553729601.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:21.083Z,1553729601.083 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:21.204Z,1553729601.204 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:21.204Z,1553729601.204 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:21.524Z,1553729601.524 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:21.524Z,1553729601.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:21.524Z,1553729601.524 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:21.525Z,1553729601.525 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970506 forward, -0.241075 starboard, 0.000000 keelward ]
2019-03-27T23:33:21.526Z,1553729601.526 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:21.526Z,1553729601.526 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:21.526Z,1553729601.526 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:21.528Z,1553729601.528 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924206,-0.303200,-0.232191;0.297175,-0.952848,0.061383;-0.239854,-0.012271,0.970731 ]
2019-03-27T23:33:21.528Z,1553729601.528 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.075048 rad -- adding 2pi
2019-03-27T23:33:21.529Z,1553729601.529 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.208137 rad after adding 2pi
2019-03-27T23:33:21.529Z,1553729601.529 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.812726 degrees FINAL. Radians:3.208137
2019-03-27T23:33:21.530Z,1553729601.530 [lineCaptureHoming:I.](INFO): ContactLat = 36.802499 ContactLon = -121.788064
2019-03-27T23:33:21.570Z,1553729601.570 [Reporter](INFO): acoustic_contact_range 24.420002 m
2019-03-27T23:33:21.571Z,1553729601.571 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.208137 rad
2019-03-27T23:33:21.940Z,1553729601.940 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:21.940Z,1553729601.940 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:22.334Z,1553729602.334 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:22.335Z,1553729602.335 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:22.771Z,1553729602.771 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:22.772Z,1553729602.772 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:23.136Z,1553729603.136 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:23.136Z,1553729603.136 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:23.540Z,1553729603.540 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:23.540Z,1553729603.540 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:23.948Z,1553729603.948 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:23.948Z,1553729603.948 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:24.348Z,1553729604.348 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:24.348Z,1553729604.348 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:24.771Z,1553729604.771 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:24.772Z,1553729604.772 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:25.125Z,1553729605.125 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:25.131Z,1553729605.131 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:25.192Z,1553729605.192 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:25.192Z,1553729605.192 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:25.572Z,1553729605.572 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:25.572Z,1553729605.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:25.572Z,1553729605.572 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:25.579Z,1553729605.579 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.974566 forward, -0.224101 starboard, 0.000000 keelward ]
2019-03-27T23:33:25.580Z,1553729605.580 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:25.580Z,1553729605.580 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:25.585Z,1553729605.585 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:25.587Z,1553729605.587 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924238,-0.303055,-0.232255;0.297106,-0.952890,0.061058;-0.239817,-0.012572,0.970737 ]
2019-03-27T23:33:25.587Z,1553729605.587 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.057226 rad -- adding 2pi
2019-03-27T23:33:25.588Z,1553729605.588 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.225960 rad after adding 2pi
2019-03-27T23:33:25.588Z,1553729605.588 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.833866 degrees FINAL. Radians:3.225960
2019-03-27T23:33:25.593Z,1553729605.593 [lineCaptureHoming:I.](INFO): ContactLat = 36.802655 ContactLon = -121.788053
2019-03-27T23:33:25.645Z,1553729605.645 [Reporter](INFO): acoustic_contact_range 6.539999 m
2019-03-27T23:33:25.646Z,1553729605.646 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.225960 rad
2019-03-27T23:33:25.989Z,1553729605.989 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:25.989Z,1553729605.989 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:26.382Z,1553729606.382 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:26.382Z,1553729606.382 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:26.803Z,1553729606.803 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:26.803Z,1553729606.803 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:27.181Z,1553729607.181 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:27.181Z,1553729607.181 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:27.585Z,1553729607.585 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:27.585Z,1553729607.585 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:28.005Z,1553729608.005 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:28.005Z,1553729608.005 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:28.403Z,1553729608.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:28.404Z,1553729608.404 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:28.815Z,1553729608.815 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:28.815Z,1553729608.815 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:29.159Z,1553729609.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:29.163Z,1553729609.163 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:29.240Z,1553729609.240 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:29.240Z,1553729609.240 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:29.579Z,1553729609.579 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-27T23:33:29.647Z,1553729609.647 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:29.648Z,1553729609.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:30.053Z,1553729610.053 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:30.053Z,1553729610.053 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:30.408Z,1553729610.408 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:30.408Z,1553729610.408 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:30.851Z,1553729610.851 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:30.851Z,1553729610.851 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:31.220Z,1553729611.220 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:31.220Z,1553729611.220 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:31.622Z,1553729611.622 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:31.622Z,1553729611.622 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:32.039Z,1553729612.039 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:32.040Z,1553729612.040 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:32.436Z,1553729612.436 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:32.436Z,1553729612.436 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:32.847Z,1553729612.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:32.847Z,1553729612.847 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:33.199Z,1553729613.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:33.203Z,1553729613.203 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:33.307Z,1553729613.307 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:33.308Z,1553729613.308 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:33.603Z,1553729613.603 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0D,FF
2019-03-27T23:33:33.720Z,1553729613.720 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:33.720Z,1553729613.720 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:34.053Z,1553729614.053 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:34.053Z,1553729614.053 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:34.447Z,1553729614.447 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:34.447Z,1553729614.447 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:34.856Z,1553729614.856 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:34.857Z,1553729614.857 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:35.251Z,1553729615.251 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:35.251Z,1553729615.251 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:35.666Z,1553729615.666 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:35.666Z,1553729615.666 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:36.084Z,1553729616.084 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:36.085Z,1553729616.085 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:36.478Z,1553729616.478 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:36.478Z,1553729616.478 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:36.906Z,1553729616.906 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:36.906Z,1553729616.906 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:37.243Z,1553729617.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:37.249Z,1553729617.249 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:37.354Z,1553729617.354 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:37.354Z,1553729617.354 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:37.722Z,1553729617.722 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:37.722Z,1553729617.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:37.723Z,1553729617.723 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:37.724Z,1553729617.724 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970506 forward, -0.241075 starboard, 0.000000 keelward ]
2019-03-27T23:33:37.724Z,1553729617.724 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:37.724Z,1553729617.724 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:37.724Z,1553729617.724 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:37.730Z,1553729617.730 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924090,-0.303311,-0.232510;0.297339,-0.952809,0.061198;-0.240100,-0.012582,0.970667 ]
2019-03-27T23:33:37.731Z,1553729617.731 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.074923 rad -- adding 2pi
2019-03-27T23:33:37.731Z,1553729617.731 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.208262 rad after adding 2pi
2019-03-27T23:33:37.731Z,1553729617.731 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.819884 degrees FINAL. Radians:3.208262
2019-03-27T23:33:37.732Z,1553729617.732 [lineCaptureHoming:I.](INFO): ContactLat = 36.802659 ContactLon = -121.788051
2019-03-27T23:33:37.786Z,1553729617.786 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:33:37.787Z,1553729617.787 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.208262 rad
2019-03-27T23:33:38.089Z,1553729618.089 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:38.089Z,1553729618.089 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:38.488Z,1553729618.488 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:38.488Z,1553729618.488 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:38.900Z,1553729618.900 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:38.900Z,1553729618.900 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:39.300Z,1553729619.300 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:39.300Z,1553729619.300 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:39.766Z,1553729619.766 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:39.767Z,1553729619.767 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:40.124Z,1553729620.124 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:40.124Z,1553729620.124 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:40.499Z,1553729620.499 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:40.499Z,1553729620.499 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:40.916Z,1553729620.916 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:40.916Z,1553729620.916 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:41.279Z,1553729621.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:41.283Z,1553729621.283 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:41.337Z,1553729621.337 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:41.338Z,1553729621.338 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:41.696Z,1553729621.696 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:33:41.784Z,1553729621.784 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:41.784Z,1553729621.784 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:42.128Z,1553729622.128 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:42.128Z,1553729622.128 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:42.536Z,1553729622.536 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:42.536Z,1553729622.536 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:42.947Z,1553729622.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:42.947Z,1553729622.947 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:43.346Z,1553729623.346 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:43.346Z,1553729623.346 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:43.767Z,1553729623.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:43.768Z,1553729623.768 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:44.144Z,1553729624.144 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:44.144Z,1553729624.144 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:44.548Z,1553729624.548 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:44.548Z,1553729624.548 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:44.955Z,1553729624.955 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:44.956Z,1553729624.956 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:45.319Z,1553729625.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:45.323Z,1553729625.323 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:45.384Z,1553729625.384 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:45.385Z,1553729625.385 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:45.774Z,1553729625.774 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:45.774Z,1553729625.774 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:45.774Z,1553729625.774 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:45.775Z,1553729625.775 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971342 forward, -0.237686 starboard, 0.000000 keelward ]
2019-03-27T23:33:45.775Z,1553729625.775 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:45.775Z,1553729625.775 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:45.775Z,1553729625.775 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:45.777Z,1553729625.777 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923877,-0.303941,-0.232531;0.297882,-0.952611,0.061628;-0.240243,-0.012330,0.970635 ]
2019-03-27T23:33:45.778Z,1553729625.778 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.070644 rad -- adding 2pi
2019-03-27T23:33:45.778Z,1553729625.778 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.212541 rad after adding 2pi
2019-03-27T23:33:45.779Z,1553729625.779 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.065033 degrees FINAL. Radians:3.212541
2019-03-27T23:33:45.779Z,1553729625.779 [lineCaptureHoming:I.](INFO): ContactLat = 36.802634 ContactLon = -121.788053
2019-03-27T23:33:45.838Z,1553729625.838 [Reporter](INFO): acoustic_contact_range 8.999999 m
2019-03-27T23:33:45.838Z,1553729625.838 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.212541 rad
2019-03-27T23:33:46.173Z,1553729626.173 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:46.173Z,1553729626.173 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:46.583Z,1553729626.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:46.584Z,1553729626.584 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:46.986Z,1553729626.986 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:46.987Z,1553729626.987 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:47.392Z,1553729627.392 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:47.392Z,1553729627.392 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:47.788Z,1553729627.788 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:47.788Z,1553729627.788 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:48.182Z,1553729628.182 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:48.182Z,1553729628.182 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:48.586Z,1553729628.586 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:48.586Z,1553729628.586 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:48.996Z,1553729628.996 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:48.996Z,1553729628.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:49.366Z,1553729629.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:49.372Z,1553729629.372 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:49.458Z,1553729629.458 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:49.459Z,1553729629.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:49.828Z,1553729629.828 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:49.828Z,1553729629.828 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:49.828Z,1553729629.828 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:33:49.833Z,1553729629.833 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.972370 forward, -0.233445 starboard, 0.000000 keelward ]
2019-03-27T23:33:49.833Z,1553729629.833 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:33:49.834Z,1553729629.834 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:49.834Z,1553729629.834 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:33:49.835Z,1553729629.835 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923656,-0.304578,-0.232575;0.298552,-0.952404,0.061581;-0.240262,-0.012556,0.970627 ]
2019-03-27T23:33:49.836Z,1553729629.836 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.065458 rad -- adding 2pi
2019-03-27T23:33:49.836Z,1553729629.836 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.217727 rad after adding 2pi
2019-03-27T23:33:49.841Z,1553729629.841 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.362201 degrees FINAL. Radians:3.217727
2019-03-27T23:33:49.842Z,1553729629.842 [lineCaptureHoming:I.](INFO): ContactLat = 36.802634 ContactLon = -121.788053
2019-03-27T23:33:49.898Z,1553729629.898 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-27T23:33:49.899Z,1553729629.899 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.217727 rad
2019-03-27T23:33:50.207Z,1553729630.207 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:50.208Z,1553729630.208 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:50.644Z,1553729630.644 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:50.644Z,1553729630.644 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:50.976Z,1553729630.976 [NAL9602](INFO): SBD MO Status=2, MOMSN=2465, MT Status=2, MTMSN=0
2019-03-27T23:33:50.976Z,1553729630.976 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-27T23:33:51.066Z,1553729631.066 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:51.066Z,1553729631.066 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:51.436Z,1553729631.436 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:51.436Z,1553729631.436 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:51.845Z,1553729631.845 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:51.845Z,1553729631.845 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:52.224Z,1553729632.224 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:52.224Z,1553729632.224 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:52.636Z,1553729632.636 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:52.636Z,1553729632.636 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:53.056Z,1553729633.056 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:53.061Z,1553729633.061 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:53.398Z,1553729633.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:53.399Z,1553729633.399 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:53.516Z,1553729633.516 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:53.525Z,1553729633.525 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:53.803Z,1553729633.803 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,186,80,81,0C,FF
2019-03-27T23:33:53.902Z,1553729633.902 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:53.902Z,1553729633.902 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:54.268Z,1553729634.268 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:54.268Z,1553729634.268 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:54.641Z,1553729634.641 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:54.641Z,1553729634.641 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:55.060Z,1553729635.060 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:55.061Z,1553729635.061 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:55.476Z,1553729635.476 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:55.476Z,1553729635.476 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:55.894Z,1553729635.894 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:55.894Z,1553729635.894 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:56.272Z,1553729636.272 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:56.273Z,1553729636.273 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:56.714Z,1553729636.714 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:56.714Z,1553729636.714 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:57.084Z,1553729637.084 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:57.084Z,1553729637.084 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:57.439Z,1553729637.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:33:57.443Z,1553729637.443 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:33:57.529Z,1553729637.529 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:57.529Z,1553729637.529 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:57.846Z,1553729637.846 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EEB,000,1,07,FF
2019-03-27T23:33:57.926Z,1553729637.926 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:57.927Z,1553729637.927 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:58.284Z,1553729638.284 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:58.284Z,1553729638.284 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:58.738Z,1553729638.738 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:58.738Z,1553729638.738 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:59.100Z,1553729639.100 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:59.100Z,1553729639.100 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:59.496Z,1553729639.496 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:59.496Z,1553729639.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:33:59.912Z,1553729639.912 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:33:59.912Z,1553729639.912 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:00.312Z,1553729640.312 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:00.312Z,1553729640.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:00.761Z,1553729640.761 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:00.761Z,1553729640.761 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:01.147Z,1553729641.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:01.147Z,1553729641.147 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:01.476Z,1553729641.476 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:01.483Z,1553729641.483 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:01.578Z,1553729641.578 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:01.578Z,1553729641.578 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:01.883Z,1553729641.883 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-27T23:34:01.975Z,1553729641.975 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:01.975Z,1553729641.975 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:02.333Z,1553729642.333 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:02.333Z,1553729642.333 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:02.790Z,1553729642.790 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:02.790Z,1553729642.790 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:03.151Z,1553729643.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:03.152Z,1553729643.152 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:03.546Z,1553729643.546 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:03.546Z,1553729643.546 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:03.963Z,1553729643.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:03.963Z,1553729643.963 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:04.358Z,1553729644.358 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:04.358Z,1553729644.358 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:04.779Z,1553729644.779 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:04.779Z,1553729644.779 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:05.162Z,1553729645.162 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:05.162Z,1553729645.162 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:05.527Z,1553729645.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:05.531Z,1553729645.531 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:05.611Z,1553729645.611 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:05.612Z,1553729645.612 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:05.927Z,1553729645.927 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-27T23:34:05.984Z,1553729645.984 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:05.985Z,1553729645.985 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:06.372Z,1553729646.372 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:06.372Z,1553729646.372 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:06.783Z,1553729646.783 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:06.783Z,1553729646.783 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:07.185Z,1553729647.185 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:07.185Z,1553729647.185 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:07.593Z,1553729647.593 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:07.593Z,1553729647.593 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:07.996Z,1553729647.996 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:07.996Z,1553729647.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:08.382Z,1553729648.382 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:08.382Z,1553729648.382 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:08.792Z,1553729648.792 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:08.792Z,1553729648.792 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:09.192Z,1553729649.192 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:09.192Z,1553729649.192 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:09.559Z,1553729649.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:09.563Z,1553729649.563 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:09.625Z,1553729649.625 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:09.626Z,1553729649.626 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:09.962Z,1553729649.962 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,11,FF
2019-03-27T23:34:10.032Z,1553729650.032 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:10.033Z,1553729650.033 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:10.420Z,1553729650.420 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:10.420Z,1553729650.420 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:10.838Z,1553729650.838 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:10.838Z,1553729650.838 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:11.244Z,1553729651.244 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:11.244Z,1553729651.244 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:11.628Z,1553729651.628 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:11.628Z,1553729651.628 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:12.036Z,1553729652.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:12.041Z,1553729652.041 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:12.424Z,1553729652.424 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:12.424Z,1553729652.424 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:12.832Z,1553729652.832 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:12.833Z,1553729652.833 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:13.248Z,1553729653.248 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:13.248Z,1553729653.248 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:13.597Z,1553729653.597 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:13.604Z,1553729653.604 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:13.716Z,1553729653.716 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:13.716Z,1553729653.716 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:14.059Z,1553729654.059 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:14.060Z,1553729654.060 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:14.060Z,1553729654.060 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:34:14.061Z,1553729654.061 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971342 forward, -0.237686 starboard, 0.000000 keelward ]
2019-03-27T23:34:14.061Z,1553729654.061 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:34:14.061Z,1553729654.061 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:14.061Z,1553729654.061 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:14.063Z,1553729654.063 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924132,-0.302834,-0.232962;0.296836,-0.952961,0.061268;-0.240558,-0.012531,0.970554 ]
2019-03-27T23:34:14.064Z,1553729654.064 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.071834 rad -- adding 2pi
2019-03-27T23:34:14.064Z,1553729654.064 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.211351 rad after adding 2pi
2019-03-27T23:34:14.064Z,1553729654.064 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.996854 degrees FINAL. Radians:3.211351
2019-03-27T23:34:14.065Z,1553729654.065 [lineCaptureHoming:I.](INFO): ContactLat = 36.802634 ContactLon = -121.788051
2019-03-27T23:34:14.222Z,1553729654.222 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:34:14.223Z,1553729654.223 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.211351 rad
2019-03-27T23:34:14.475Z,1553729654.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:14.475Z,1553729654.475 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:14.854Z,1553729654.854 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:14.854Z,1553729654.854 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:15.252Z,1553729655.252 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:15.253Z,1553729655.253 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:15.675Z,1553729655.675 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:15.676Z,1553729655.676 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:16.088Z,1553729656.088 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:16.088Z,1553729656.088 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:16.477Z,1553729656.477 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:16.477Z,1553729656.477 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:16.883Z,1553729656.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:16.883Z,1553729656.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:17.235Z,1553729657.235 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-27T23:34:17.292Z,1553729657.292 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:17.293Z,1553729657.293 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:17.643Z,1553729657.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:17.696Z,1553729657.696 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:17.753Z,1553729657.753 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:17.754Z,1553729657.754 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:18.084Z,1553729658.084 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:18.084Z,1553729658.084 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:18.084Z,1553729658.084 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:34:18.085Z,1553729658.085 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]
2019-03-27T23:34:18.085Z,1553729658.085 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:34:18.086Z,1553729658.086 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:18.086Z,1553729658.086 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:18.087Z,1553729658.088 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924550,-0.301541,-0.232979;0.295498,-0.953375,0.061289;-0.240598,-0.012180,0.970548 ]
2019-03-27T23:34:18.088Z,1553729658.088 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.084022 rad -- adding 2pi
2019-03-27T23:34:18.088Z,1553729658.088 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.199163 rad after adding 2pi
2019-03-27T23:34:18.109Z,1553729658.109 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.298536 degrees FINAL. Radians:3.199163
2019-03-27T23:34:18.110Z,1553729658.110 [lineCaptureHoming:I.](INFO): ContactLat = 36.802634 ContactLon = -121.788049
2019-03-27T23:34:18.165Z,1553729658.165 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-27T23:34:18.166Z,1553729658.166 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.199163 rad
2019-03-27T23:34:18.479Z,1553729658.479 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:18.479Z,1553729658.479 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:18.869Z,1553729658.869 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,    -5,    +0,    +1,A
2019-03-27T23:34:18.886Z,1553729658.886 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:34:18.886Z,1553729658.886 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:34:18.892Z,1553729658.892 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:18.892Z,1553729658.892 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:18.949Z,1553729658.949 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:34:19.290Z,1553729659.290 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:19.290Z,1553729659.290 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:19.329Z,1553729659.329 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:34:19.329Z,1553729659.329 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:34:19.722Z,1553729659.722 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:19.722Z,1553729659.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:20.116Z,1553729660.116 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:20.116Z,1553729660.116 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:20.520Z,1553729660.520 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:20.520Z,1553729660.520 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:20.944Z,1553729660.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:20.944Z,1553729660.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:21.316Z,1553729661.316 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:21.316Z,1553729661.316 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:21.687Z,1553729661.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:21.691Z,1553729661.691 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:21.814Z,1553729661.814 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:21.815Z,1553729661.815 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:22.128Z,1553729662.128 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:22.128Z,1553729662.128 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:22.128Z,1553729662.128 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:34:22.129Z,1553729662.129 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.909599 forward, -0.415487 starboard, 0.000000 keelward ]
2019-03-27T23:34:22.129Z,1553729662.129 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:34:22.130Z,1553729662.130 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:22.130Z,1553729662.130 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:22.132Z,1553729662.132 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924819,-0.300552,-0.233192;0.294473,-0.953690,0.061321;-0.240824,-0.011958,0.970495 ]
2019-03-27T23:34:22.132Z,1553729662.132 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 172.733408 degrees FINAL. Radians:3.014767
2019-03-27T23:34:22.133Z,1553729662.133 [lineCaptureHoming:I.](INFO): ContactLat = 36.800757 ContactLon = -121.787731
2019-03-27T23:34:22.178Z,1553729662.178 [Reporter](INFO): acoustic_contact_range 225.599991 m
2019-03-27T23:34:22.179Z,1553729662.179 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.014767 rad
2019-03-27T23:34:22.523Z,1553729662.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:22.524Z,1553729662.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:22.932Z,1553729662.932 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:22.932Z,1553729662.932 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:23.340Z,1553729663.340 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:23.340Z,1553729663.340 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:23.758Z,1553729663.758 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:23.758Z,1553729663.758 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:24.151Z,1553729664.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:24.151Z,1553729664.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:24.544Z,1553729664.544 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:24.544Z,1553729664.544 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:24.992Z,1553729664.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:24.992Z,1553729664.992 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:25.352Z,1553729665.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:25.352Z,1553729665.352 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:25.726Z,1553729665.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:25.732Z,1553729665.732 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:25.868Z,1553729665.868 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:25.868Z,1553729665.868 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:26.122Z,1553729666.122 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0E,FF
2019-03-27T23:34:26.176Z,1553729666.176 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:26.176Z,1553729666.176 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:26.568Z,1553729666.568 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:26.568Z,1553729666.568 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:27.005Z,1553729667.005 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:27.006Z,1553729667.006 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:27.380Z,1553729667.380 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:27.380Z,1553729667.380 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:27.806Z,1553729667.806 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:27.806Z,1553729667.806 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:28.200Z,1553729668.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:28.200Z,1553729668.200 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:28.592Z,1553729668.592 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:28.617Z,1553729668.617 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:28.992Z,1553729668.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:28.993Z,1553729668.993 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:29.395Z,1553729669.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:29.396Z,1553729669.396 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:29.759Z,1553729669.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:29.763Z,1553729669.763 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:29.836Z,1553729669.836 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:29.836Z,1553729669.836 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:30.176Z,1553729670.176 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-27T23:34:30.227Z,1553729670.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:30.228Z,1553729670.228 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:30.616Z,1553729670.616 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:30.616Z,1553729670.616 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:31.020Z,1553729671.020 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:31.021Z,1553729671.021 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:31.435Z,1553729671.435 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:31.435Z,1553729671.435 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:31.820Z,1553729671.820 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:31.820Z,1553729671.820 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:32.219Z,1553729672.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:32.219Z,1553729672.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:32.623Z,1553729672.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:32.624Z,1553729672.624 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:33.033Z,1553729673.033 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:33.034Z,1553729673.034 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:33.432Z,1553729673.432 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:33.432Z,1553729673.432 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:33.803Z,1553729673.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:33.810Z,1553729673.810 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:33.926Z,1553729673.926 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:33.927Z,1553729673.927 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:34.257Z,1553729674.257 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:34.258Z,1553729674.258 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:34.258Z,1553729674.258 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:34:34.259Z,1553729674.259 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970296 forward, -0.241922 starboard, 0.000000 keelward ]
2019-03-27T23:34:34.259Z,1553729674.259 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:34:34.259Z,1553729674.259 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:34.259Z,1553729674.259 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:34.261Z,1553729674.261 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924502,-0.301492,-0.233235;0.295450,-0.953390,0.061290;-0.240842,-0.012247,0.970487 ]
2019-03-27T23:34:34.262Z,1553729674.262 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.077777 rad -- adding 2pi
2019-03-27T23:34:34.262Z,1553729674.262 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.205408 rad after adding 2pi
2019-03-27T23:34:34.262Z,1553729674.262 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.656356 degrees FINAL. Radians:3.205408
2019-03-27T23:34:34.263Z,1553729674.263 [lineCaptureHoming:I.](INFO): ContactLat = 36.802659 ContactLon = -121.788043
2019-03-27T23:34:34.302Z,1553729674.302 [Reporter](INFO): acoustic_contact_range 6.300001 m
2019-03-27T23:34:34.303Z,1553729674.303 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.205408 rad
2019-03-27T23:34:34.660Z,1553729674.660 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:34.660Z,1553729674.660 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:35.067Z,1553729675.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:35.068Z,1553729675.068 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:35.475Z,1553729675.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:35.476Z,1553729675.476 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:35.863Z,1553729675.863 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:35.864Z,1553729675.864 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:36.258Z,1553729676.258 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:36.258Z,1553729676.258 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:36.667Z,1553729676.667 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:36.667Z,1553729676.667 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:37.072Z,1553729677.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:37.072Z,1553729677.072 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:37.485Z,1553729677.485 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:37.485Z,1553729677.485 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:37.839Z,1553729677.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:37.846Z,1553729677.846 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:37.964Z,1553729677.964 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:37.964Z,1553729677.964 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:38.300Z,1553729678.300 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:38.300Z,1553729678.300 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:38.300Z,1553729678.300 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:34:38.301Z,1553729678.301 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970506 forward, -0.241075 starboard, 0.000000 keelward ]
2019-03-27T23:34:38.301Z,1553729678.301 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:34:38.301Z,1553729678.301 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:38.301Z,1553729678.301 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:38.303Z,1553729678.303 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924186,-0.302377,-0.233343;0.296376,-0.953106,0.061241;-0.240919,-0.012559,0.970464 ]
2019-03-27T23:34:38.304Z,1553729678.304 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.075919 rad -- adding 2pi
2019-03-27T23:34:38.304Z,1553729678.304 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.207266 rad after adding 2pi
2019-03-27T23:34:38.305Z,1553729678.305 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.762825 degrees FINAL. Radians:3.207266
2019-03-27T23:34:38.306Z,1553729678.306 [lineCaptureHoming:I.](INFO): ContactLat = 36.802547 ContactLon = -121.788052
2019-03-27T23:34:38.346Z,1553729678.346 [Reporter](INFO): acoustic_contact_range 19.199999 m
2019-03-27T23:34:38.347Z,1553729678.347 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.207266 rad
2019-03-27T23:34:38.734Z,1553729678.734 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:38.735Z,1553729678.735 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:39.119Z,1553729679.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:39.119Z,1553729679.119 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:39.494Z,1553729679.494 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:39.495Z,1553729679.495 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:39.907Z,1553729679.907 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:39.908Z,1553729679.908 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:40.304Z,1553729680.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:40.304Z,1553729680.304 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:40.739Z,1553729680.739 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:40.739Z,1553729680.739 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:41.111Z,1553729681.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:41.111Z,1553729681.111 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:41.519Z,1553729681.519 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:41.520Z,1553729681.520 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:41.887Z,1553729681.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:41.893Z,1553729681.893 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:41.992Z,1553729681.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:42.001Z,1553729682.001 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:42.287Z,1553729682.287 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,186,80,81,09,FF
2019-03-27T23:34:42.368Z,1553729682.368 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:42.368Z,1553729682.368 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:42.766Z,1553729682.766 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:42.766Z,1553729682.766 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:43.127Z,1553729683.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:43.128Z,1553729683.128 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:43.530Z,1553729683.530 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:43.530Z,1553729683.530 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:43.944Z,1553729683.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:43.944Z,1553729683.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:44.338Z,1553729684.338 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:44.338Z,1553729684.338 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:44.790Z,1553729684.790 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:44.790Z,1553729684.790 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:45.156Z,1553729685.156 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:45.156Z,1553729685.156 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:45.564Z,1553729685.564 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:45.564Z,1553729685.564 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:45.923Z,1553729685.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:45.927Z,1553729685.927 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:46.066Z,1553729686.066 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:46.069Z,1553729686.069 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:46.380Z,1553729686.380 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:46.380Z,1553729686.380 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:46.380Z,1553729686.380 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:34:46.385Z,1553729686.385 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970506 forward, -0.241075 starboard, 0.000000 keelward ]
2019-03-27T23:34:46.385Z,1553729686.385 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:34:46.385Z,1553729686.385 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:46.385Z,1553729686.385 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:34:46.387Z,1553729686.387 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923384,-0.304895,-0.233239;0.299034,-0.952291,0.060992;-0.240708,-0.013427,0.970505 ]
2019-03-27T23:34:46.388Z,1553729686.388 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.073195 rad -- adding 2pi
2019-03-27T23:34:46.388Z,1553729686.388 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.209991 rad after adding 2pi
2019-03-27T23:34:46.393Z,1553729686.393 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.918922 degrees FINAL. Radians:3.209991
2019-03-27T23:34:46.394Z,1553729686.394 [lineCaptureHoming:I.](INFO): ContactLat = 36.802637 ContactLon = -121.788044
2019-03-27T23:34:46.442Z,1553729686.442 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:34:46.443Z,1553729686.443 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.209991 rad
2019-03-27T23:34:46.799Z,1553729686.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:46.799Z,1553729686.799 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:47.167Z,1553729687.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:47.167Z,1553729687.167 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:47.571Z,1553729687.571 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:47.571Z,1553729687.571 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:47.939Z,1553729687.939 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-27T23:34:47.982Z,1553729687.982 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:47.982Z,1553729687.982 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:48.376Z,1553729688.376 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:48.376Z,1553729688.376 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:48.788Z,1553729688.788 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:48.788Z,1553729688.788 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:49.200Z,1553729689.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:49.205Z,1553729689.205 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:49.592Z,1553729689.592 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:49.592Z,1553729689.592 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:49.963Z,1553729689.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:49.970Z,1553729689.970 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:50.081Z,1553729690.081 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:50.081Z,1553729690.081 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:50.363Z,1553729690.363 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-27T23:34:50.416Z,1553729690.416 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:50.416Z,1553729690.416 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:50.813Z,1553729690.813 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:50.814Z,1553729690.814 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:51.207Z,1553729691.207 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:51.208Z,1553729691.208 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:51.610Z,1553729691.610 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:51.610Z,1553729691.610 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:52.028Z,1553729692.028 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:52.028Z,1553729692.028 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:52.431Z,1553729692.431 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:52.432Z,1553729692.432 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:52.847Z,1553729692.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:52.848Z,1553729692.848 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:53.226Z,1553729693.226 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:53.226Z,1553729693.226 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:53.626Z,1553729693.626 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:53.627Z,1553729693.627 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:53.999Z,1553729693.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:54.003Z,1553729694.003 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:54.114Z,1553729694.114 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:54.114Z,1553729694.114 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:54.403Z,1553729694.403 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-27T23:34:54.455Z,1553729694.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:54.456Z,1553729694.456 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:54.849Z,1553729694.849 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:54.849Z,1553729694.849 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:55.249Z,1553729695.249 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:55.249Z,1553729695.249 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:55.664Z,1553729695.664 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:55.664Z,1553729695.664 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:56.075Z,1553729696.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:56.075Z,1553729696.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:56.479Z,1553729696.479 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:56.480Z,1553729696.480 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:56.871Z,1553729696.871 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:56.871Z,1553729696.871 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:57.271Z,1553729697.271 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:57.272Z,1553729697.272 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:57.678Z,1553729697.678 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:57.679Z,1553729697.679 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:58.039Z,1553729698.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:34:58.043Z,1553729698.043 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:34:58.113Z,1553729698.113 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:58.114Z,1553729698.114 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:58.446Z,1553729698.446 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-27T23:34:58.506Z,1553729698.506 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:58.507Z,1553729698.507 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:58.899Z,1553729698.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:58.899Z,1553729698.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:59.302Z,1553729699.302 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:59.302Z,1553729699.302 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:34:59.764Z,1553729699.764 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:34:59.764Z,1553729699.764 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:00.096Z,1553729700.096 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:00.096Z,1553729700.096 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:00.500Z,1553729700.500 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:00.500Z,1553729700.500 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:00.932Z,1553729700.932 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:00.932Z,1553729700.932 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:01.312Z,1553729701.312 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:01.312Z,1553729701.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:01.768Z,1553729701.768 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:01.768Z,1553729701.768 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:02.086Z,1553729702.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:02.092Z,1553729702.092 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:02.168Z,1553729702.168 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:02.168Z,1553729702.168 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:02.536Z,1553729702.536 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:02.536Z,1553729702.536 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:02.536Z,1553729702.536 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:35:02.541Z,1553729702.541 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968148 forward, -0.250380 starboard, 0.000000 keelward ]
2019-03-27T23:35:02.541Z,1553729702.541 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:35:02.541Z,1553729702.541 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:02.541Z,1553729702.541 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:02.543Z,1553729702.543 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923381,-0.304903,-0.233244;0.299012,-0.952290,0.061114;-0.240750,-0.013311,0.970496 ]
2019-03-27T23:35:02.544Z,1553729702.544 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.083077 rad -- adding 2pi
2019-03-27T23:35:02.544Z,1553729702.544 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.200108 rad after adding 2pi
2019-03-27T23:35:02.549Z,1553729702.549 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.352685 degrees FINAL. Radians:3.200108
2019-03-27T23:35:02.550Z,1553729702.550 [lineCaptureHoming:I.](INFO): ContactLat = 36.802638 ContactLon = -121.788043
2019-03-27T23:35:02.622Z,1553729702.622 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-27T23:35:02.622Z,1553729702.622 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.200108 rad
2019-03-27T23:35:02.987Z,1553729702.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:02.987Z,1553729702.987 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:03.328Z,1553729703.328 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:03.328Z,1553729703.328 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:03.791Z,1553729703.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:03.791Z,1553729703.791 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:04.140Z,1553729704.140 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:04.140Z,1553729704.140 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:04.540Z,1553729704.540 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:04.540Z,1553729704.540 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:04.957Z,1553729704.957 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:04.957Z,1553729704.957 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:05.360Z,1553729705.360 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:05.360Z,1553729705.360 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:05.774Z,1553729705.774 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:05.774Z,1553729705.774 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:06.119Z,1553729706.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:06.123Z,1553729706.123 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:06.230Z,1553729706.230 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:06.230Z,1553729706.230 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:06.603Z,1553729706.603 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:06.604Z,1553729706.604 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:06.604Z,1553729706.604 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:35:06.609Z,1553729706.609 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.972978 forward, -0.230899 starboard, 0.000000 keelward ]
2019-03-27T23:35:06.609Z,1553729706.609 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:35:06.609Z,1553729706.609 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:06.609Z,1553729706.609 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:06.611Z,1553729706.611 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923616,-0.304144,-0.233303;0.298254,-0.952534,0.061015;-0.240787,-0.013229,0.970488 ]
2019-03-27T23:35:06.612Z,1553729706.612 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.063217 rad -- adding 2pi
2019-03-27T23:35:06.612Z,1553729706.612 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.219968 rad after adding 2pi
2019-03-27T23:35:06.617Z,1553729706.617 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.490581 degrees FINAL. Radians:3.219968
2019-03-27T23:35:06.618Z,1553729706.618 [lineCaptureHoming:I.](INFO): ContactLat = 36.802637 ContactLon = -121.788044
2019-03-27T23:35:06.667Z,1553729706.667 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:35:06.668Z,1553729706.668 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.219968 rad
2019-03-27T23:35:06.972Z,1553729706.972 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:06.972Z,1553729706.972 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:07.365Z,1553729707.365 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:07.365Z,1553729707.365 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:07.776Z,1553729707.776 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:07.776Z,1553729707.776 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:08.176Z,1553729708.176 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:08.176Z,1553729708.176 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:08.581Z,1553729708.581 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:08.581Z,1553729708.581 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:08.996Z,1553729708.996 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:08.996Z,1553729708.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:09.400Z,1553729709.400 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:09.400Z,1553729709.400 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:09.827Z,1553729709.827 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:09.828Z,1553729709.828 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:10.163Z,1553729710.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:10.167Z,1553729710.167 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:10.273Z,1553729710.273 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:10.273Z,1553729710.273 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:10.604Z,1553729710.604 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:10.604Z,1553729710.604 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:10.604Z,1553729710.604 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:35:10.605Z,1553729710.605 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.975535 forward, -0.219846 starboard, 0.000000 keelward ]
2019-03-27T23:35:10.605Z,1553729710.605 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:35:10.605Z,1553729710.605 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:10.605Z,1553729710.605 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:10.607Z,1553729710.607 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923990,-0.302882,-0.233462;0.296958,-0.952940,0.061003;-0.240952,-0.012962,0.970450 ]
2019-03-27T23:35:10.608Z,1553729710.608 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.052890 rad -- adding 2pi
2019-03-27T23:35:10.608Z,1553729710.608 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.230295 rad after adding 2pi
2019-03-27T23:35:10.610Z,1553729710.610 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 185.082280 degrees FINAL. Radians:3.230295
2019-03-27T23:35:10.610Z,1553729710.610 [lineCaptureHoming:I.](INFO): ContactLat = 36.802637 ContactLon = -121.788045
2019-03-27T23:35:10.670Z,1553729710.670 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-27T23:35:10.671Z,1553729710.671 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.230295 rad
2019-03-27T23:35:11.010Z,1553729711.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:11.011Z,1553729711.011 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:11.407Z,1553729711.408 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:11.408Z,1553729711.408 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:11.820Z,1553729711.820 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:11.820Z,1553729711.820 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:12.216Z,1553729712.216 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:12.216Z,1553729712.216 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:12.628Z,1553729712.628 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:12.631Z,1553729712.631 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:13.054Z,1553729713.054 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:13.055Z,1553729713.055 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:13.425Z,1553729713.425 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:13.425Z,1553729713.425 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:13.844Z,1553729713.844 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:13.844Z,1553729713.844 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:14.203Z,1553729714.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:14.209Z,1553729714.209 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:14.282Z,1553729714.282 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:14.282Z,1553729714.282 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:14.660Z,1553729714.660 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:14.660Z,1553729714.660 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:14.660Z,1553729714.660 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:35:14.662Z,1553729714.662 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]
2019-03-27T23:35:14.662Z,1553729714.662 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:35:14.662Z,1553729714.662 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:14.662Z,1553729714.662 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:14.664Z,1553729714.664 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924329,-0.301713,-0.233636;0.295738,-0.953315,0.061072;-0.241155,-0.012644,0.970404 ]
2019-03-27T23:35:14.664Z,1553729714.664 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.083827 rad -- adding 2pi
2019-03-27T23:35:14.665Z,1553729714.665 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.199359 rad after adding 2pi
2019-03-27T23:35:14.665Z,1553729714.665 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.309751 degrees FINAL. Radians:3.199359
2019-03-27T23:35:14.666Z,1553729714.666 [lineCaptureHoming:I.](INFO): ContactLat = 36.802659 ContactLon = -121.788040
2019-03-27T23:35:14.770Z,1553729714.770 [Reporter](INFO): acoustic_contact_range 6.359998 m
2019-03-27T23:35:14.771Z,1553729714.771 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.199359 rad
2019-03-27T23:35:15.066Z,1553729715.066 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:15.067Z,1553729715.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:15.463Z,1553729715.463 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:15.464Z,1553729715.464 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:15.872Z,1553729715.872 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:15.872Z,1553729715.872 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:16.270Z,1553729716.270 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:16.270Z,1553729716.270 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:16.700Z,1553729716.700 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:16.700Z,1553729716.700 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:17.100Z,1553729717.100 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:17.100Z,1553729717.100 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:17.465Z,1553729717.465 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:17.465Z,1553729717.465 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:17.930Z,1553729717.930 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:17.930Z,1553729717.930 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:18.247Z,1553729718.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:18.251Z,1553729718.251 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:18.308Z,1553729718.308 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:18.308Z,1553729718.308 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:18.651Z,1553729718.651 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:35:18.722Z,1553729718.722 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:18.722Z,1553729718.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:19.099Z,1553729719.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:19.099Z,1553729719.099 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:19.452Z,1553729719.452 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,IDEM, 523,Missed start of FSK packet

2019-03-27T23:35:19.520Z,1553729719.520 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:19.520Z,1553729719.520 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:19.918Z,1553729719.918 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:19.919Z,1553729719.919 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:20.293Z,1553729720.293 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:20.294Z,1553729720.294 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:20.743Z,1553729720.743 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:20.743Z,1553729720.743 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:21.087Z,1553729721.087 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-27T23:35:21.087Z,1553729721.087 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,    +0,    -5,    +0A
2019-03-27T23:35:21.103Z,1553729721.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:21.103Z,1553729721.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:21.512Z,1553729721.512 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:21.512Z,1553729721.512 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:21.924Z,1553729721.924 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:21.925Z,1553729721.925 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:22.279Z,1553729722.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:22.283Z,1553729722.283 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:22.386Z,1553729722.385 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:22.386Z,1553729722.386 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:22.698Z,1553729722.698 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-27T23:35:22.803Z,1553729722.803 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:22.803Z,1553729722.803 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:23.152Z,1553729723.152 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:23.152Z,1553729723.152 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:23.526Z,1553729723.526 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:23.526Z,1553729723.526 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:23.940Z,1553729723.940 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:23.940Z,1553729723.940 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:24.339Z,1553729724.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:24.340Z,1553729724.340 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:24.760Z,1553729724.760 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:24.760Z,1553729724.760 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:25.138Z,1553729725.138 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:25.138Z,1553729725.138 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:25.556Z,1553729725.556 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:25.556Z,1553729725.556 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:25.965Z,1553729725.965 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:25.965Z,1553729725.965 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:26.319Z,1553729726.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:26.325Z,1553729726.325 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:26.427Z,1553729726.427 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:26.427Z,1553729726.427 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:26.730Z,1553729726.730 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,187,80,81,08,FF
2019-03-27T23:35:26.808Z,1553729726.808 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:26.808Z,1553729726.808 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:27.164Z,1553729727.164 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:27.164Z,1553729727.164 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:27.572Z,1553729727.572 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:27.572Z,1553729727.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:27.979Z,1553729727.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:27.980Z,1553729727.980 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:28.369Z,1553729728.369 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:28.369Z,1553729728.369 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:28.783Z,1553729728.783 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:28.783Z,1553729728.783 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:29.187Z,1553729729.187 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:29.188Z,1553729729.188 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:29.595Z,1553729729.595 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:29.595Z,1553729729.595 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:30.024Z,1553729730.024 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:30.024Z,1553729730.024 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:30.363Z,1553729730.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:30.367Z,1553729730.367 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:30.473Z,1553729730.473 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:30.474Z,1553729730.474 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:30.766Z,1553729730.766 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,187,80,81,08,FF
2019-03-27T23:35:30.847Z,1553729730.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:30.847Z,1553729730.847 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:31.204Z,1553729731.204 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:31.204Z,1553729731.204 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:31.608Z,1553729731.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:31.608Z,1553729731.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:32.015Z,1553729732.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:32.015Z,1553729732.015 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:32.410Z,1553729732.410 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:32.410Z,1553729732.410 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:32.844Z,1553729732.844 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:32.844Z,1553729732.844 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:33.231Z,1553729733.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:33.232Z,1553729733.232 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:33.636Z,1553729733.636 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:33.636Z,1553729733.636 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:34.056Z,1553729734.056 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:34.056Z,1553729734.056 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:34.398Z,1553729734.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:34.402Z,1553729734.402 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:34.522Z,1553729734.522 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:34.523Z,1553729734.523 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:34.848Z,1553729734.848 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:34.848Z,1553729734.848 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:34.848Z,1553729734.848 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:35:34.849Z,1553729734.849 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970296 forward, -0.241922 starboard, 0.000000 keelward ]
2019-03-27T23:35:34.850Z,1553729734.850 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:35:34.850Z,1553729734.850 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:34.850Z,1553729734.850 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:34.852Z,1553729734.852 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924771,-0.300155,-0.233891;0.294062,-0.953815,0.061361;-0.241506,-0.012034,0.970325 ]
2019-03-27T23:35:34.852Z,1553729734.852 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.079212 rad -- adding 2pi
2019-03-27T23:35:34.873Z,1553729734.873 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.203973 rad after adding 2pi
2019-03-27T23:35:34.873Z,1553729734.873 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.574134 degrees FINAL. Radians:3.203973
2019-03-27T23:35:34.874Z,1553729734.874 [lineCaptureHoming:I.](INFO): ContactLat = 36.802660 ContactLon = -121.788037
2019-03-27T23:35:34.938Z,1553729734.938 [Reporter](INFO): acoustic_contact_range 6.479999 m
2019-03-27T23:35:34.939Z,1553729734.939 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.203973 rad
2019-03-27T23:35:35.309Z,1553729735.309 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:35.309Z,1553729735.309 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:35.648Z,1553729735.648 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:35.648Z,1553729735.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:36.076Z,1553729736.076 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:36.076Z,1553729736.076 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:36.468Z,1553729736.468 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:36.468Z,1553729736.468 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:36.879Z,1553729736.879 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:36.880Z,1553729736.880 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:37.279Z,1553729737.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:37.279Z,1553729737.279 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:37.710Z,1553729737.710 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:37.711Z,1553729737.711 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:38.123Z,1553729738.123 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:38.123Z,1553729738.123 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:38.438Z,1553729738.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:38.440Z,1553729738.440 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:38.551Z,1553729738.551 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:38.551Z,1553729738.551 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:38.924Z,1553729738.924 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:38.924Z,1553729738.924 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:38.924Z,1553729738.924 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:35:38.933Z,1553729738.933 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.974566 forward, -0.224101 starboard, 0.000000 keelward ]
2019-03-27T23:35:38.933Z,1553729738.933 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:35:38.933Z,1553729738.933 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:38.933Z,1553729738.933 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:35:38.935Z,1553729738.935 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924508,-0.300920,-0.233951;0.294967,-0.953565,0.060896;-0.241412,-0.012709,0.970339 ]
2019-03-27T23:35:38.936Z,1553729738.936 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.059499 rad -- adding 2pi
2019-03-27T23:35:38.936Z,1553729738.936 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.223686 rad after adding 2pi
2019-03-27T23:35:38.945Z,1553729738.945 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.703628 degrees FINAL. Radians:3.223686
2019-03-27T23:35:38.946Z,1553729738.946 [lineCaptureHoming:I.](INFO): ContactLat = 36.802660 ContactLon = -121.788038
2019-03-27T23:35:39.003Z,1553729739.003 [Reporter](INFO): acoustic_contact_range 6.479999 m
2019-03-27T23:35:39.004Z,1553729739.004 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.223686 rad
2019-03-27T23:35:39.292Z,1553729739.292 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:39.292Z,1553729739.292 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:39.773Z,1553729739.773 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:39.774Z,1553729739.774 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:40.120Z,1553729740.120 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:40.120Z,1553729740.120 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:40.502Z,1553729740.502 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:40.502Z,1553729740.502 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:40.927Z,1553729740.927 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:40.927Z,1553729740.927 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:41.304Z,1553729741.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:41.304Z,1553729741.304 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:41.745Z,1553729741.745 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:41.746Z,1553729741.746 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:42.120Z,1553729742.120 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:42.120Z,1553729742.120 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:42.479Z,1553729742.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:42.483Z,1553729742.483 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:42.546Z,1553729742.546 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:42.546Z,1553729742.546 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:42.883Z,1553729742.883 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,187,80,81,08,FF
2019-03-27T23:35:42.944Z,1553729742.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:42.944Z,1553729742.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:43.332Z,1553729743.332 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:43.332Z,1553729743.332 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:43.760Z,1553729743.760 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:43.760Z,1553729743.760 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:44.143Z,1553729744.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:44.143Z,1553729744.143 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:44.555Z,1553729744.555 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:44.556Z,1553729744.556 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:44.940Z,1553729744.940 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:44.940Z,1553729744.940 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:45.343Z,1553729745.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:45.344Z,1553729745.344 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:45.762Z,1553729745.762 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:45.762Z,1553729745.762 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:46.145Z,1553729746.145 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:46.146Z,1553729746.146 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:46.527Z,1553729746.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:46.531Z,1553729746.531 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:46.589Z,1553729746.589 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:46.590Z,1553729746.590 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:46.923Z,1553729746.923 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-27T23:35:46.996Z,1553729746.996 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:46.996Z,1553729746.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:47.370Z,1553729747.370 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:47.370Z,1553729747.370 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:47.796Z,1553729747.796 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:47.796Z,1553729747.796 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:48.170Z,1553729748.170 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:48.170Z,1553729748.170 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:48.583Z,1553729748.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:48.584Z,1553729748.584 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:48.992Z,1553729748.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:48.993Z,1553729748.993 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:49.388Z,1553729749.388 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:49.388Z,1553729749.388 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:49.800Z,1553729749.800 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:49.800Z,1553729749.800 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:50.199Z,1553729750.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:50.200Z,1553729750.200 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:50.559Z,1553729750.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:50.565Z,1553729750.565 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:50.650Z,1553729750.650 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:50.650Z,1553729750.650 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:50.974Z,1553729750.974 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-27T23:35:51.055Z,1553729751.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:51.056Z,1553729751.056 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:51.423Z,1553729751.423 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:51.424Z,1553729751.424 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:51.848Z,1553729751.848 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:51.848Z,1553729751.848 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:52.215Z,1553729752.215 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:52.216Z,1553729752.216 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:52.617Z,1553729752.617 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:52.617Z,1553729752.617 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:53.036Z,1553729753.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:53.036Z,1553729753.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:53.432Z,1553729753.432 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:53.433Z,1553729753.433 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:53.849Z,1553729753.849 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:53.849Z,1553729753.849 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:54.249Z,1553729754.249 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:54.250Z,1553729754.250 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:54.605Z,1553729754.605 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:54.607Z,1553729754.607 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:54.763Z,1553729754.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:54.764Z,1553729754.764 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:55.006Z,1553729755.006 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:35:55.060Z,1553729755.060 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:55.060Z,1553729755.060 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:55.443Z,1553729755.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:55.444Z,1553729755.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:55.852Z,1553729755.852 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:55.852Z,1553729755.852 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:56.275Z,1553729756.275 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:56.276Z,1553729756.276 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:56.667Z,1553729756.667 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:56.668Z,1553729756.668 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:57.077Z,1553729757.077 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:57.077Z,1553729757.077 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:57.492Z,1553729757.492 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:57.492Z,1553729757.492 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:57.896Z,1553729757.896 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:57.896Z,1553729757.896 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:58.269Z,1553729758.269 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:58.270Z,1553729758.270 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:58.639Z,1553729758.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:35:58.643Z,1553729758.643 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:35:58.758Z,1553729758.758 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:58.758Z,1553729758.758 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:59.043Z,1553729759.043 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0E,FF
2019-03-27T23:35:59.101Z,1553729759.101 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:59.101Z,1553729759.101 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:59.496Z,1553729759.496 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:59.496Z,1553729759.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:35:59.906Z,1553729759.906 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:35:59.906Z,1553729759.906 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:00.312Z,1553729760.312 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:00.312Z,1553729760.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:00.738Z,1553729760.738 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:00.739Z,1553729760.739 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:01.101Z,1553729761.101 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:01.102Z,1553729761.102 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:01.501Z,1553729761.501 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:01.502Z,1553729761.502 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:01.915Z,1553729761.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:01.915Z,1553729761.915 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:02.311Z,1553729762.311 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:02.312Z,1553729762.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:02.702Z,1553729762.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:02.713Z,1553729762.713 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:02.822Z,1553729762.822 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:02.822Z,1553729762.822 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:03.128Z,1553729763.128 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:03.128Z,1553729763.128 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:03.128Z,1553729763.128 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:03.130Z,1553729763.130 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.936672 forward, -0.350207 starboard, 0.000000 keelward ]
2019-03-27T23:36:03.130Z,1553729763.130 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:03.130Z,1553729763.130 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:03.130Z,1553729763.130 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:03.132Z,1553729763.132 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923172,-0.305429,-0.233382;0.299552,-0.952120,0.061131;-0.240878,-0.013476,0.970462 ]
2019-03-27T23:36:03.133Z,1553729763.133 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 177.204081 degrees FINAL. Radians:3.092795
2019-03-27T23:36:03.134Z,1553729763.134 [lineCaptureHoming:I.](INFO): ContactLat = 36.802577 ContactLon = -121.788022
2019-03-27T23:36:03.174Z,1553729763.174 [Reporter](INFO): acoustic_contact_range 16.079996 m
2019-03-27T23:36:03.175Z,1553729763.175 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.092795 rad
2019-03-27T23:36:03.536Z,1553729763.536 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:03.536Z,1553729763.536 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:03.954Z,1553729763.954 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:03.955Z,1553729763.955 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:03.955Z,1553729763.955 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:03.956Z,1553729763.956 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971549 forward, -0.236838 starboard, 0.000000 keelward ]
2019-03-27T23:36:03.956Z,1553729763.956 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:03.956Z,1553729763.956 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:03.956Z,1553729763.956 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:03.958Z,1553729763.958 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923040,-0.305683,-0.233569;0.299843,-0.952035,0.061024;-0.241019,-0.013707,0.970424 ]
2019-03-27T23:36:03.959Z,1553729763.959 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.067839 rad -- adding 2pi
2019-03-27T23:36:03.959Z,1553729763.959 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.215346 rad after adding 2pi
2019-03-27T23:36:03.959Z,1553729763.959 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.225761 degrees FINAL. Radians:3.215346
2019-03-27T23:36:03.960Z,1553729763.960 [lineCaptureHoming:I.](INFO): ContactLat = 36.802640 ContactLon = -121.788037
2019-03-27T23:36:04.002Z,1553729764.002 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-27T23:36:04.002Z,1553729764.002 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.215346 rad
2019-03-27T23:36:04.335Z,1553729764.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:04.336Z,1553729764.336 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:04.773Z,1553729764.773 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:04.773Z,1553729764.773 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:05.134Z,1553729765.134 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:05.134Z,1553729765.134 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:05.537Z,1553729765.537 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:05.538Z,1553729765.538 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:05.959Z,1553729765.959 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:05.960Z,1553729765.960 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:06.364Z,1553729766.364 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:06.364Z,1553729766.364 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:06.723Z,1553729766.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:06.727Z,1553729766.727 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:06.847Z,1553729766.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:06.847Z,1553729766.847 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:07.186Z,1553729767.186 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:07.186Z,1553729767.186 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:07.186Z,1553729767.186 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:07.187Z,1553729767.187 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.973778 forward, 0.227501 starboard, 0.000000 keelward ]
2019-03-27T23:36:07.187Z,1553729767.187 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:07.188Z,1553729767.188 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:07.188Z,1553729767.188 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:07.194Z,1553729767.194 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923089,-0.305530,-0.233578;0.299675,-0.952085,0.061069;-0.241044,-0.013625,0.970419 ]
2019-03-27T23:36:07.195Z,1553729767.195 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.587397 rad -- adding 2pi
2019-03-27T23:36:07.195Z,1553729767.195 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.695789 rad after adding 2pi
2019-03-27T23:36:07.195Z,1553729767.195 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 211.753090 degrees FINAL. Radians:3.695789
2019-03-27T23:36:07.196Z,1553729767.196 [lineCaptureHoming:I.](INFO): ContactLat = 36.802997 ContactLon = -121.787813
2019-03-27T23:36:07.250Z,1553729767.250 [Reporter](INFO): acoustic_contact_range -37.500000 m
2019-03-27T23:36:07.251Z,1553729767.251 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.695789 rad
2019-03-27T23:36:07.558Z,1553729767.558 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-27T23:36:07.558Z,1553729767.558 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-27T23:36:07.558Z,1553729767.558 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Stopped
2019-03-27T23:36:07.558Z,1553729767.558 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait] Stopped
2019-03-27T23:36:07.558Z,1553729767.558 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-27T23:36:07.559Z,1553729767.559 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-03-27T23:36:07.559Z,1553729767.559 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-03-27T23:36:07.559Z,1553729767.559 [lineCaptureHoming:Lap:Dock:UpdateNav] Running Loop=1
2019-03-27T23:36:07.559Z,1553729767.559 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-27T23:36:07.560Z,1553729767.560 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-03-27T23:36:07.560Z,1553729767.560 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-03-27T23:36:07.566Z,1553729767.566 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:07.567Z,1553729767.567 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:07.969Z,1553729767.969 [lineCaptureHoming:Lap:Dock:UpdateNav] Stopped
2019-03-27T23:36:07.969Z,1553729767.969 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-27T23:36:07.969Z,1553729767.969 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Stopped
2019-03-27T23:36:07.969Z,1553729767.969 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-03-27T23:36:07.970Z,1553729767.970 [lineCaptureHoming:Lap:Dock:B.Wait] Running Loop=1
2019-03-27T23:36:07.970Z,1553729767.970 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Initialize Wait Component.
2019-03-27T23:36:07.972Z,1553729767.972 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:07.972Z,1553729767.972 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:08.371Z,1553729768.371 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:08.371Z,1553729768.371 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:08.779Z,1553729768.779 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:08.779Z,1553729768.779 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:09.183Z,1553729769.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:09.183Z,1553729769.183 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:09.590Z,1553729769.590 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:09.591Z,1553729769.591 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:10.010Z,1553729770.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:10.010Z,1553729770.010 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:10.423Z,1553729770.423 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:10.423Z,1553729770.423 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:10.759Z,1553729770.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:10.763Z,1553729770.763 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:10.927Z,1553729770.927 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:10.927Z,1553729770.927 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:11.162Z,1553729771.162 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-27T23:36:11.219Z,1553729771.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:11.219Z,1553729771.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:11.603Z,1553729771.603 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:11.603Z,1553729771.603 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:12.031Z,1553729772.031 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:12.031Z,1553729772.031 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:12.411Z,1553729772.411 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:12.411Z,1553729772.411 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:12.858Z,1553729772.858 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:12.858Z,1553729772.858 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:13.231Z,1553729773.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:13.231Z,1553729773.231 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:13.639Z,1553729773.639 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:13.639Z,1553729773.639 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:14.072Z,1553729774.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:14.077Z,1553729774.077 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:14.431Z,1553729774.431 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:14.431Z,1553729774.431 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:14.799Z,1553729774.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:14.805Z,1553729774.805 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:14.919Z,1553729774.919 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:14.920Z,1553729774.920 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:15.206Z,1553729775.206 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-27T23:36:15.255Z,1553729775.255 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:15.256Z,1553729775.256 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:15.639Z,1553729775.639 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:15.640Z,1553729775.640 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:16.099Z,1553729776.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:16.099Z,1553729776.099 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:16.456Z,1553729776.456 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:16.456Z,1553729776.456 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:16.869Z,1553729776.869 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:16.870Z,1553729776.870 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:17.283Z,1553729777.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:17.283Z,1553729777.283 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:17.667Z,1553729777.667 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:17.668Z,1553729777.668 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:18.075Z,1553729778.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:18.075Z,1553729778.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:18.471Z,1553729778.471 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:18.471Z,1553729778.471 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:18.839Z,1553729778.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:18.865Z,1553729778.865 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:19.006Z,1553729779.006 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:19.006Z,1553729779.006 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:19.250Z,1553729779.250 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-27T23:36:19.300Z,1553729779.300 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:19.300Z,1553729779.300 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:19.725Z,1553729779.725 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:19.725Z,1553729779.725 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:20.103Z,1553729780.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:20.103Z,1553729780.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:20.503Z,1553729780.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:20.503Z,1553729780.503 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:20.919Z,1553729780.919 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:20.919Z,1553729780.919 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:21.297Z,1553729781.297 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:21.297Z,1553729781.297 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:21.721Z,1553729781.721 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:21.722Z,1553729781.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:22.115Z,1553729782.115 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:22.115Z,1553729782.115 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:22.511Z,1553729782.511 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:22.511Z,1553729782.511 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:22.887Z,1553729782.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:22.891Z,1553729782.891 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:22.963Z,1553729782.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:22.964Z,1553729782.964 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:23.283Z,1553729783.283 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-27T23:36:23.359Z,1553729783.359 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:23.359Z,1553729783.359 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:23.759Z,1553729783.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:23.759Z,1553729783.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:24.153Z,1553729784.153 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:24.154Z,1553729784.154 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:24.527Z,1553729784.527 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:24.527Z,1553729784.527 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:24.965Z,1553729784.965 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:24.965Z,1553729784.965 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:25.342Z,1553729785.342 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:25.342Z,1553729785.342 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:25.761Z,1553729785.761 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:25.761Z,1553729785.761 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:26.160Z,1553729786.160 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:26.160Z,1553729786.160 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:26.564Z,1553729786.564 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:26.564Z,1553729786.564 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:26.923Z,1553729786.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:26.930Z,1553729786.930 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:27.055Z,1553729787.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:27.055Z,1553729787.055 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:27.329Z,1553729787.329 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-27T23:36:27.399Z,1553729787.399 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:27.399Z,1553729787.399 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:27.812Z,1553729787.812 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:27.812Z,1553729787.812 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:28.195Z,1553729788.195 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:28.195Z,1553729788.195 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:28.568Z,1553729788.568 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:28.568Z,1553729788.568 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:28.986Z,1553729788.986 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:28.987Z,1553729788.987 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:29.395Z,1553729789.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:29.396Z,1553729789.396 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:29.794Z,1553729789.794 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:29.794Z,1553729789.794 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:30.195Z,1553729790.195 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:30.196Z,1553729790.196 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:30.609Z,1553729790.609 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:30.610Z,1553729790.610 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:30.963Z,1553729790.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:30.967Z,1553729790.967 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:31.087Z,1553729791.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:31.087Z,1553729791.087 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:31.363Z,1553729791.363 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,186,80,81,08,FF
2019-03-27T23:36:31.416Z,1553729791.416 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:31.416Z,1553729791.416 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:31.820Z,1553729791.820 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:31.820Z,1553729791.820 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:32.207Z,1553729792.207 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:32.207Z,1553729792.207 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:32.614Z,1553729792.614 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:32.614Z,1553729792.614 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:33.043Z,1553729793.043 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:33.044Z,1553729793.044 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:33.426Z,1553729793.426 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:33.426Z,1553729793.426 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:33.852Z,1553729793.852 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:33.852Z,1553729793.852 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:34.226Z,1553729794.226 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:34.226Z,1553729794.226 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:34.635Z,1553729794.635 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:34.636Z,1553729794.636 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:34.999Z,1553729794.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:35.003Z,1553729795.003 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:35.094Z,1553729795.094 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:35.094Z,1553729795.094 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:35.403Z,1553729795.403 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,186,80,81,0B,FF
2019-03-27T23:36:35.456Z,1553729795.456 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:35.456Z,1553729795.456 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:35.847Z,1553729795.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:35.848Z,1553729795.848 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:36.249Z,1553729796.249 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:36.249Z,1553729796.249 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:36.664Z,1553729796.664 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:36.664Z,1553729796.664 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:37.067Z,1553729797.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:37.067Z,1553729797.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:37.477Z,1553729797.477 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:37.477Z,1553729797.477 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:37.871Z,1553729797.871 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:37.871Z,1553729797.871 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:38.265Z,1553729798.265 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:38.265Z,1553729798.265 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:38.669Z,1553729798.669 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:38.669Z,1553729798.669 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:39.039Z,1553729799.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:39.045Z,1553729799.045 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:39.114Z,1553729799.114 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:39.115Z,1553729799.115 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:39.499Z,1553729799.499 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:39.500Z,1553729799.500 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:39.500Z,1553729799.500 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:39.505Z,1553729799.505 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967046 forward, -0.254602 starboard, 0.000000 keelward ]
2019-03-27T23:36:39.505Z,1553729799.505 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:39.505Z,1553729799.505 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:39.505Z,1553729799.505 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:39.507Z,1553729799.507 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925173,-0.298715,-0.234146;0.292605,-0.954269,0.061262;-0.241738,-0.011834,0.970269 ]
2019-03-27T23:36:39.508Z,1553729799.508 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.094256 rad -- adding 2pi
2019-03-27T23:36:39.508Z,1553729799.508 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.188929 rad after adding 2pi
2019-03-27T23:36:39.513Z,1553729799.513 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.712191 degrees FINAL. Radians:3.188929
2019-03-27T23:36:39.514Z,1553729799.514 [lineCaptureHoming:I.](INFO): ContactLat = 36.802663 ContactLon = -121.788029
2019-03-27T23:36:39.558Z,1553729799.558 [Reporter](INFO): acoustic_contact_range 6.419999 m
2019-03-27T23:36:39.559Z,1553729799.559 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.188929 rad
2019-03-27T23:36:39.898Z,1553729799.898 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:39.899Z,1553729799.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:40.293Z,1553729800.293 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:40.294Z,1553729800.294 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:40.758Z,1553729800.758 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:40.758Z,1553729800.758 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:41.077Z,1553729801.077 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-27T23:36:41.077Z,1553729801.077 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032716380724,35.   0.0,1448.9,  0
2019-03-27T23:36:41.127Z,1553729801.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:41.127Z,1553729801.127 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:41.496Z,1553729801.496 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:41.496Z,1553729801.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:41.916Z,1553729801.916 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:41.916Z,1553729801.916 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:42.307Z,1553729802.307 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:42.307Z,1553729802.307 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:42.738Z,1553729802.738 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:42.738Z,1553729802.738 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:43.085Z,1553729803.085 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:43.089Z,1553729803.089 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:43.149Z,1553729803.149 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:43.150Z,1553729803.150 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:43.483Z,1553729803.483 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-27T23:36:43.552Z,1553729803.552 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:43.552Z,1553729803.552 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:43.951Z,1553729803.951 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:43.951Z,1553729803.951 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:44.343Z,1553729804.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:44.343Z,1553729804.343 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:44.779Z,1553729804.779 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:44.779Z,1553729804.779 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:45.127Z,1553729805.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:45.127Z,1553729805.127 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:45.539Z,1553729805.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:45.539Z,1553729805.539 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:45.979Z,1553729805.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:45.980Z,1553729805.980 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:46.347Z,1553729806.347 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:46.347Z,1553729806.347 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:46.787Z,1553729806.787 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:46.787Z,1553729806.787 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:47.119Z,1553729807.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:47.119Z,1553729807.119 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:47.212Z,1553729807.212 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:47.212Z,1553729807.212 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:47.522Z,1553729807.522 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:36:47.599Z,1553729807.599 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:47.599Z,1553729807.599 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:48.007Z,1553729808.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:48.008Z,1553729808.008 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:48.367Z,1553729808.367 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:48.367Z,1553729808.367 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:48.815Z,1553729808.815 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:48.815Z,1553729808.815 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:49.179Z,1553729809.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:49.179Z,1553729809.179 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:49.579Z,1553729809.579 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:49.579Z,1553729809.579 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:49.998Z,1553729809.998 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:49.998Z,1553729809.998 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:50.403Z,1553729810.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:50.403Z,1553729810.403 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:50.821Z,1553729810.821 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:50.821Z,1553729810.821 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:51.159Z,1553729811.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:51.165Z,1553729811.165 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:51.255Z,1553729811.255 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:51.255Z,1553729811.255 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:51.607Z,1553729811.607 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:51.607Z,1553729811.607 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:51.607Z,1553729811.607 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:51.608Z,1553729811.608 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967046 forward, -0.254602 starboard, 0.000000 keelward ]
2019-03-27T23:36:51.608Z,1553729811.608 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:51.608Z,1553729811.608 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:51.609Z,1553729811.609 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:51.611Z,1553729811.611 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924464,-0.301006,-0.234014;0.294969,-0.953542,0.061252;-0.241579,-0.012402,0.970302 ]
2019-03-27T23:36:51.612Z,1553729811.612 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.091780 rad -- adding 2pi
2019-03-27T23:36:51.612Z,1553729811.612 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.191405 rad after adding 2pi
2019-03-27T23:36:51.612Z,1553729811.612 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.854027 degrees FINAL. Radians:3.191405
2019-03-27T23:36:51.613Z,1553729811.613 [lineCaptureHoming:I.](INFO): ContactLat = 36.802682 ContactLon = -121.788025
2019-03-27T23:36:51.683Z,1553729811.683 [Reporter](INFO): acoustic_contact_range 4.440000 m
2019-03-27T23:36:51.690Z,1553729811.690 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.191405 rad
2019-03-27T23:36:52.010Z,1553729812.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:52.011Z,1553729812.011 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:52.407Z,1553729812.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:52.408Z,1553729812.408 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:52.822Z,1553729812.822 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:52.822Z,1553729812.822 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:53.224Z,1553729813.224 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:53.224Z,1553729813.224 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:53.640Z,1553729813.640 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:53.640Z,1553729813.640 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:54.047Z,1553729814.047 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:54.047Z,1553729814.047 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:54.425Z,1553729814.425 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:54.425Z,1553729814.425 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:54.839Z,1553729814.839 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:54.839Z,1553729814.839 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:55.199Z,1553729815.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:55.203Z,1553729815.203 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:55.304Z,1553729815.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:55.305Z,1553729815.305 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:55.643Z,1553729815.643 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:55.643Z,1553729815.643 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:55.643Z,1553729815.643 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:55.644Z,1553729815.644 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]
2019-03-27T23:36:55.644Z,1553729815.644 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:55.644Z,1553729815.644 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:55.645Z,1553729815.645 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:55.647Z,1553729815.647 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924108,-0.302108,-0.233998;0.296117,-0.953189,0.061204;-0.241534,-0.012732,0.970309 ]
2019-03-27T23:36:55.647Z,1553729815.647 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.083394 rad -- adding 2pi
2019-03-27T23:36:55.648Z,1553729815.648 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.199791 rad after adding 2pi
2019-03-27T23:36:55.648Z,1553729815.648 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.334544 degrees FINAL. Radians:3.199791
2019-03-27T23:36:55.649Z,1553729815.649 [lineCaptureHoming:I.](INFO): ContactLat = 36.802668 ContactLon = -121.788027
2019-03-27T23:36:55.708Z,1553729815.708 [Reporter](INFO): acoustic_contact_range 6.059999 m
2019-03-27T23:36:55.713Z,1553729815.713 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.199791 rad
2019-03-27T23:36:56.053Z,1553729816.053 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:56.054Z,1553729816.054 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:56.460Z,1553729816.460 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:56.460Z,1553729816.460 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:56.869Z,1553729816.869 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:56.869Z,1553729816.869 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:57.279Z,1553729817.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:57.280Z,1553729817.280 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:57.708Z,1553729817.708 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:57.709Z,1553729817.709 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:58.102Z,1553729818.102 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:58.103Z,1553729818.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:58.459Z,1553729818.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:58.459Z,1553729818.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:58.875Z,1553729818.875 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:58.875Z,1553729818.875 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:59.239Z,1553729819.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:36:59.243Z,1553729819.243 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:36:59.309Z,1553729819.309 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:59.309Z,1553729819.309 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:59.713Z,1553729819.713 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:36:59.713Z,1553729819.713 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:36:59.714Z,1553729819.714 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:36:59.714Z,1553729819.714 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966600 forward, -0.256289 starboard, 0.000000 keelward ]
2019-03-27T23:36:59.715Z,1553729819.715 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:36:59.715Z,1553729819.715 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:59.715Z,1553729819.715 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:36:59.717Z,1553729819.717 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923839,-0.303113,-0.233760;0.297153,-0.952867,0.061194;-0.241291,-0.012929,0.970367 ]
2019-03-27T23:36:59.718Z,1553729819.718 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.091302 rad -- adding 2pi
2019-03-27T23:36:59.718Z,1553729819.718 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.191883 rad after adding 2pi
2019-03-27T23:36:59.718Z,1553729819.718 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.881430 degrees FINAL. Radians:3.191883
2019-03-27T23:36:59.719Z,1553729819.719 [lineCaptureHoming:I.](INFO): ContactLat = 36.801901 ContactLon = -121.788074
2019-03-27T23:36:59.762Z,1553729819.762 [Reporter](INFO): acoustic_contact_range 94.080002 m
2019-03-27T23:36:59.763Z,1553729819.763 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.191883 rad
2019-03-27T23:37:00.101Z,1553729820.101 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:00.101Z,1553729820.101 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:00.503Z,1553729820.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:00.504Z,1553729820.504 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:00.920Z,1553729820.920 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:00.921Z,1553729820.921 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:01.315Z,1553729821.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:01.315Z,1553729821.315 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:01.739Z,1553729821.739 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:01.739Z,1553729821.739 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:02.109Z,1553729822.109 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:02.110Z,1553729822.110 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:02.523Z,1553729822.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:02.523Z,1553729822.523 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:02.931Z,1553729822.931 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:02.931Z,1553729822.931 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:03.290Z,1553729823.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:03.296Z,1553729823.296 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:03.350Z,1553729823.350 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:03.350Z,1553729823.350 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:03.758Z,1553729823.758 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:03.758Z,1553729823.758 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:03.758Z,1553729823.758 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:03.759Z,1553729823.759 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964095 forward, -0.265556 starboard, 0.000000 keelward ]
2019-03-27T23:37:03.759Z,1553729823.759 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:03.759Z,1553729823.759 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:03.759Z,1553729823.759 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:03.762Z,1553729823.762 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923701,-0.303619,-0.233649;0.297760,-0.952700,0.060849;-0.241072,-0.013365,0.970415 ]
2019-03-27T23:37:03.762Z,1553729823.762 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.100648 rad -- adding 2pi
2019-03-27T23:37:03.763Z,1553729823.763 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.182538 rad after adding 2pi
2019-03-27T23:37:03.763Z,1553729823.763 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.345970 degrees FINAL. Radians:3.182538
2019-03-27T23:37:03.764Z,1553729823.764 [lineCaptureHoming:I.](INFO): ContactLat = 36.801939 ContactLon = -121.788062
2019-03-27T23:37:03.818Z,1553729823.818 [Reporter](INFO): acoustic_contact_range 89.699997 m
2019-03-27T23:37:03.819Z,1553729823.819 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.182538 rad
2019-03-27T23:37:04.134Z,1553729824.134 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:04.134Z,1553729824.134 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:04.552Z,1553729824.552 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:04.552Z,1553729824.552 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:04.939Z,1553729824.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:04.939Z,1553729824.939 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:05.339Z,1553729825.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:05.339Z,1553729825.339 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:05.759Z,1553729825.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:05.760Z,1553729825.760 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:06.147Z,1553729826.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:06.147Z,1553729826.147 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:06.550Z,1553729826.550 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:06.550Z,1553729826.550 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:06.967Z,1553729826.967 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:06.967Z,1553729826.967 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:07.323Z,1553729827.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:07.327Z,1553729827.327 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:07.430Z,1553729827.430 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:07.430Z,1553729827.430 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:07.786Z,1553729827.786 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:07.786Z,1553729827.786 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:07.786Z,1553729827.786 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:07.787Z,1553729827.787 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.981293 forward, -0.192522 starboard, 0.000000 keelward ]
2019-03-27T23:37:07.787Z,1553729827.787 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:07.787Z,1553729827.787 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:07.787Z,1553729827.787 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:07.790Z,1553729827.790 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923600,-0.303872,-0.233720;0.297956,-0.952621,0.061113;-0.241217,-0.013194,0.970381 ]
2019-03-27T23:37:07.790Z,1553729827.790 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.023038 rad -- adding 2pi
2019-03-27T23:37:07.791Z,1553729827.791 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.260147 rad after adding 2pi
2019-03-27T23:37:07.791Z,1553729827.791 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 186.792655 degrees FINAL. Radians:3.260147
2019-03-27T23:37:07.792Z,1553729827.792 [lineCaptureHoming:I.](INFO): ContactLat = 36.802688 ContactLon = -121.788026
2019-03-27T23:37:07.830Z,1553729827.830 [Reporter](INFO): acoustic_contact_range 3.779998 m
2019-03-27T23:37:07.831Z,1553729827.831 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.260147 rad
2019-03-27T23:37:08.182Z,1553729828.182 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:08.182Z,1553729828.182 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:08.569Z,1553729828.569 [lineCaptureHoming:Lap:Dock:B.Wait](INFO): Done Waiting.
2019-03-27T23:37:08.569Z,1553729828.569 [lineCaptureHoming:Lap:Dock:B.Wait] Stopped
2019-03-27T23:37:08.569Z,1553729828.569 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-27T23:37:08.569Z,1553729828.569 [lineCaptureHoming:Lap:Dock:C] Running Loop=1
2019-03-27T23:37:08.572Z,1553729828.572 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:08.572Z,1553729828.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:08.976Z,1553729828.976 [lineCaptureHoming:Lap:Dock:C] Stopped
2019-03-27T23:37:08.976Z,1553729828.976 [lineCaptureHoming:Lap:Dock:D] Running Loop=1
2019-03-27T23:37:08.979Z,1553729828.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:08.979Z,1553729828.979 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:09.373Z,1553729829.373 [lineCaptureHoming:Lap:Dock:D] Stopped
2019-03-27T23:37:09.373Z,1553729829.373 [lineCaptureHoming:Lap:Dock](INFO): Completed lineCaptureHoming:Lap:Dock
2019-03-27T23:37:09.373Z,1553729829.373 [lineCaptureHoming:Lap:Dock] Stopped
2019-03-27T23:37:09.373Z,1553729829.373 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-03-27T23:37:09.373Z,1553729829.373 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-03-27T23:37:09.374Z,1553729829.374 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-03-27T23:37:09.374Z,1553729829.374 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-03-27T23:37:09.374Z,1553729829.374 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-27T23:37:09.374Z,1553729829.374 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-03-27T23:37:09.374Z,1553729829.374 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-27T23:37:09.376Z,1553729829.376 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:09.377Z,1553729829.377 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:09.781Z,1553729829.781 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-03-27T23:37:09.781Z,1553729829.781 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-27T23:37:09.781Z,1553729829.781 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-03-27T23:37:09.781Z,1553729829.781 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-27T23:37:09.781Z,1553729829.781 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-27T23:37:09.782Z,1553729829.782 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-27T23:37:09.784Z,1553729829.784 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:09.785Z,1553729829.785 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:10.191Z,1553729830.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:10.191Z,1553729830.191 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:10.597Z,1553729830.597 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:10.597Z,1553729830.597 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:11.007Z,1553729831.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:11.008Z,1553729831.008 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:11.359Z,1553729831.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:11.363Z,1553729831.363 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:11.461Z,1553729831.461 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:11.461Z,1553729831.461 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:11.766Z,1553729831.766 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-27T23:37:11.861Z,1553729831.861 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:11.861Z,1553729831.861 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:12.200Z,1553729832.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:12.200Z,1553729832.200 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:12.608Z,1553729832.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:12.608Z,1553729832.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:13.015Z,1553729833.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:13.016Z,1553729833.016 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:13.415Z,1553729833.415 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:13.415Z,1553729833.415 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:13.860Z,1553729833.860 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:13.860Z,1553729833.860 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:14.232Z,1553729834.232 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:14.232Z,1553729834.232 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:14.641Z,1553729834.641 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:14.641Z,1553729834.641 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:15.032Z,1553729835.032 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:15.032Z,1553729835.032 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:15.403Z,1553729835.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:15.409Z,1553729835.409 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:15.487Z,1553729835.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:15.488Z,1553729835.488 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:15.847Z,1553729835.847 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:15.847Z,1553729835.847 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:15.847Z,1553729835.847 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:15.848Z,1553729835.848 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970506 forward, -0.241075 starboard, 0.000000 keelward ]
2019-03-27T23:37:15.848Z,1553729835.848 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:15.849Z,1553729835.849 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:15.849Z,1553729835.849 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:15.851Z,1553729835.851 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923799,-0.303187,-0.233822;0.297191,-0.952845,0.061353;-0.241397,-0.012812,0.970342 ]
2019-03-27T23:37:15.851Z,1553729835.851 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.075033 rad -- adding 2pi
2019-03-27T23:37:15.852Z,1553729835.852 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.208152 rad after adding 2pi
2019-03-27T23:37:15.852Z,1553729835.852 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.813559 degrees FINAL. Radians:3.208152
2019-03-27T23:37:15.853Z,1553729835.853 [lineCaptureHoming:I.](INFO): ContactLat = 36.802643 ContactLon = -121.788027
2019-03-27T23:37:15.898Z,1553729835.898 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-27T23:37:15.898Z,1553729835.898 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.208152 rad
2019-03-27T23:37:16.243Z,1553729836.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:16.243Z,1553729836.243 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:16.651Z,1553729836.651 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:16.652Z,1553729836.652 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:17.066Z,1553729837.066 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:17.067Z,1553729837.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:17.468Z,1553729837.468 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:17.469Z,1553729837.469 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:17.888Z,1553729837.888 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:17.888Z,1553729837.888 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:18.267Z,1553729838.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:18.267Z,1553729838.267 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:18.669Z,1553729838.669 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:18.670Z,1553729838.670 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:19.095Z,1553729839.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:19.095Z,1553729839.095 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:19.443Z,1553729839.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:19.447Z,1553729839.447 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:19.502Z,1553729839.502 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:19.502Z,1553729839.502 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:19.914Z,1553729839.914 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:19.914Z,1553729839.914 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:19.915Z,1553729839.915 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:19.915Z,1553729839.915 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.980785 forward, -0.195090 starboard, 0.000000 keelward ]
2019-03-27T23:37:19.916Z,1553729839.916 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:19.916Z,1553729839.916 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:19.916Z,1553729839.916 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:19.922Z,1553729839.922 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924060,-0.302511,-0.233669;0.296517,-0.953061,0.061250;-0.241229,-0.012688,0.970385 ]
2019-03-27T23:37:19.923Z,1553729839.923 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.027210 rad -- adding 2pi
2019-03-27T23:37:19.923Z,1553729839.923 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.255975 rad after adding 2pi
2019-03-27T23:37:19.923Z,1553729839.923 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 186.553612 degrees FINAL. Radians:3.255975
2019-03-27T23:37:19.924Z,1553729839.924 [lineCaptureHoming:I.](INFO): ContactLat = 36.802493 ContactLon = -121.788053
2019-03-27T23:37:19.976Z,1553729839.976 [Reporter](INFO): acoustic_contact_range 26.280003 m
2019-03-27T23:37:19.977Z,1553729839.977 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.255975 rad
2019-03-27T23:37:20.295Z,1553729840.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:20.295Z,1553729840.295 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:20.746Z,1553729840.746 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:20.746Z,1553729840.746 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:21.147Z,1553729841.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:21.147Z,1553729841.147 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:21.495Z,1553729841.495 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:21.496Z,1553729841.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:21.920Z,1553729841.920 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:21.920Z,1553729841.920 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:22.303Z,1553729842.303 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:22.303Z,1553729842.303 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:22.740Z,1553729842.740 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:22.740Z,1553729842.740 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:23.151Z,1553729843.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:23.151Z,1553729843.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:23.479Z,1553729843.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:23.479Z,1553729843.479 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:23.583Z,1553729843.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:23.583Z,1553729843.583 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:23.882Z,1553729843.882 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,186,80,81,0D,FF
2019-03-27T23:37:23.997Z,1553729843.997 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:23.997Z,1553729843.997 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:24.323Z,1553729844.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:24.324Z,1553729844.324 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:24.811Z,1553729844.811 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:24.812Z,1553729844.812 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:25.131Z,1553729845.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:25.131Z,1553729845.131 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:25.539Z,1553729845.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:25.539Z,1553729845.539 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:25.954Z,1553729845.954 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:25.954Z,1553729845.954 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:26.350Z,1553729846.350 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:26.350Z,1553729846.350 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:26.776Z,1553729846.776 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:26.776Z,1553729846.776 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:27.151Z,1553729847.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:27.151Z,1553729847.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:27.523Z,1553729847.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:27.529Z,1553729847.529 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:27.608Z,1553729847.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:27.608Z,1553729847.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:27.967Z,1553729847.967 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:27.968Z,1553729847.968 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:27.968Z,1553729847.968 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:27.969Z,1553729847.969 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964327 forward, -0.264715 starboard, 0.000000 keelward ]
2019-03-27T23:37:27.969Z,1553729847.969 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:27.969Z,1553729847.969 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:27.969Z,1553729847.969 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:27.971Z,1553729847.971 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924648,-0.300580,-0.233832;0.294535,-0.953678,0.061218;-0.241402,-0.012267,0.970348 ]
2019-03-27T23:37:27.972Z,1553729847.972 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.103035 rad -- adding 2pi
2019-03-27T23:37:27.972Z,1553729847.972 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.180150 rad after adding 2pi
2019-03-27T23:37:27.972Z,1553729847.972 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.209161 degrees FINAL. Radians:3.180150
2019-03-27T23:37:27.973Z,1553729847.973 [lineCaptureHoming:I.](INFO): ContactLat = 36.802044 ContactLon = -121.788052
2019-03-27T23:37:28.018Z,1553729848.018 [Reporter](INFO): acoustic_contact_range 77.700005 m
2019-03-27T23:37:28.018Z,1553729848.018 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.180150 rad
2019-03-27T23:37:28.365Z,1553729848.365 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:28.366Z,1553729848.366 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:28.773Z,1553729848.773 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:28.773Z,1553729848.773 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:29.175Z,1553729849.175 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:29.176Z,1553729849.176 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:29.581Z,1553729849.581 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:29.582Z,1553729849.582 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:30.011Z,1553729850.011 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:30.011Z,1553729850.011 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:30.411Z,1553729850.411 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:30.412Z,1553729850.412 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:30.791Z,1553729850.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:30.792Z,1553729850.792 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:31.191Z,1553729851.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:31.192Z,1553729851.192 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:31.563Z,1553729851.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:31.567Z,1553729851.567 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:31.622Z,1553729851.622 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:31.622Z,1553729851.622 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:32.007Z,1553729852.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:32.008Z,1553729852.008 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:32.008Z,1553729852.008 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:32.009Z,1553729852.009 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.999990 forward, -0.004363 starboard, 0.000000 keelward ]
2019-03-27T23:37:32.009Z,1553729852.009 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:32.009Z,1553729852.009 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:32.009Z,1553729852.009 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:32.011Z,1553729852.011 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924988,-0.299496,-0.233880;0.293384,-0.954024,0.061353;-0.241502,-0.011866,0.970328 ]
2019-03-27T23:37:32.012Z,1553729852.012 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.832941 rad -- adding 2pi
2019-03-27T23:37:32.012Z,1553729852.012 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.450244 rad after adding 2pi
2019-03-27T23:37:32.012Z,1553729852.012 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 197.684444 degrees FINAL. Radians:3.450244
2019-03-27T23:37:32.013Z,1553729852.013 [lineCaptureHoming:I.](INFO): ContactLat = 36.801819 ContactLon = -121.788378
2019-03-27T23:37:32.066Z,1553729852.066 [Reporter](INFO): acoustic_contact_range 108.360001 m
2019-03-27T23:37:32.067Z,1553729852.067 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.450244 rad
2019-03-27T23:37:32.408Z,1553729852.408 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:32.409Z,1553729852.409 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:32.819Z,1553729852.819 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:32.819Z,1553729852.819 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:33.219Z,1553729853.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:33.219Z,1553729853.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:33.640Z,1553729853.640 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:33.640Z,1553729853.640 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:34.056Z,1553729854.056 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:34.061Z,1553729854.061 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:34.420Z,1553729854.420 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:34.421Z,1553729854.421 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:34.840Z,1553729854.840 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:34.840Z,1553729854.840 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:35.231Z,1553729855.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:35.231Z,1553729855.231 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:35.603Z,1553729855.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:35.607Z,1553729855.607 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:35.719Z,1553729855.719 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:35.719Z,1553729855.719 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:36.067Z,1553729856.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:36.067Z,1553729856.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:36.067Z,1553729856.067 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:36.068Z,1553729856.068 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.942641 forward, 0.333807 starboard, 0.000000 keelward ]
2019-03-27T23:37:36.068Z,1553729856.068 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:36.068Z,1553729856.068 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:36.068Z,1553729856.068 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:36.070Z,1553729856.070 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925220,-0.298703,-0.233977;0.292559,-0.954275,0.061389;-0.241615,-0.011654,0.970302 ]
2019-03-27T23:37:36.071Z,1553729856.071 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.482378 rad -- adding 2pi
2019-03-27T23:37:36.071Z,1553729856.071 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.800807 rad after adding 2pi
2019-03-27T23:37:36.072Z,1553729856.072 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 217.770200 degrees FINAL. Radians:3.800807
2019-03-27T23:37:36.072Z,1553729856.072 [lineCaptureHoming:I.](INFO): ContactLat = 36.802547 ContactLon = -121.788188
2019-03-27T23:37:36.126Z,1553729856.126 [Reporter](INFO): acoustic_contact_range 25.140001 m
2019-03-27T23:37:36.127Z,1553729856.127 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.800807 rad
2019-03-27T23:37:36.460Z,1553729856.460 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:36.460Z,1553729856.460 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:36.879Z,1553729856.879 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:36.879Z,1553729856.879 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:37.268Z,1553729857.268 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:37.268Z,1553729857.268 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:37.713Z,1553729857.713 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:37.713Z,1553729857.713 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:38.099Z,1553729858.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:38.099Z,1553729858.099 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:38.465Z,1553729858.465 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:38.465Z,1553729858.465 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:38.874Z,1553729858.874 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:38.874Z,1553729858.874 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:39.273Z,1553729859.273 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:39.273Z,1553729859.273 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:39.647Z,1553729859.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:39.654Z,1553729859.654 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:39.725Z,1553729859.725 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:39.725Z,1553729859.725 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:40.111Z,1553729860.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:40.111Z,1553729860.111 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:40.111Z,1553729860.111 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:40.112Z,1553729860.112 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.982935 forward, 0.183951 starboard, 0.000000 keelward ]
2019-03-27T23:37:40.112Z,1553729860.112 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:40.113Z,1553729860.113 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:40.113Z,1553729860.113 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:40.115Z,1553729860.115 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925371,-0.298178,-0.234047;0.292049,-0.954439,0.061263;-0.241651,-0.011662,0.970293 ]
2019-03-27T23:37:40.116Z,1553729860.116 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.640601 rad -- adding 2pi
2019-03-27T23:37:40.116Z,1553729860.116 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.642585 rad after adding 2pi
2019-03-27T23:37:40.117Z,1553729860.117 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 208.704722 degrees FINAL. Radians:3.642585
2019-03-27T23:37:40.118Z,1553729860.118 [lineCaptureHoming:I.](INFO): ContactLat = 36.802357 ContactLon = -121.788268
2019-03-27T23:37:40.174Z,1553729860.174 [Reporter](INFO): acoustic_contact_range 47.520004 m
2019-03-27T23:37:40.175Z,1553729860.175 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.642585 rad
2019-03-27T23:37:40.493Z,1553729860.493 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:40.494Z,1553729860.494 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:40.920Z,1553729860.920 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:40.920Z,1553729860.920 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:41.287Z,1553729861.287 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:41.287Z,1553729861.287 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:41.740Z,1553729861.740 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:41.740Z,1553729861.740 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:42.082Z,1553729862.082 [RDI_Pathfinder](ERROR): Failed to parse:.00, 101.41,  96.42,   0.00,  88.94
2019-03-27T23:37:42.093Z,1553729862.093 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:37:42.093Z,1553729862.093 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:37:42.099Z,1553729862.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:42.099Z,1553729862.099 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:42.160Z,1553729862.160 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:37:42.501Z,1553729862.501 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:42.501Z,1553729862.501 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:42.537Z,1553729862.537 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:37:42.537Z,1553729862.537 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:37:42.918Z,1553729862.918 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:42.918Z,1553729862.918 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:43.319Z,1553729863.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:43.319Z,1553729863.319 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:43.688Z,1553729863.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:43.692Z,1553729863.692 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:43.800Z,1553729863.800 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:43.800Z,1553729863.800 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:44.082Z,1553729864.082 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,187,80,81,0A,FF
2019-03-27T23:37:44.175Z,1553729864.175 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:44.175Z,1553729864.175 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:44.523Z,1553729864.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:44.524Z,1553729864.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:44.944Z,1553729864.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:44.944Z,1553729864.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:45.352Z,1553729865.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:45.352Z,1553729865.352 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:45.806Z,1553729865.806 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:45.807Z,1553729865.807 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:46.167Z,1553729866.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:46.167Z,1553729866.167 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:46.567Z,1553729866.567 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:46.567Z,1553729866.567 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:47.028Z,1553729867.028 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:47.028Z,1553729867.028 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:47.355Z,1553729867.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:47.356Z,1553729867.356 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:47.735Z,1553729867.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:47.746Z,1553729867.746 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:47.917Z,1553729867.917 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:47.917Z,1553729867.917 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:48.180Z,1553729868.180 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:48.180Z,1553729868.180 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:48.180Z,1553729868.180 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:48.185Z,1553729868.185 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.969872 forward, -0.243615 starboard, 0.000000 keelward ]
2019-03-27T23:37:48.185Z,1553729868.185 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:48.186Z,1553729868.186 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:48.186Z,1553729868.186 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:48.188Z,1553729868.188 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925203,-0.298775,-0.233949;0.292673,-0.954250,0.061226;-0.241539,-0.011824,0.970319 ]
2019-03-27T23:37:48.188Z,1553729868.188 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.082502 rad -- adding 2pi
2019-03-27T23:37:48.188Z,1553729868.188 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.200684 rad after adding 2pi
2019-03-27T23:37:48.193Z,1553729868.193 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.385661 degrees FINAL. Radians:3.200684
2019-03-27T23:37:48.194Z,1553729868.194 [lineCaptureHoming:I.](INFO): ContactLat = 36.801910 ContactLon = -121.788076
2019-03-27T23:37:48.258Z,1553729868.258 [Reporter](INFO): acoustic_contact_range 93.360008 m
2019-03-27T23:37:48.259Z,1553729868.259 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.200684 rad
2019-03-27T23:37:48.572Z,1553729868.572 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:48.572Z,1553729868.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:48.000Z,1553729869.000 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:48.000Z,1553729869.000 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:49.382Z,1553729869.382 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:49.382Z,1553729869.382 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:49.799Z,1553729869.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:49.799Z,1553729869.799 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:50.180Z,1553729870.180 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:50.180Z,1553729870.180 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:50.583Z,1553729870.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:50.583Z,1553729870.583 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:50.991Z,1553729870.991 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:50.991Z,1553729870.991 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:51.413Z,1553729871.413 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:51.414Z,1553729871.414 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:51.758Z,1553729871.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:51.760Z,1553729871.760 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:51.936Z,1553729871.936 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:51.945Z,1553729871.945 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:52.163Z,1553729872.163 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,188,80,81,09,FF
2019-03-27T23:37:52.224Z,1553729872.224 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:52.224Z,1553729872.224 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:52.628Z,1553729872.628 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:52.628Z,1553729872.628 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:53.044Z,1553729873.044 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:53.044Z,1553729873.044 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:53.444Z,1553729873.444 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:53.444Z,1553729873.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:53.885Z,1553729873.885 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:53.886Z,1553729873.886 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:54.227Z,1553729874.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:54.227Z,1553729874.227 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:54.644Z,1553729874.644 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:54.644Z,1553729874.644 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:55.050Z,1553729875.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:55.050Z,1553729875.050 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:55.436Z,1553729875.436 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:55.436Z,1553729875.436 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:55.812Z,1553729875.812 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:55.830Z,1553729875.830 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:56.051Z,1553729876.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:56.051Z,1553729876.051 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:56.341Z,1553729876.341 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:56.342Z,1553729876.342 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:56.342Z,1553729876.342 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:37:56.343Z,1553729876.343 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967709 forward, -0.252069 starboard, 0.000000 keelward ]
2019-03-27T23:37:56.343Z,1553729876.343 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:37:56.343Z,1553729876.343 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:56.343Z,1553729876.343 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:37:56.357Z,1553729876.357 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924807,-0.300057,-0.233874;0.293977,-0.953845,0.061297;-0.241472,-0.012066,0.970333 ]
2019-03-27T23:37:56.358Z,1553729876.358 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.090110 rad -- adding 2pi
2019-03-27T23:37:56.358Z,1553729876.358 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.193075 rad after adding 2pi
2019-03-27T23:37:56.358Z,1553729876.358 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.949718 degrees FINAL. Radians:3.193075
2019-03-27T23:37:56.359Z,1553729876.359 [lineCaptureHoming:I.](INFO): ContactLat = 36.802669 ContactLon = -121.788018
2019-03-27T23:37:56.430Z,1553729876.430 [Reporter](INFO): acoustic_contact_range 6.359998 m
2019-03-27T23:37:56.431Z,1553729876.431 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.193075 rad
2019-03-27T23:37:56.703Z,1553729876.703 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:56.704Z,1553729876.704 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:57.100Z,1553729877.100 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:57.100Z,1553729877.100 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:57.451Z,1553729877.451 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:57.452Z,1553729877.452 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:57.875Z,1553729877.875 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:57.876Z,1553729877.876 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:58.259Z,1553729878.259 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:58.259Z,1553729878.259 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:58.731Z,1553729878.731 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:58.732Z,1553729878.732 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:59.091Z,1553729879.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:59.092Z,1553729879.092 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:59.483Z,1553729879.483 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:59.484Z,1553729879.484 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:37:59.839Z,1553729879.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:37:59.840Z,1553729879.840 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:37:59.968Z,1553729879.968 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:37:59.977Z,1553729879.977 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:00.301Z,1553729880.301 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:00.302Z,1553729880.302 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:00.302Z,1553729880.302 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:00.303Z,1553729880.303 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967268 forward, -0.253758 starboard, 0.000000 keelward ]
2019-03-27T23:38:00.303Z,1553729880.303 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:00.303Z,1553729880.303 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:00.303Z,1553729880.303 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:00.309Z,1553729880.309 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924457,-0.301161,-0.233839;0.295114,-0.953493,0.061305;-0.241427,-0.012335,0.970341 ]
2019-03-27T23:38:00.310Z,1553729880.310 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.090715 rad -- adding 2pi
2019-03-27T23:38:00.310Z,1553729880.310 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.192470 rad after adding 2pi
2019-03-27T23:38:00.311Z,1553729880.311 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.915061 degrees FINAL. Radians:3.192470
2019-03-27T23:38:00.311Z,1553729880.311 [lineCaptureHoming:I.](INFO): ContactLat = 36.802671 ContactLon = -121.788017
2019-03-27T23:38:00.362Z,1553729880.362 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:38:00.363Z,1553729880.363 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.192470 rad
2019-03-27T23:38:00.777Z,1553729880.777 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:00.777Z,1553729880.777 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:01.087Z,1553729881.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:01.087Z,1553729881.087 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:01.489Z,1553729881.489 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:01.490Z,1553729881.490 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:01.899Z,1553729881.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:01.899Z,1553729881.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:02.299Z,1553729882.299 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:02.299Z,1553729882.299 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:02.734Z,1553729882.734 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:02.734Z,1553729882.734 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:03.119Z,1553729883.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:03.120Z,1553729883.120 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:03.518Z,1553729883.518 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:03.519Z,1553729883.519 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:03.879Z,1553729883.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:03.884Z,1553729883.884 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:03.990Z,1553729883.990 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:03.990Z,1553729883.990 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:04.323Z,1553729884.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:04.323Z,1553729884.323 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:04.324Z,1553729884.324 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:04.324Z,1553729884.324 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.961741 forward, -0.273959 starboard, 0.000000 keelward ]
2019-03-27T23:38:04.341Z,1553729884.341 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:04.341Z,1553729884.341 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:04.341Z,1553729884.341 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:04.343Z,1553729884.343 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924060,-0.302410,-0.233796;0.296415,-0.953093,0.061250;-0.241352,-0.012701,0.970355 ]
2019-03-27T23:38:04.343Z,1553729884.343 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.110948 rad -- adding 2pi
2019-03-27T23:38:04.344Z,1553729884.344 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.172237 rad after adding 2pi
2019-03-27T23:38:04.344Z,1553729884.344 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.755801 degrees FINAL. Radians:3.172237
2019-03-27T23:38:04.349Z,1553729884.349 [lineCaptureHoming:I.](INFO): ContactLat = 36.802694 ContactLon = -121.788015
2019-03-27T23:38:04.398Z,1553729884.398 [Reporter](INFO): acoustic_contact_range 3.539999 m
2019-03-27T23:38:04.399Z,1553729884.399 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.172237 rad
2019-03-27T23:38:04.766Z,1553729884.766 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:04.766Z,1553729884.766 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:05.123Z,1553729885.123 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:05.123Z,1553729885.123 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:05.529Z,1553729885.529 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:05.530Z,1553729885.530 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:05.939Z,1553729885.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:05.939Z,1553729885.939 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:06.434Z,1553729886.434 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:06.434Z,1553729886.434 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:06.809Z,1553729886.809 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:06.810Z,1553729886.810 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:07.160Z,1553729887.160 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:07.161Z,1553729887.161 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:07.571Z,1553729887.571 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:07.572Z,1553729887.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:07.919Z,1553729887.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:07.923Z,1553729887.923 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:08.049Z,1553729888.049 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:08.049Z,1553729888.049 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:08.360Z,1553729888.360 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:08.360Z,1553729888.360 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:08.360Z,1553729888.360 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:08.361Z,1553729888.361 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965245 forward, -0.261347 starboard, 0.000000 keelward ]
2019-03-27T23:38:08.361Z,1553729888.361 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:08.361Z,1553729888.361 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:08.361Z,1553729888.361 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:08.363Z,1553729888.363 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923821,-0.303231,-0.233681;0.297278,-0.952829,0.061176;-0.241208,-0.012952,0.970387 ]
2019-03-27T23:38:08.364Z,1553729888.364 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.096572 rad -- adding 2pi
2019-03-27T23:38:08.364Z,1553729888.364 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.186613 rad after adding 2pi
2019-03-27T23:38:08.365Z,1553729888.365 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.579494 degrees FINAL. Radians:3.186613
2019-03-27T23:38:08.366Z,1553729888.366 [lineCaptureHoming:I.](INFO): ContactLat = 36.802672 ContactLon = -121.788016
2019-03-27T23:38:08.422Z,1553729888.422 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:38:08.423Z,1553729888.423 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.186613 rad
2019-03-27T23:38:08.771Z,1553729888.771 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:08.771Z,1553729888.771 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:09.168Z,1553729889.168 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:09.168Z,1553729889.168 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:09.565Z,1553729889.565 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:09.566Z,1553729889.566 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:09.992Z,1553729889.992 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:09.992Z,1553729889.992 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:10.383Z,1553729890.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:10.384Z,1553729890.384 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:10.806Z,1553729890.806 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:10.806Z,1553729890.806 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:11.204Z,1553729891.204 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:11.204Z,1553729891.204 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:11.592Z,1553729891.592 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:11.592Z,1553729891.592 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:11.959Z,1553729891.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:11.963Z,1553729891.963 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:12.079Z,1553729892.079 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:12.080Z,1553729892.080 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:12.378Z,1553729892.378 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,185,80,81,08,FF
2019-03-27T23:38:12.431Z,1553729892.431 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:12.431Z,1553729892.431 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:12.816Z,1553729892.816 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:12.816Z,1553729892.816 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:13.213Z,1553729893.213 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:13.214Z,1553729893.214 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:13.623Z,1553729893.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:13.623Z,1553729893.623 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:14.030Z,1553729894.030 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:14.030Z,1553729894.030 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:14.440Z,1553729894.440 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:14.440Z,1553729894.440 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:14.851Z,1553729894.851 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:14.851Z,1553729894.851 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:15.223Z,1553729895.223 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:15.223Z,1553729895.223 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:15.639Z,1553729895.639 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:15.639Z,1553729895.639 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:15.999Z,1553729895.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:16.005Z,1553729896.005 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:16.075Z,1553729896.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:16.076Z,1553729896.076 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:16.408Z,1553729896.408 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,11,FF
2019-03-27T23:38:16.459Z,1553729896.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:16.459Z,1553729896.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:16.862Z,1553729896.862 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:16.862Z,1553729896.862 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:17.256Z,1553729897.256 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:17.256Z,1553729897.256 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:17.662Z,1553729897.662 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:17.662Z,1553729897.662 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:18.087Z,1553729898.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:18.088Z,1553729898.088 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:18.459Z,1553729898.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:18.460Z,1553729898.460 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:18.867Z,1553729898.867 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:18.867Z,1553729898.867 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:19.267Z,1553729899.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:19.268Z,1553729899.268 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:19.689Z,1553729899.689 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:19.690Z,1553729899.690 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:20.039Z,1553729900.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:20.043Z,1553729900.043 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:20.154Z,1553729900.154 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:20.154Z,1553729900.154 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:20.507Z,1553729900.507 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:20.508Z,1553729900.508 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:20.508Z,1553729900.508 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:20.513Z,1553729900.513 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.998931 forward, -0.046235 starboard, 0.000000 keelward ]
2019-03-27T23:38:20.513Z,1553729900.513 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:20.513Z,1553729900.513 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:20.513Z,1553729900.513 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:20.515Z,1553729900.515 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924205,-0.302006,-0.233747;0.296048,-0.953220,0.061045;-0.241248,-0.012782,0.970379 ]
2019-03-27T23:38:20.516Z,1553729900.516 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.873264 rad -- adding 2pi
2019-03-27T23:38:20.516Z,1553729900.516 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.409921 rad after adding 2pi
2019-03-27T23:38:20.516Z,1553729900.516 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 195.374078 degrees FINAL. Radians:3.409921
2019-03-27T23:38:20.521Z,1553729900.521 [lineCaptureHoming:I.](INFO): ContactLat = 36.802339 ContactLon = -121.788145
2019-03-27T23:38:20.566Z,1553729900.566 [Reporter](INFO): acoustic_contact_range 45.840000 m
2019-03-27T23:38:20.567Z,1553729900.567 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.409921 rad
2019-03-27T23:38:20.899Z,1553729900.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:20.899Z,1553729900.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:21.283Z,1553729901.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:21.283Z,1553729901.283 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:21.732Z,1553729901.732 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:21.732Z,1553729901.732 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:22.103Z,1553729902.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:22.103Z,1553729902.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:22.499Z,1553729902.499 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:22.499Z,1553729902.499 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:22.911Z,1553729902.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:22.911Z,1553729902.911 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:23.323Z,1553729903.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:23.324Z,1553729903.324 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:23.757Z,1553729903.757 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:23.757Z,1553729903.757 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:24.083Z,1553729904.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:24.087Z,1553729904.087 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:24.183Z,1553729904.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:24.184Z,1553729904.184 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:24.547Z,1553729904.547 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:24.547Z,1553729904.547 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:24.548Z,1553729904.548 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:24.548Z,1553729904.548 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.989272 forward, -0.146083 starboard, 0.000000 keelward ]
2019-03-27T23:38:24.553Z,1553729904.553 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:24.553Z,1553729904.553 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:24.553Z,1553729904.553 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:24.555Z,1553729904.555 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924696,-0.300423,-0.233844;0.294359,-0.953728,0.061279;-0.241433,-0.012169,0.970341 ]
2019-03-27T23:38:24.556Z,1553729904.556 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.978225 rad -- adding 2pi
2019-03-27T23:38:24.556Z,1553729904.556 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.304960 rad after adding 2pi
2019-03-27T23:38:24.556Z,1553729904.556 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 189.360274 degrees FINAL. Radians:3.304960
2019-03-27T23:38:24.561Z,1553729904.561 [lineCaptureHoming:I.](INFO): ContactLat = 36.802560 ContactLon = -121.788046
2019-03-27T23:38:24.606Z,1553729904.606 [Reporter](INFO): acoustic_contact_range 19.079998 m
2019-03-27T23:38:24.607Z,1553729904.607 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.304960 rad
2019-03-27T23:38:24.928Z,1553729904.928 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:24.928Z,1553729904.928 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:25.325Z,1553729905.325 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:25.326Z,1553729905.326 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:25.758Z,1553729905.758 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:25.758Z,1553729905.758 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:26.140Z,1553729906.140 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:26.140Z,1553729906.140 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:26.542Z,1553729906.542 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:26.542Z,1553729906.542 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:26.956Z,1553729906.956 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:26.956Z,1553729906.956 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:27.352Z,1553729907.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:27.352Z,1553729907.352 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:27.777Z,1553729907.777 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:27.777Z,1553729907.777 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:28.123Z,1553729908.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:28.128Z,1553729908.128 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:28.235Z,1553729908.235 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:28.235Z,1553729908.235 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:28.562Z,1553729908.562 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:28.562Z,1553729908.562 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:28.562Z,1553729908.562 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:28.563Z,1553729908.563 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.578570 forward, 0.815633 starboard, 0.000000 keelward ]
2019-03-27T23:38:28.563Z,1553729908.563 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:28.563Z,1553729908.563 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:28.563Z,1553729908.563 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:28.565Z,1553729908.565 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925138,-0.298916,-0.234027;0.292807,-0.954206,0.061278;-0.241627,-0.011835,0.970297 ]
2019-03-27T23:38:28.566Z,1553729908.566 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -1.872892 rad -- adding 2pi
2019-03-27T23:38:28.566Z,1553729908.566 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 4.410294 rad after adding 2pi
2019-03-27T23:38:28.567Z,1553729908.567 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 252.691208 degrees FINAL. Radians:4.410294
2019-03-27T23:38:28.567Z,1553729908.567 [lineCaptureHoming:I.](INFO): ContactLat = 36.802552 ContactLon = -121.788707
2019-03-27T23:38:28.630Z,1553729908.630 [Reporter](INFO): acoustic_contact_range 65.159996 m
2019-03-27T23:38:28.631Z,1553729908.631 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.410294 rad
2019-03-27T23:38:28.971Z,1553729908.971 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:28.971Z,1553729908.971 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:29.363Z,1553729909.363 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:29.363Z,1553729909.363 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:29.775Z,1553729909.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:29.775Z,1553729909.775 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:30.177Z,1553729910.177 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:30.178Z,1553729910.178 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:30.587Z,1553729910.587 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:30.587Z,1553729910.587 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:31.015Z,1553729911.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:31.015Z,1553729911.015 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:31.403Z,1553729911.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:31.403Z,1553729911.403 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:31.852Z,1553729911.852 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:31.852Z,1553729911.852 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:32.162Z,1553729912.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:32.166Z,1553729912.166 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:32.284Z,1553729912.284 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:32.297Z,1553729912.297 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:32.566Z,1553729912.566 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,18,FF
2019-03-27T23:38:32.619Z,1553729912.619 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:32.619Z,1553729912.619 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:33.034Z,1553729913.034 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:33.034Z,1553729913.034 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:33.407Z,1553729913.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:33.408Z,1553729913.408 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:33.843Z,1553729913.843 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:33.844Z,1553729913.844 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:34.239Z,1553729914.239 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:34.239Z,1553729914.239 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:34.627Z,1553729914.627 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:34.628Z,1553729914.628 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:35.063Z,1553729915.063 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:35.064Z,1553729915.064 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:35.451Z,1553729915.451 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:35.451Z,1553729915.451 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:35.839Z,1553729915.839 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:35.839Z,1553729915.839 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:36.199Z,1553729916.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:36.203Z,1553729916.203 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:36.279Z,1553729916.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:36.279Z,1553729916.279 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:36.647Z,1553729916.647 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:36.647Z,1553729916.647 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:37.060Z,1553729917.060 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:37.060Z,1553729917.060 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:37.467Z,1553729917.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:37.468Z,1553729917.468 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:37.883Z,1553729917.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:37.883Z,1553729917.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:38.259Z,1553729918.259 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:38.260Z,1553729918.260 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:38.662Z,1553729918.662 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:38.662Z,1553729918.662 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:39.071Z,1553729919.071 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:39.071Z,1553729919.071 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:39.468Z,1553729919.468 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:39.468Z,1553729919.468 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:39.883Z,1553729919.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:39.883Z,1553729919.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:40.239Z,1553729920.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:40.244Z,1553729920.244 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:40.352Z,1553729920.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:40.352Z,1553729920.352 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:40.646Z,1553729920.646 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-27T23:38:40.771Z,1553729920.771 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:40.771Z,1553729920.771 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:41.111Z,1553729921.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:41.111Z,1553729921.111 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:41.486Z,1553729921.486 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:41.487Z,1553729921.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:41.895Z,1553729921.895 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:41.895Z,1553729921.895 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:42.295Z,1553729922.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:42.295Z,1553729922.295 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:42.724Z,1553729922.724 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:42.724Z,1553729922.724 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:43.092Z,1553729923.092 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-27T23:38:43.093Z,1553729923.093 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00, 101.41,  96.42,   0.44
2019-03-27T23:38:43.108Z,1553729923.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:43.109Z,1553729923.109 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:43.522Z,1553729923.522 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:43.522Z,1553729923.522 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:43.951Z,1553729923.951 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:43.951Z,1553729923.951 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:44.279Z,1553729924.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:44.285Z,1553729924.285 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:44.384Z,1553729924.384 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:44.389Z,1553729924.389 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:44.718Z,1553729924.718 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-27T23:38:44.758Z,1553729924.758 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190327233843.011270,06,83,13,0105,0150,246,00,00,01,02,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,192,0.05,-999,9760,4000*65

2019-03-27T23:38:44.801Z,1553729924.801 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:44.801Z,1553729924.801 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:45.127Z,1553729925.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:45.128Z,1553729925.128 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:45.527Z,1553729925.527 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:45.528Z,1553729925.528 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:45.941Z,1553729925.941 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:45.941Z,1553729925.941 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:46.344Z,1553729926.344 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:46.344Z,1553729926.344 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:46.763Z,1553729926.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:46.763Z,1553729926.763 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:47.158Z,1553729927.158 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:47.159Z,1553729927.159 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:47.570Z,1553729927.570 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:47.570Z,1553729927.570 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:47.956Z,1553729927.956 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:47.956Z,1553729927.956 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:48.323Z,1553729928.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:48.327Z,1553729928.327 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:48.407Z,1553729928.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:48.408Z,1553729928.408 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:48.731Z,1553729928.731 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-27T23:38:48.788Z,1553729928.788 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:48.788Z,1553729928.788 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:49.156Z,1553729929.156 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:49.156Z,1553729929.156 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:49.578Z,1553729929.578 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:49.578Z,1553729929.578 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:49.986Z,1553729929.986 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:49.986Z,1553729929.986 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:50.379Z,1553729930.379 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:50.379Z,1553729930.379 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:50.802Z,1553729930.802 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:50.803Z,1553729930.803 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:51.182Z,1553729931.182 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:51.182Z,1553729931.182 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:51.581Z,1553729931.581 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:51.582Z,1553729931.582 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:51.995Z,1553729931.995 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:51.995Z,1553729931.995 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:52.359Z,1553729932.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:52.364Z,1553729932.364 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:52.418Z,1553729932.418 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:52.419Z,1553729932.419 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:52.814Z,1553729932.814 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:52.814Z,1553729932.814 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:52.814Z,1553729932.814 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:38:52.815Z,1553729932.815 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.946930 forward, -0.321439 starboard, 0.000000 keelward ]
2019-03-27T23:38:52.815Z,1553729932.815 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:38:52.815Z,1553729932.815 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:52.816Z,1553729932.816 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:38:52.818Z,1553729932.818 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925780,-0.296947,-0.233995;0.290792,-0.954826,0.061210;-0.241601,-0.011377,0.970309 ]
2019-03-27T23:38:52.818Z,1553729932.818 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 178.480657 degrees FINAL. Radians:3.115075
2019-03-27T23:38:52.819Z,1553729932.819 [lineCaptureHoming:I.](INFO): ContactLat = 36.801942 ContactLon = -121.787985
2019-03-27T23:38:52.858Z,1553729932.858 [Reporter](INFO): acoustic_contact_range 89.820007 m
2019-03-27T23:38:52.859Z,1553729932.859 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.115075 rad
2019-03-27T23:38:53.220Z,1553729933.220 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:53.220Z,1553729933.220 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:53.615Z,1553729933.615 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:53.616Z,1553729933.616 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:54.036Z,1553729934.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:54.036Z,1553729934.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:54.435Z,1553729934.435 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:54.435Z,1553729934.435 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:54.827Z,1553729934.827 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:54.828Z,1553729934.828 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:55.221Z,1553729935.221 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:55.222Z,1553729935.222 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:55.622Z,1553729935.622 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:55.622Z,1553729935.622 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:56.048Z,1553729936.048 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:56.049Z,1553729936.049 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:56.403Z,1553729936.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:38:56.407Z,1553729936.407 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:38:56.504Z,1553729936.504 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:56.509Z,1553729936.509 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:56.806Z,1553729936.806 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-27T23:38:56.883Z,1553729936.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:56.883Z,1553729936.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:57.243Z,1553729937.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:57.243Z,1553729937.243 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:57.652Z,1553729937.652 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:57.654Z,1553729937.654 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:58.059Z,1553729938.059 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:58.059Z,1553729938.059 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:58.455Z,1553729938.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:58.455Z,1553729938.455 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:58.869Z,1553729938.869 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:58.869Z,1553729938.869 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:59.271Z,1553729939.271 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:59.271Z,1553729939.271 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:38:59.726Z,1553729939.726 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:38:59.726Z,1553729939.726 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:00.094Z,1553729940.094 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:00.094Z,1553729940.094 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:00.443Z,1553729940.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:00.451Z,1553729940.451 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:00.566Z,1553729940.566 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:00.566Z,1553729940.566 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:00.891Z,1553729940.891 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:00.892Z,1553729940.892 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:00.892Z,1553729940.892 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:00.893Z,1553729940.893 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.961021 forward, -0.276476 starboard, 0.000000 keelward ]
2019-03-27T23:39:00.893Z,1553729940.893 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:00.893Z,1553729940.893 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:00.893Z,1553729940.893 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:00.895Z,1553729940.895 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924211,-0.301877,-0.233888;0.295820,-0.953266,0.061435;-0.241503,-0.012410,0.970321 ]
2019-03-27T23:39:00.896Z,1553729940.896 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.114222 rad -- adding 2pi
2019-03-27T23:39:00.896Z,1553729940.896 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.168963 rad after adding 2pi
2019-03-27T23:39:00.896Z,1553729940.896 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.568203 degrees FINAL. Radians:3.168963
2019-03-27T23:39:00.913Z,1553729940.913 [lineCaptureHoming:I.](INFO): ContactLat = 36.802595 ContactLon = -121.788015
2019-03-27T23:39:00.958Z,1553729940.958 [Reporter](INFO): acoustic_contact_range 15.059998 m
2019-03-27T23:39:00.959Z,1553729940.959 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.168963 rad
2019-03-27T23:39:01.134Z,1553729941.134 [CommandLine](IMPORTANT): got command show variable headingCmd
2019-03-27T23:39:01.220Z,1553729941.220 [CommandLine](IMPORTANT): HorizontalControl.headingCmd (radian)
2019-03-27T23:39:01.288Z,1553729941.288 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:01.288Z,1553729941.288 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:01.712Z,1553729941.712 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:01.713Z,1553729941.713 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:02.102Z,1553729942.102 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:02.102Z,1553729942.102 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:02.496Z,1553729942.496 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:02.496Z,1553729942.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:02.928Z,1553729942.928 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:02.928Z,1553729942.928 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:03.321Z,1553729943.321 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:03.321Z,1553729943.321 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:03.763Z,1553729943.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:03.763Z,1553729943.763 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:04.111Z,1553729944.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:04.111Z,1553729944.111 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:04.479Z,1553729944.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:04.485Z,1553729944.485 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:04.544Z,1553729944.544 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:04.545Z,1553729944.545 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:04.883Z,1553729944.883 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,186,80,81,08,FF
2019-03-27T23:39:04.903Z,1553729944.903 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190327233903.436742,06,116,14,0095,0150,246,00,00,01,01,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,192,-0.05,-999,9760,4000*79

2019-03-27T23:39:04.923Z,1553729944.923 [RDI_Pathfinder](ERROR): Failed to parse:
:R0
2019-03-27T23:39:04.939Z,1553729944.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:04.939Z,1553729944.939 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:05.330Z,1553729945.330 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:05.330Z,1553729945.330 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:05.759Z,1553729945.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:05.759Z,1553729945.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:06.148Z,1553729946.148 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:06.148Z,1553729946.148 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:06.572Z,1553729946.572 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:06.572Z,1553729946.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:06.979Z,1553729946.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:06.980Z,1553729946.980 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:07.343Z,1553729947.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:07.344Z,1553729947.344 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:07.804Z,1553729947.804 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:07.804Z,1553729947.804 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:08.151Z,1553729948.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:08.151Z,1553729948.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:08.518Z,1553729948.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:08.519Z,1553729948.519 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:08.676Z,1553729948.676 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:08.689Z,1553729948.689 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:09.062Z,1553729949.062 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:09.063Z,1553729949.063 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:09.063Z,1553729949.063 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:09.064Z,1553729949.064 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.956814 forward, -0.290702 starboard, 0.000000 keelward ]
2019-03-27T23:39:09.064Z,1553729949.064 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:09.064Z,1553729949.064 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:09.064Z,1553729949.064 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:09.079Z,1553729949.079 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.921971,-0.308829,-0.233653;0.302980,-0.951013,0.061463;-0.241189,-0.014126,0.970375 ]
2019-03-27T23:39:09.080Z,1553729949.080 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.121981 rad -- adding 2pi
2019-03-27T23:39:09.080Z,1553729949.080 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.161204 rad after adding 2pi
2019-03-27T23:39:09.093Z,1553729949.093 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.123653 degrees FINAL. Radians:3.161204
2019-03-27T23:39:09.094Z,1553729949.094 [lineCaptureHoming:I.](INFO): ContactLat = 36.802649 ContactLon = -121.788012
2019-03-27T23:39:09.158Z,1553729949.158 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:39:09.159Z,1553729949.159 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.161204 rad
2019-03-27T23:39:09.422Z,1553729949.422 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:09.422Z,1553729949.422 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:09.823Z,1553729949.823 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:09.824Z,1553729949.824 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:10.199Z,1553729950.199 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:10.200Z,1553729950.200 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:10.579Z,1553729950.579 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:10.579Z,1553729950.579 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:11.016Z,1553729951.016 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:11.016Z,1553729951.016 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:11.399Z,1553729951.399 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:11.399Z,1553729951.399 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:11.583Z,1553729951.583 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:39:11.583Z,1553729951.583 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:39:11.843Z,1553729951.843 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:11.844Z,1553729951.844 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:12.208Z,1553729952.208 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:12.208Z,1553729952.208 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:12.559Z,1553729952.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:12.563Z,1553729952.563 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:12.669Z,1553729952.669 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:12.669Z,1553729952.669 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:13.023Z,1553729953.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:13.024Z,1553729953.024 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:13.024Z,1553729953.024 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:13.025Z,1553729953.025 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.959067 forward, -0.283179 starboard, 0.000000 keelward ]
2019-03-27T23:39:13.025Z,1553729953.025 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:13.025Z,1553729953.025 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:13.025Z,1553729953.025 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:13.027Z,1553729953.027 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.921233,-0.311149,-0.233485;0.305395,-0.950246,0.061370;-0.240964,-0.014769,0.970422 ]
2019-03-27T23:39:13.028Z,1553729953.028 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.111371 rad -- adding 2pi
2019-03-27T23:39:13.028Z,1553729953.028 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.171814 rad after adding 2pi
2019-03-27T23:39:13.028Z,1553729953.028 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.731554 degrees FINAL. Radians:3.171814
2019-03-27T23:39:13.045Z,1553729953.045 [lineCaptureHoming:I.](INFO): ContactLat = 36.802649 ContactLon = -121.788013
2019-03-27T23:39:13.094Z,1553729953.094 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:39:13.095Z,1553729953.095 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.171814 rad
2019-03-27T23:39:13.401Z,1553729953.401 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:13.401Z,1553729953.401 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:13.819Z,1553729953.819 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:13.820Z,1553729953.820 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:14.220Z,1553729954.220 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:14.220Z,1553729954.220 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:14.621Z,1553729954.621 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:14.621Z,1553729954.621 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:15.047Z,1553729955.047 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:15.047Z,1553729955.047 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:15.441Z,1553729955.441 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:15.442Z,1553729955.442 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:15.851Z,1553729955.851 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:15.851Z,1553729955.851 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:16.231Z,1553729956.231 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:16.231Z,1553729956.231 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:16.599Z,1553729956.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:16.604Z,1553729956.604 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:16.664Z,1553729956.664 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:16.664Z,1553729956.664 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:17.047Z,1553729957.047 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:17.048Z,1553729957.048 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:17.048Z,1553729957.048 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:17.049Z,1553729957.049 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]
2019-03-27T23:39:17.049Z,1553729957.049 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:17.049Z,1553729957.049 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:17.049Z,1553729957.049 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:17.051Z,1553729957.051 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.920850,-0.312650,-0.232993;0.306960,-0.949748,0.061268;-0.240440,-0.015101,0.970546 ]
2019-03-27T23:39:17.052Z,1553729957.052 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.071983 rad -- adding 2pi
2019-03-27T23:39:17.052Z,1553729957.052 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.211202 rad after adding 2pi
2019-03-27T23:39:17.052Z,1553729957.052 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.988344 degrees FINAL. Radians:3.211202
2019-03-27T23:39:17.053Z,1553729957.053 [lineCaptureHoming:I.](INFO): ContactLat = 36.802685 ContactLon = -121.788013
2019-03-27T23:39:17.102Z,1553729957.102 [Reporter](INFO): acoustic_contact_range 4.740000 m
2019-03-27T23:39:17.102Z,1553729957.102 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.211202 rad
2019-03-27T23:39:17.452Z,1553729957.452 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:17.452Z,1553729957.452 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:17.885Z,1553729957.885 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:17.886Z,1553729957.886 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:18.268Z,1553729958.268 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:18.268Z,1553729958.268 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:18.674Z,1553729958.674 [CommandLine](IMPORTANT): got command report touch HorizontalControl.headingCmd
2019-03-27T23:39:18.722Z,1553729958.722 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:18.722Z,1553729958.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:19.083Z,1553729959.083 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:19.083Z,1553729959.083 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:19.467Z,1553729959.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:19.468Z,1553729959.468 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:19.871Z,1553729959.871 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:19.871Z,1553729959.871 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:20.271Z,1553729960.271 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:20.271Z,1553729960.271 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:20.643Z,1553729960.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:20.647Z,1553729960.647 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:20.722Z,1553729960.722 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:20.722Z,1553729960.722 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:21.116Z,1553729961.116 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:21.116Z,1553729961.116 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:21.116Z,1553729961.116 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:21.118Z,1553729961.118 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964787 forward, -0.263031 starboard, 0.000000 keelward ]
2019-03-27T23:39:21.118Z,1553729961.118 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:21.118Z,1553729961.118 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:21.119Z,1553729961.119 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:21.120Z,1553729961.120 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.920969,-0.312530,-0.232680;0.306839,-0.949789,0.061238;-0.240136,-0.014997,0.970623 ]
2019-03-27T23:39:21.129Z,1553729961.129 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.088302 rad -- adding 2pi
2019-03-27T23:39:21.130Z,1553729961.130 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.194884 rad after adding 2pi
2019-03-27T23:39:21.130Z,1553729961.130 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.053345 degrees FINAL. Radians:3.194884
2019-03-27T23:39:21.131Z,1553729961.131 [lineCaptureHoming:I.](INFO): ContactLat = 36.802674 ContactLon = -121.788014
2019-03-27T23:39:21.182Z,1553729961.182 [Reporter](INFO): acoustic_contact_range 6.059999 m
2019-03-27T23:39:21.183Z,1553729961.183 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.194884 rad
2019-03-27T23:39:21.494Z,1553729961.494 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:21.494Z,1553729961.494 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:21.908Z,1553729961.908 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:21.908Z,1553729961.908 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:22.308Z,1553729962.308 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:22.313Z,1553729962.313 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:22.734Z,1553729962.734 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:22.734Z,1553729962.734 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:23.112Z,1553729963.112 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:23.112Z,1553729963.112 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:23.503Z,1553729963.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:23.503Z,1553729963.503 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:23.915Z,1553729963.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:23.915Z,1553729963.915 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:24.319Z,1553729964.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:24.319Z,1553729964.319 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:24.718Z,1553729964.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:24.725Z,1553729964.725 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:24.822Z,1553729964.822 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:24.822Z,1553729964.822 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:25.147Z,1553729965.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:25.148Z,1553729965.148 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:25.148Z,1553729965.148 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:25.153Z,1553729965.153 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.984959 forward, 0.172789 starboard, 0.000000 keelward ]
2019-03-27T23:39:25.153Z,1553729965.153 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:25.153Z,1553729965.153 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:25.153Z,1553729965.153 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:25.155Z,1553729965.155 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.921188,-0.311734,-0.232885;0.306087,-0.950049,0.060971;-0.240259,-0.015117,0.970591 ]
2019-03-27T23:39:25.156Z,1553729965.156 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.637619 rad -- adding 2pi
2019-03-27T23:39:25.156Z,1553729965.156 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.645566 rad after adding 2pi
2019-03-27T23:39:25.161Z,1553729965.161 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 208.875559 degrees FINAL. Radians:3.645566
2019-03-27T23:39:25.162Z,1553729965.162 [lineCaptureHoming:I.](INFO): ContactLat = 36.802414 ContactLon = -121.788226
2019-03-27T23:39:25.214Z,1553729965.214 [Reporter](INFO): acoustic_contact_range 40.680000 m
2019-03-27T23:39:25.215Z,1553729965.215 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.645566 rad
2019-03-27T23:39:25.543Z,1553729965.543 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:25.543Z,1553729965.543 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:25.934Z,1553729965.934 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:25.934Z,1553729965.934 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:26.328Z,1553729966.328 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:26.328Z,1553729966.328 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:26.759Z,1553729966.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:26.759Z,1553729966.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:27.142Z,1553729967.142 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:27.142Z,1553729967.142 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:27.550Z,1553729967.550 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:27.550Z,1553729967.550 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:27.963Z,1553729967.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:27.964Z,1553729967.964 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:28.365Z,1553729968.365 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:28.365Z,1553729968.365 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:28.726Z,1553729968.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:28.732Z,1553729968.732 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:28.835Z,1553729968.835 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:28.835Z,1553729968.835 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:29.163Z,1553729969.163 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:29.163Z,1553729969.163 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:29.163Z,1553729969.163 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:29.164Z,1553729969.164 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964787 forward, -0.263031 starboard, 0.000000 keelward ]
2019-03-27T23:39:29.164Z,1553729969.164 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:29.165Z,1553729969.165 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:29.165Z,1553729969.165 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:29.167Z,1553729969.167 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.921664,-0.310255,-0.232976;0.304562,-0.950539,0.060974;-0.240371,-0.014758,0.970569 ]
2019-03-27T23:39:29.167Z,1553729969.167 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.090767 rad -- adding 2pi
2019-03-27T23:39:29.168Z,1553729969.168 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.192418 rad after adding 2pi
2019-03-27T23:39:29.168Z,1553729969.168 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.912097 degrees FINAL. Radians:3.192418
2019-03-27T23:39:29.169Z,1553729969.169 [lineCaptureHoming:I.](INFO): ContactLat = 36.802658 ContactLon = -121.788015
2019-03-27T23:39:29.226Z,1553729969.226 [Reporter](INFO): acoustic_contact_range 7.800001 m
2019-03-27T23:39:29.227Z,1553729969.227 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.192418 rad
2019-03-27T23:39:29.560Z,1553729969.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:29.560Z,1553729969.560 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:29.972Z,1553729969.972 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:29.972Z,1553729969.972 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:30.369Z,1553729970.369 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:30.369Z,1553729970.369 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:30.802Z,1553729970.802 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:30.802Z,1553729970.802 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:31.190Z,1553729971.190 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:31.191Z,1553729971.191 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:31.601Z,1553729971.601 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:31.602Z,1553729971.602 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:32.012Z,1553729972.012 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:32.012Z,1553729972.012 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:32.390Z,1553729972.390 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:32.390Z,1553729972.390 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:32.763Z,1553729972.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:32.767Z,1553729972.767 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:32.880Z,1553729972.880 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:32.880Z,1553729972.880 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:33.202Z,1553729973.202 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:33.203Z,1553729973.203 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:33.203Z,1553729973.203 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:33.204Z,1553729973.204 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.962218 forward, -0.272280 starboard, 0.000000 keelward ]
2019-03-27T23:39:33.204Z,1553729973.204 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:33.204Z,1553729973.204 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:33.204Z,1553729973.204 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:33.206Z,1553729973.206 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922147,-0.308429,-0.233487;0.302625,-0.951141,0.061222;-0.240962,-0.014203,0.970431 ]
2019-03-27T23:39:33.207Z,1553729973.207 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.102633 rad -- adding 2pi
2019-03-27T23:39:33.207Z,1553729973.207 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.180552 rad after adding 2pi
2019-03-27T23:39:33.208Z,1553729973.208 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.232234 degrees FINAL. Radians:3.180552
2019-03-27T23:39:33.208Z,1553729973.208 [lineCaptureHoming:I.](INFO): ContactLat = 36.802585 ContactLon = -121.788017
2019-03-27T23:39:33.254Z,1553729973.254 [Reporter](INFO): acoustic_contact_range 16.199997 m
2019-03-27T23:39:33.255Z,1553729973.255 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.180552 rad
2019-03-27T23:39:33.606Z,1553729973.606 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:33.606Z,1553729973.606 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:34.019Z,1553729974.019 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:34.019Z,1553729974.019 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:34.421Z,1553729974.421 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:34.421Z,1553729974.421 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:34.833Z,1553729974.833 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:34.833Z,1553729974.833 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:35.237Z,1553729975.237 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:35.238Z,1553729975.238 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:35.661Z,1553729975.661 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:35.662Z,1553729975.662 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:36.044Z,1553729976.044 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:36.044Z,1553729976.044 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:36.431Z,1553729976.431 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:36.431Z,1553729976.431 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:36.799Z,1553729976.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:36.803Z,1553729976.803 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:36.910Z,1553729976.910 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:36.910Z,1553729976.910 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:37.243Z,1553729977.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:37.243Z,1553729977.243 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:37.244Z,1553729977.244 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:37.244Z,1553729977.244 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.961502 forward, -0.274798 starboard, 0.000000 keelward ]
2019-03-27T23:39:37.245Z,1553729977.245 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:37.245Z,1553729977.245 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:37.245Z,1553729977.245 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:37.247Z,1553729977.247 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922775,-0.306318,-0.233785;0.300384,-0.951834,0.061495;-0.241361,-0.013480,0.970342 ]
2019-03-27T23:39:37.248Z,1553729977.248 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.107616 rad -- adding 2pi
2019-03-27T23:39:37.248Z,1553729977.248 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.175569 rad after adding 2pi
2019-03-27T23:39:37.248Z,1553729977.248 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.946705 degrees FINAL. Radians:3.175569
2019-03-27T23:39:37.249Z,1553729977.249 [lineCaptureHoming:I.](INFO): ContactLat = 36.802621 ContactLon = -121.788015
2019-03-27T23:39:37.310Z,1553729977.310 [Reporter](INFO): acoustic_contact_range 12.120000 m
2019-03-27T23:39:37.310Z,1553729977.310 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.175569 rad
2019-03-27T23:39:37.658Z,1553729977.658 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:37.658Z,1553729977.658 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:38.062Z,1553729978.062 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:38.062Z,1553729978.062 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:38.460Z,1553729978.460 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:38.460Z,1553729978.460 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:38.518Z,1553729978.518 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:39:38.518Z,1553729978.518 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:39:38.887Z,1553729978.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:38.887Z,1553729978.887 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:39.254Z,1553729979.254 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:39.254Z,1553729979.254 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:39.665Z,1553729979.665 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:39.665Z,1553729979.665 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:40.075Z,1553729980.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:40.075Z,1553729980.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:40.471Z,1553729980.471 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:40.471Z,1553729980.471 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:40.843Z,1553729980.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:40.848Z,1553729980.848 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:40.918Z,1553729980.918 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:40.918Z,1553729980.918 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:41.299Z,1553729981.299 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:41.299Z,1553729981.299 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:41.300Z,1553729981.300 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:41.300Z,1553729981.300 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.994792 forward, -0.101924 starboard, 0.000000 keelward ]
2019-03-27T23:39:41.309Z,1553729981.309 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:41.309Z,1553729981.309 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:41.309Z,1553729981.309 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:41.311Z,1553729981.311 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924084,-0.302324,-0.233813;0.296287,-0.953123,0.061408;-0.241418,-0.012530,0.970340 ]
2019-03-27T23:39:41.312Z,1553729981.312 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.930353 rad -- adding 2pi
2019-03-27T23:39:41.312Z,1553729981.312 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.352832 rad after adding 2pi
2019-03-27T23:39:41.312Z,1553729981.312 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 192.103141 degrees FINAL. Radians:3.352832
2019-03-27T23:39:41.321Z,1553729981.321 [lineCaptureHoming:I.](INFO): ContactLat = 36.802583 ContactLon = -121.788048
2019-03-27T23:39:41.370Z,1553729981.370 [Reporter](INFO): acoustic_contact_range 16.740000 m
2019-03-27T23:39:41.371Z,1553729981.371 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.352832 rad
2019-03-27T23:39:41.743Z,1553729981.743 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:41.743Z,1553729981.743 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:42.108Z,1553729982.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:42.108Z,1553729982.108 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:42.491Z,1553729982.491 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:42.492Z,1553729982.492 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:42.947Z,1553729982.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:42.947Z,1553729982.947 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:43.323Z,1553729983.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:43.324Z,1553729983.324 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:43.783Z,1553729983.783 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:43.783Z,1553729983.783 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:44.127Z,1553729984.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:44.127Z,1553729984.127 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:44.511Z,1553729984.511 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:44.512Z,1553729984.512 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:44.878Z,1553729984.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:44.879Z,1553729984.879 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:45.049Z,1553729985.049 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:45.049Z,1553729985.049 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:45.355Z,1553729985.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:45.356Z,1553729985.356 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:45.356Z,1553729985.356 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:45.356Z,1553729985.356 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968148 forward, -0.250380 starboard, 0.000000 keelward ]
2019-03-27T23:39:45.365Z,1553729985.365 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:45.365Z,1553729985.365 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:45.365Z,1553729985.365 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:45.367Z,1553729985.367 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925717,-0.297433,-0.233626;0.291344,-0.954672,0.060990;-0.241176,-0.011606,0.970412 ]
2019-03-27T23:39:45.368Z,1553729985.368 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.091151 rad -- adding 2pi
2019-03-27T23:39:45.368Z,1553729985.368 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.192034 rad after adding 2pi
2019-03-27T23:39:45.368Z,1553729985.368 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.890090 degrees FINAL. Radians:3.192034
2019-03-27T23:39:45.401Z,1553729985.401 [lineCaptureHoming:I.](INFO): ContactLat = 36.802637 ContactLon = -121.788015
2019-03-27T23:39:45.463Z,1553729985.463 [Reporter](INFO): acoustic_contact_range 10.260000 m
2019-03-27T23:39:45.464Z,1553729985.464 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.192034 rad
2019-03-27T23:39:45.842Z,1553729985.842 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:45.842Z,1553729985.842 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:46.136Z,1553729986.136 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:46.136Z,1553729986.136 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:46.543Z,1553729986.543 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:46.543Z,1553729986.543 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:46.939Z,1553729986.939 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:39:46.939Z,1553729986.939 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:39:47.010Z,1553729987.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:47.010Z,1553729987.010 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:47.339Z,1553729987.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:47.340Z,1553729987.340 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:47.759Z,1553729987.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:47.759Z,1553729987.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:48.146Z,1553729988.146 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:48.146Z,1553729988.146 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:48.546Z,1553729988.546 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:48.546Z,1553729988.546 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:48.927Z,1553729988.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:48.931Z,1553729988.931 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:49.003Z,1553729989.003 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:49.003Z,1553729989.003 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:49.330Z,1553729989.330 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-27T23:39:49.392Z,1553729989.392 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:49.397Z,1553729989.397 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:49.780Z,1553729989.780 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:49.781Z,1553729989.781 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:50.178Z,1553729990.178 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:50.178Z,1553729990.178 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:50.590Z,1553729990.590 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:50.590Z,1553729990.590 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:51.015Z,1553729991.015 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:51.015Z,1553729991.015 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:51.379Z,1553729991.379 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:51.379Z,1553729991.379 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:51.787Z,1553729991.787 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:51.787Z,1553729991.787 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:52.187Z,1553729992.187 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:52.188Z,1553729992.188 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:52.262Z,1553729992.262 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:39:52.262Z,1553729992.262 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:39:52.595Z,1553729992.595 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:52.596Z,1553729992.596 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:52.959Z,1553729992.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:52.964Z,1553729992.964 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:53.086Z,1553729993.086 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:53.087Z,1553729993.087 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:53.422Z,1553729993.422 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:53.422Z,1553729993.422 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:53.422Z,1553729993.422 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:39:53.423Z,1553729993.423 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.959805 forward, -0.280667 starboard, 0.000000 keelward ]
2019-03-27T23:39:53.423Z,1553729993.423 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:39:53.423Z,1553729993.423 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:53.423Z,1553729993.423 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:39:53.430Z,1553729993.430 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925885,-0.296207,-0.234517;0.289980,-0.955059,0.061434;-0.242175,-0.011125,0.970169 ]
2019-03-27T23:39:53.430Z,1553729993.430 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.124845 rad -- adding 2pi
2019-03-27T23:39:53.430Z,1553729993.430 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.158340 rad after adding 2pi
2019-03-27T23:39:53.431Z,1553729993.431 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 180.959578 degrees FINAL. Radians:3.158340
2019-03-27T23:39:53.432Z,1553729993.432 [lineCaptureHoming:I.](INFO): ContactLat = 36.802652 ContactLon = -121.788010
2019-03-27T23:39:53.484Z,1553729993.484 [Reporter](INFO): acoustic_contact_range 8.579998 m
2019-03-27T23:39:53.486Z,1553729993.486 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.158340 rad
2019-03-27T23:39:53.828Z,1553729993.828 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:53.828Z,1553729993.828 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:54.207Z,1553729994.207 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:54.207Z,1553729994.207 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:54.609Z,1553729994.609 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:54.609Z,1553729994.609 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:55.035Z,1553729995.035 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:55.036Z,1553729995.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:55.426Z,1553729995.426 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:55.426Z,1553729995.426 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:55.861Z,1553729995.861 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:55.862Z,1553729995.862 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:56.244Z,1553729996.244 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:56.244Z,1553729996.244 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:56.495Z,1553729996.495 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:39:56.495Z,1553729996.495 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:39:56.647Z,1553729996.647 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:56.647Z,1553729996.647 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:56.999Z,1553729996.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:39:57.003Z,1553729997.003 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:39:57.111Z,1553729997.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:57.112Z,1553729997.112 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:57.403Z,1553729997.403 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:39:57.456Z,1553729997.456 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:57.456Z,1553729997.456 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:57.857Z,1553729997.857 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:57.857Z,1553729997.857 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:58.262Z,1553729998.262 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:58.263Z,1553729998.263 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:58.658Z,1553729998.658 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:58.658Z,1553729998.658 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:59.072Z,1553729999.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:59.072Z,1553729999.072 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:59.483Z,1553729999.483 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:59.483Z,1553729999.483 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:39:59.901Z,1553729999.901 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:39:59.902Z,1553729999.902 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:00.299Z,1553730000.299 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:00.299Z,1553730000.299 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:00.714Z,1553730000.714 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:00.714Z,1553730000.714 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:01.048Z,1553730001.048 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:01.051Z,1553730001.051 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:01.224Z,1553730001.224 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:01.229Z,1553730001.229 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:01.487Z,1553730001.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:01.487Z,1553730001.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:01.902Z,1553730001.902 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:01.902Z,1553730001.902 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:02.295Z,1553730002.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:02.296Z,1553730002.296 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:02.732Z,1553730002.732 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:02.732Z,1553730002.732 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:03.119Z,1553730003.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:03.119Z,1553730003.119 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:03.403Z,1553730003.403 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:40:03.404Z,1553730003.404 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:40:03.543Z,1553730003.543 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:03.543Z,1553730003.543 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:03.911Z,1553730003.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:03.912Z,1553730003.912 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:04.305Z,1553730004.305 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:04.306Z,1553730004.306 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:04.736Z,1553730004.736 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:04.736Z,1553730004.736 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:05.079Z,1553730005.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:05.084Z,1553730005.084 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:05.146Z,1553730005.146 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:05.146Z,1553730005.146 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:05.524Z,1553730005.524 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:05.524Z,1553730005.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:05.524Z,1553730005.524 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:05.525Z,1553730005.525 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.958073 forward, -0.286525 starboard, 0.000000 keelward ]
2019-03-27T23:40:05.525Z,1553730005.525 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:05.526Z,1553730005.526 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:05.526Z,1553730005.526 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:05.528Z,1553730005.528 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.926227,-0.295587,-0.233949;0.289381,-0.955253,0.061242;-0.241583,-0.010977,0.970318 ]
2019-03-27T23:40:05.528Z,1553730005.528 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.131812 rad -- adding 2pi
2019-03-27T23:40:05.528Z,1553730005.528 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.151373 rad after adding 2pi
2019-03-27T23:40:05.529Z,1553730005.529 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 180.560381 degrees FINAL. Radians:3.151373
2019-03-27T23:40:05.530Z,1553730005.530 [lineCaptureHoming:I.](INFO): ContactLat = 36.802652 ContactLon = -121.788010
2019-03-27T23:40:05.570Z,1553730005.570 [Reporter](INFO): acoustic_contact_range 8.579998 m
2019-03-27T23:40:05.570Z,1553730005.570 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.151373 rad
2019-03-27T23:40:05.942Z,1553730005.942 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:05.943Z,1553730005.943 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:06.343Z,1553730006.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:06.343Z,1553730006.343 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:06.763Z,1553730006.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:06.763Z,1553730006.763 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:07.135Z,1553730007.135 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:07.135Z,1553730007.135 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:07.538Z,1553730007.538 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:07.538Z,1553730007.538 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:07.947Z,1553730007.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:07.947Z,1553730007.947 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:08.347Z,1553730008.347 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:08.347Z,1553730008.347 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:08.767Z,1553730008.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:08.767Z,1553730008.767 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:09.119Z,1553730009.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:09.123Z,1553730009.123 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:09.229Z,1553730009.229 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:09.230Z,1553730009.230 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:09.585Z,1553730009.585 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:09.586Z,1553730009.586 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:09.586Z,1553730009.586 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:09.587Z,1553730009.587 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.961262 forward, -0.275637 starboard, 0.000000 keelward ]
2019-03-27T23:40:09.587Z,1553730009.587 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:09.587Z,1553730009.587 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:09.587Z,1553730009.587 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:09.593Z,1553730009.593 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925178,-0.298615,-0.234253;0.292548,-0.954298,0.061082;-0.241788,-0.012018,0.970255 ]
2019-03-27T23:40:09.594Z,1553730009.594 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.116848 rad -- adding 2pi
2019-03-27T23:40:09.594Z,1553730009.594 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.166337 rad after adding 2pi
2019-03-27T23:40:09.594Z,1553730009.594 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.417761 degrees FINAL. Radians:3.166337
2019-03-27T23:40:09.595Z,1553730009.595 [lineCaptureHoming:I.](INFO): ContactLat = 36.802689 ContactLon = -121.788009
2019-03-27T23:40:09.642Z,1553730009.642 [Reporter](INFO): acoustic_contact_range 4.380000 m
2019-03-27T23:40:09.643Z,1553730009.643 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.166337 rad
2019-03-27T23:40:09.985Z,1553730009.985 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:09.985Z,1553730009.985 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:10.371Z,1553730010.371 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:10.371Z,1553730010.371 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:10.775Z,1553730010.775 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:10.776Z,1553730010.776 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:11.175Z,1553730011.175 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:11.175Z,1553730011.175 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:11.577Z,1553730011.577 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:11.577Z,1553730011.577 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:11.996Z,1553730011.996 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:11.996Z,1553730011.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:12.397Z,1553730012.397 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:12.398Z,1553730012.398 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:12.819Z,1553730012.819 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:12.819Z,1553730012.819 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:13.163Z,1553730013.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:13.167Z,1553730013.167 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:13.273Z,1553730013.273 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:13.277Z,1553730013.277 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:13.603Z,1553730013.603 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:13.603Z,1553730013.603 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:13.604Z,1553730013.604 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:13.605Z,1553730013.605 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964095 forward, -0.265556 starboard, 0.000000 keelward ]
2019-03-27T23:40:13.605Z,1553730013.605 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:13.605Z,1553730013.605 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:13.605Z,1553730013.605 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:13.607Z,1553730013.607 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924161,-0.301960,-0.233980;0.295913,-0.953239,0.061410;-0.241583,-0.012485,0.970300 ]
2019-03-27T23:40:13.608Z,1553730013.608 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.102440 rad -- adding 2pi
2019-03-27T23:40:13.608Z,1553730013.608 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.180745 rad after adding 2pi
2019-03-27T23:40:13.608Z,1553730013.608 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.243258 degrees FINAL. Radians:3.180745
2019-03-27T23:40:13.609Z,1553730013.609 [lineCaptureHoming:I.](INFO): ContactLat = 36.802674 ContactLon = -121.788010
2019-03-27T23:40:13.673Z,1553730013.673 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:40:13.676Z,1553730013.676 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.180745 rad
2019-03-27T23:40:14.012Z,1553730014.012 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:14.012Z,1553730014.012 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:14.407Z,1553730014.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:14.407Z,1553730014.407 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:14.841Z,1553730014.841 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:14.841Z,1553730014.841 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:15.219Z,1553730015.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:15.219Z,1553730015.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:15.627Z,1553730015.627 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:15.627Z,1553730015.627 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:16.036Z,1553730016.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:16.036Z,1553730016.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:16.455Z,1553730016.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:16.455Z,1553730016.455 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:16.871Z,1553730016.871 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:16.871Z,1553730016.871 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:17.203Z,1553730017.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:17.210Z,1553730017.210 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:17.312Z,1553730017.312 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:17.321Z,1553730017.321 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:17.643Z,1553730017.643 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:17.643Z,1553730017.643 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:17.644Z,1553730017.644 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:17.644Z,1553730017.644 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965245 forward, -0.261347 starboard, 0.000000 keelward ]
2019-03-27T23:40:17.649Z,1553730017.649 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:17.649Z,1553730017.649 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:17.649Z,1553730017.649 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:17.657Z,1553730017.657 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923651,-0.303652,-0.233803;0.297709,-0.952693,0.061196;-0.241324,-0.013082,0.970356 ]
2019-03-27T23:40:17.658Z,1553730017.658 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.096114 rad -- adding 2pi
2019-03-27T23:40:17.658Z,1553730017.658 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.187071 rad after adding 2pi
2019-03-27T23:40:17.658Z,1553730017.658 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.605709 degrees FINAL. Radians:3.187071
2019-03-27T23:40:17.659Z,1553730017.659 [lineCaptureHoming:I.](INFO): ContactLat = 36.801926 ContactLon = -121.788053
2019-03-27T23:40:17.750Z,1553730017.750 [Reporter](INFO): acoustic_contact_range 91.920006 m
2019-03-27T23:40:17.751Z,1553730017.751 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.187071 rad
2019-03-27T23:40:18.076Z,1553730018.076 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:18.076Z,1553730018.076 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:18.447Z,1553730018.447 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:18.447Z,1553730018.447 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:18.881Z,1553730018.881 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:18.882Z,1553730018.882 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:19.283Z,1553730019.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:19.284Z,1553730019.284 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:19.723Z,1553730019.723 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:19.723Z,1553730019.723 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:20.103Z,1553730020.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:20.103Z,1553730020.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:20.519Z,1553730020.519 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:20.520Z,1553730020.520 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:20.888Z,1553730020.888 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:20.888Z,1553730020.888 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:21.239Z,1553730021.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:21.243Z,1553730021.243 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:21.304Z,1553730021.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:21.305Z,1553730021.305 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:21.711Z,1553730021.711 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:21.711Z,1553730021.711 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:21.711Z,1553730021.711 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:21.712Z,1553730021.712 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968148 forward, -0.250380 starboard, 0.000000 keelward ]
2019-03-27T23:40:21.712Z,1553730021.712 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:21.712Z,1553730021.712 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:21.713Z,1553730021.713 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:21.715Z,1553730021.715 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923689,-0.303901,-0.233329;0.298026,-0.952611,0.060929;-0.240789,-0.013259,0.970487 ]
2019-03-27T23:40:21.715Z,1553730021.715 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.084160 rad -- adding 2pi
2019-03-27T23:40:21.716Z,1553730021.716 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.199025 rad after adding 2pi
2019-03-27T23:40:21.716Z,1553730021.716 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.290626 degrees FINAL. Radians:3.199025
2019-03-27T23:40:21.717Z,1553730021.717 [lineCaptureHoming:I.](INFO): ContactLat = 36.802596 ContactLon = -121.788016
2019-03-27T23:40:21.774Z,1553730021.774 [Reporter](INFO): acoustic_contact_range 15.059998 m
2019-03-27T23:40:21.775Z,1553730021.775 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.199025 rad
2019-03-27T23:40:22.095Z,1553730022.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:22.095Z,1553730022.095 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:22.495Z,1553730022.495 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:22.495Z,1553730022.495 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:22.907Z,1553730022.907 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:22.907Z,1553730022.907 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:23.312Z,1553730023.312 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:23.312Z,1553730023.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:23.736Z,1553730023.736 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:23.736Z,1553730023.736 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:24.116Z,1553730024.116 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:24.116Z,1553730024.116 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:24.507Z,1553730024.507 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:24.508Z,1553730024.508 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:24.915Z,1553730024.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:24.915Z,1553730024.915 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:25.286Z,1553730025.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:25.291Z,1553730025.291 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:25.346Z,1553730025.346 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:25.346Z,1553730025.346 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:25.754Z,1553730025.754 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:25.755Z,1553730025.755 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:25.755Z,1553730025.755 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:25.755Z,1553730025.755 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.853551 forward, 0.521010 starboard, 0.000000 keelward ]
2019-03-27T23:40:25.756Z,1553730025.756 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:25.756Z,1553730025.756 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:25.756Z,1553730025.756 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:25.758Z,1553730025.758 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923418,-0.304732,-0.233321;0.298889,-0.952343,0.060901;-0.240760,-0.013499,0.970491 ]
2019-03-27T23:40:25.759Z,1553730025.759 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.267267 rad -- adding 2pi
2019-03-27T23:40:25.759Z,1553730025.759 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 4.015918 rad after adding 2pi
2019-03-27T23:40:25.759Z,1553730025.759 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 230.095167 degrees FINAL. Radians:4.015918
2019-03-27T23:40:25.760Z,1553730025.760 [lineCaptureHoming:I.](INFO): ContactLat = 36.802502 ContactLon = -121.788344
2019-03-27T23:40:25.814Z,1553730025.814 [Reporter](INFO): acoustic_contact_range 39.719997 m
2019-03-27T23:40:25.815Z,1553730025.815 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.015918 rad
2019-03-27T23:40:26.132Z,1553730026.132 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:26.133Z,1553730026.133 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:26.552Z,1553730026.552 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:26.552Z,1553730026.552 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:26.939Z,1553730026.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:26.940Z,1553730026.940 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:27.333Z,1553730027.333 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:27.333Z,1553730027.333 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:27.756Z,1553730027.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:27.757Z,1553730027.757 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:28.143Z,1553730028.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:28.143Z,1553730028.143 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:28.547Z,1553730028.547 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:28.548Z,1553730028.548 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:28.983Z,1553730028.983 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:28.983Z,1553730028.983 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:29.319Z,1553730029.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:29.324Z,1553730029.324 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:29.439Z,1553730029.439 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:29.440Z,1553730029.440 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:29.770Z,1553730029.770 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:40:29.770Z,1553730029.770 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:40:29.798Z,1553730029.798 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:29.798Z,1553730029.798 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:29.799Z,1553730029.799 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:29.799Z,1553730029.799 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965473 forward, -0.260505 starboard, 0.000000 keelward ]
2019-03-27T23:40:29.799Z,1553730029.799 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:29.800Z,1553730029.800 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:29.800Z,1553730029.800 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:29.802Z,1553730029.802 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922900,-0.306148,-0.233515;0.300271,-0.951887,0.061230;-0.241025,-0.013609,0.970424 ]
2019-03-27T23:40:29.802Z,1553730029.802 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.092515 rad -- adding 2pi
2019-03-27T23:40:29.803Z,1553730029.803 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.190670 rad after adding 2pi
2019-03-27T23:40:29.803Z,1553730029.803 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.811926 degrees FINAL. Radians:3.190670
2019-03-27T23:40:29.804Z,1553730029.804 [lineCaptureHoming:I.](INFO): ContactLat = 36.802616 ContactLon = -121.788013
2019-03-27T23:40:29.842Z,1553730029.842 [Reporter](INFO): acoustic_contact_range 12.779997 m
2019-03-27T23:40:29.843Z,1553730029.843 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.190670 rad
2019-03-27T23:40:30.189Z,1553730030.189 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:30.189Z,1553730030.189 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:30.571Z,1553730030.571 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:30.572Z,1553730030.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:30.979Z,1553730030.979 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:30.979Z,1553730030.979 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:31.375Z,1553730031.375 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:31.375Z,1553730031.375 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:31.817Z,1553730031.817 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:31.817Z,1553730031.817 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:32.206Z,1553730032.206 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:32.206Z,1553730032.206 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:32.600Z,1553730032.600 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:32.600Z,1553730032.600 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:33.036Z,1553730033.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:33.036Z,1553730033.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:33.363Z,1553730033.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:33.369Z,1553730033.369 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:33.475Z,1553730033.475 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:33.476Z,1553730033.476 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:33.789Z,1553730033.789 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190327234032.085074,06,369,13,0090,0150,246,00,00,02,01,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,192,-0.05,-999,9760,4000*70

2019-03-27T23:40:33.863Z,1553730033.863 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:33.863Z,1553730033.863 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:33.863Z,1553730033.863 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:33.864Z,1553730033.864 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967046 forward, -0.254602 starboard, 0.000000 keelward ]
2019-03-27T23:40:33.864Z,1553730033.864 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:33.865Z,1553730033.865 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:33.865Z,1553730033.865 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:33.867Z,1553730033.867 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922740,-0.306465,-0.233730;0.300590,-0.951783,0.061274;-0.241239,-0.013717,0.970369 ]
2019-03-27T23:40:33.868Z,1553730033.868 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.085873 rad -- adding 2pi
2019-03-27T23:40:33.868Z,1553730033.868 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.197312 rad after adding 2pi
2019-03-27T23:40:33.868Z,1553730033.868 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.192476 degrees FINAL. Radians:3.197312
2019-03-27T23:40:33.870Z,1553730033.870 [lineCaptureHoming:I.](INFO): ContactLat = 36.802616 ContactLon = -121.788014
2019-03-27T23:40:33.910Z,1553730033.910 [Reporter](INFO): acoustic_contact_range 12.779997 m
2019-03-27T23:40:33.911Z,1553730033.911 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.197312 rad
2019-03-27T23:40:34.213Z,1553730034.213 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:34.213Z,1553730034.213 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:34.608Z,1553730034.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:34.608Z,1553730034.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:35.033Z,1553730035.033 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:35.033Z,1553730035.033 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:35.455Z,1553730035.455 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:35.455Z,1553730035.455 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:35.884Z,1553730035.884 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:35.893Z,1553730035.893 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:36.236Z,1553730036.236 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:36.236Z,1553730036.236 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:36.650Z,1553730036.650 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:36.651Z,1553730036.651 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:36.867Z,1553730036.867 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-27T23:40:36.867Z,1553730036.867 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.159949 rad
2019-03-27T23:40:37.067Z,1553730037.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:37.067Z,1553730037.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:37.419Z,1553730037.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:37.425Z,1553730037.425 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:37.532Z,1553730037.532 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:37.549Z,1553730037.549 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:37.849Z,1553730037.849 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:37.850Z,1553730037.850 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:37.850Z,1553730037.850 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:37.851Z,1553730037.851 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.977046 forward, -0.213030 starboard, 0.000000 keelward ]
2019-03-27T23:40:37.851Z,1553730037.851 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:37.851Z,1553730037.851 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:37.851Z,1553730037.851 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:37.853Z,1553730037.853 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923312,-0.304822,-0.233620;0.298919,-0.952316,0.061173;-0.241127,-0.013351,0.970402 ]
2019-03-27T23:40:37.854Z,1553730037.854 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.043592 rad -- adding 2pi
2019-03-27T23:40:37.854Z,1553730037.854 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.239593 rad after adding 2pi
2019-03-27T23:40:37.855Z,1553730037.855 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 185.614994 degrees FINAL. Radians:3.239593
2019-03-27T23:40:37.855Z,1553730037.855 [lineCaptureHoming:I.](INFO): ContactLat = 36.802598 ContactLon = -121.788022
2019-03-27T23:40:37.898Z,1553730037.898 [Reporter](INFO): acoustic_contact_range 14.940002 m
2019-03-27T23:40:37.899Z,1553730037.899 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.239593 rad
2019-03-27T23:40:38.248Z,1553730038.248 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:38.248Z,1553730038.248 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:38.652Z,1553730038.652 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:38.652Z,1553730038.652 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:39.068Z,1553730039.068 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:39.068Z,1553730039.068 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:39.467Z,1553730039.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:39.467Z,1553730039.467 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:39.890Z,1553730039.890 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:39.890Z,1553730039.890 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:40.262Z,1553730040.262 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:40.262Z,1553730040.262 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:40.663Z,1553730040.663 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:40.663Z,1553730040.663 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:41.099Z,1553730041.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:41.099Z,1553730041.099 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:41.439Z,1553730041.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:41.445Z,1553730041.445 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:41.501Z,1553730041.501 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:41.502Z,1553730041.502 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:41.843Z,1553730041.843 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-27T23:40:41.858Z,1553730041.858 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-27T23:40:41.865Z,1553730041.865 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190327234040.245999,06,380,13,0100,0150,246,00,00,02,02,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,199,0.00,-999,9760,4000*5E

2019-03-27T23:40:41.911Z,1553730041.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:41.911Z,1553730041.911 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:42.299Z,1553730042.299 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:42.300Z,1553730042.300 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:42.718Z,1553730042.718 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:42.718Z,1553730042.718 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:43.108Z,1553730043.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:43.108Z,1553730043.108 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:43.510Z,1553730043.510 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:43.510Z,1553730043.510 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:43.923Z,1553730043.923 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:43.923Z,1553730043.923 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:44.307Z,1553730044.307 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:44.307Z,1553730044.307 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:44.734Z,1553730044.734 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:44.734Z,1553730044.734 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:45.105Z,1553730045.105 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:45.106Z,1553730045.106 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:45.487Z,1553730045.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:45.531Z,1553730045.531 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:45.616Z,1553730045.616 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:45.616Z,1553730045.616 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:45.951Z,1553730045.951 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:45.951Z,1553730045.951 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:45.951Z,1553730045.951 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:45.952Z,1553730045.952 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.925541 forward, 0.378649 starboard, 0.000000 keelward ]
2019-03-27T23:40:45.952Z,1553730045.952 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:45.952Z,1553730045.952 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:45.957Z,1553730045.957 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:45.959Z,1553730045.959 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924363,-0.301450,-0.233838;0.295400,-0.953402,0.061350;-0.241435,-0.012366,0.970338 ]
2019-03-27T23:40:45.959Z,1553730045.959 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.430981 rad -- adding 2pi
2019-03-27T23:40:45.960Z,1553730045.960 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.852205 rad after adding 2pi
2019-03-27T23:40:45.960Z,1553730045.960 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 220.715063 degrees FINAL. Radians:3.852205
2019-03-27T23:40:45.966Z,1553730045.966 [lineCaptureHoming:I.](INFO): ContactLat = 36.802338 ContactLon = -121.788424
2019-03-27T23:40:46.013Z,1553730046.013 [Reporter](INFO): acoustic_contact_range 58.260006 m
2019-03-27T23:40:46.014Z,1553730046.014 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.852205 rad
2019-03-27T23:40:46.335Z,1553730046.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:46.335Z,1553730046.335 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:46.760Z,1553730046.760 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:46.760Z,1553730046.760 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:47.126Z,1553730047.126 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:47.126Z,1553730047.126 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:47.533Z,1553730047.533 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:47.534Z,1553730047.534 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:47.947Z,1553730047.947 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:47.947Z,1553730047.947 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:48.343Z,1553730048.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:48.343Z,1553730048.343 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:48.795Z,1553730048.795 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:48.795Z,1553730048.795 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:49.167Z,1553730049.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:49.168Z,1553730049.168 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:49.523Z,1553730049.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:49.528Z,1553730049.528 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:49.610Z,1553730049.610 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:49.610Z,1553730049.610 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:49.927Z,1553730049.927 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-27T23:40:50.006Z,1553730050.006 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:50.006Z,1553730050.006 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:50.363Z,1553730050.363 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:50.363Z,1553730050.363 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:50.772Z,1553730050.772 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:50.772Z,1553730050.772 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:51.169Z,1553730051.169 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:51.169Z,1553730051.169 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:51.575Z,1553730051.575 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:51.575Z,1553730051.575 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:52.034Z,1553730052.034 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:52.034Z,1553730052.034 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:52.391Z,1553730052.391 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:52.392Z,1553730052.392 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:52.836Z,1553730052.836 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:52.841Z,1553730052.841 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:53.218Z,1553730053.218 [CommandLine](IMPORTANT): got command show variable point.heading
2019-03-27T23:40:53.274Z,1553730053.274 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:53.274Z,1553730053.274 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:53.558Z,1553730053.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:53.560Z,1553730053.560 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:53.726Z,1553730053.726 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:53.727Z,1553730053.727 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:54.060Z,1553730054.060 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:54.069Z,1553730054.069 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:54.069Z,1553730054.069 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:54.070Z,1553730054.070 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.960050 forward, -0.279829 starboard, 0.000000 keelward ]
2019-03-27T23:40:54.070Z,1553730054.070 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:54.070Z,1553730054.070 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:54.071Z,1553730054.071 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:54.072Z,1553730054.072 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925251,-0.298589,-0.233999;0.292404,-0.954313,0.061540;-0.241684,-0.011482,0.970287 ]
2019-03-27T23:40:54.081Z,1553730054.081 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.121375 rad -- adding 2pi
2019-03-27T23:40:54.082Z,1553730054.082 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.161810 rad after adding 2pi
2019-03-27T23:40:54.082Z,1553730054.082 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.158378 degrees FINAL. Radians:3.161810
2019-03-27T23:40:54.083Z,1553730054.083 [lineCaptureHoming:I.](INFO): ContactLat = 36.802675 ContactLon = -121.788005
2019-03-27T23:40:54.135Z,1553730054.135 [Reporter](INFO): acoustic_contact_range 6.059999 m
2019-03-27T23:40:54.136Z,1553730054.136 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.161810 rad
2019-03-27T23:40:54.412Z,1553730054.412 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:54.412Z,1553730054.412 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:54.876Z,1553730054.876 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:54.885Z,1553730054.885 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:55.227Z,1553730055.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:55.228Z,1553730055.228 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:55.647Z,1553730055.647 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:55.648Z,1553730055.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:56.070Z,1553730056.070 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:56.070Z,1553730056.070 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:56.425Z,1553730056.425 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:56.425Z,1553730056.425 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:56.619Z,1553730056.619 [CommandLine](IMPORTANT): got command show variable heading
2019-03-27T23:40:56.630Z,1553730056.630 [CommandLine](IMPORTANT): HorizontalControl.kdHeading (second)
2019-03-27T23:40:56.630Z,1553730056.630 [CommandLine](IMPORTANT): HorizontalControl.kiHeading (reciprocal_second)
2019-03-27T23:40:56.631Z,1553730056.631 [CommandLine](IMPORTANT): HorizontalControl.kiwpHeading (radian_per_second_per_meter)
2019-03-27T23:40:56.631Z,1553730056.631 [CommandLine](IMPORTANT): HorizontalControl.kpHeading (none)
2019-03-27T23:40:56.631Z,1553730056.631 [CommandLine](IMPORTANT): HorizontalControl.kwpHeading (radian_per_meter)
2019-03-27T23:40:56.730Z,1553730056.730 [CommandLine](IMPORTANT): Rowe_600.headingOffset (degree)
2019-03-27T23:40:56.859Z,1553730056.859 [CommandLine](IMPORTANT): HorizontalControl.headingCmd (radian)
2019-03-27T23:40:56.860Z,1553730056.860 [CommandLine](IMPORTANT): HorizontalControl.headingRateCmd (radian_per_second)
2019-03-27T23:40:56.860Z,1553730056.860 [CommandLine](IMPORTANT): HorizontalControl.headingInternal (radian)
2019-03-27T23:40:56.869Z,1553730056.869 [CommandLine](IMPORTANT): HorizontalControl.smoothHeadingInternal (radian)
2019-03-27T23:40:56.869Z,1553730056.869 [CommandLine](IMPORTANT): HorizontalControl.headingIntegralInternal (radian)
2019-03-27T23:40:56.875Z,1553730056.875 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:56.875Z,1553730056.875 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:56.884Z,1553730056.884 [CommandLine](IMPORTANT): TrackAcousticContact.heading_to_contact (radian)
2019-03-27T23:40:57.243Z,1553730057.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:57.244Z,1553730057.244 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:57.597Z,1553730057.597 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:40:57.601Z,1553730057.601 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:40:57.733Z,1553730057.733 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:57.734Z,1553730057.734 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:58.068Z,1553730058.068 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:58.068Z,1553730058.068 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:58.068Z,1553730058.068 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:40:58.073Z,1553730058.073 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.988886 forward, -0.148672 starboard, 0.000000 keelward ]
2019-03-27T23:40:58.073Z,1553730058.073 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:40:58.073Z,1553730058.073 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:58.073Z,1553730058.073 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:40:58.075Z,1553730058.075 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925696,-0.297071,-0.234170;0.290876,-0.954789,0.061397;-0.241823,-0.011280,0.970255 ]
2019-03-27T23:40:58.076Z,1553730058.076 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.984530 rad -- adding 2pi
2019-03-27T23:40:58.076Z,1553730058.076 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.298655 rad after adding 2pi
2019-03-27T23:40:58.076Z,1553730058.076 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 188.999011 degrees FINAL. Radians:3.298655
2019-03-27T23:40:58.081Z,1553730058.081 [lineCaptureHoming:I.](INFO): ContactLat = 36.802487 ContactLon = -121.788051
2019-03-27T23:40:58.126Z,1553730058.126 [Reporter](INFO): acoustic_contact_range 28.020000 m
2019-03-27T23:40:58.127Z,1553730058.127 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.298655 rad
2019-03-27T23:40:58.443Z,1553730058.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:58.443Z,1553730058.443 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:58.859Z,1553730058.859 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:58.860Z,1553730058.860 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:59.251Z,1553730059.251 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:59.251Z,1553730059.251 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:40:59.658Z,1553730059.658 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:40:59.658Z,1553730059.658 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:00.072Z,1553730060.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:00.072Z,1553730060.072 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:00.477Z,1553730060.477 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:00.478Z,1553730060.478 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:00.903Z,1553730060.903 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:00.903Z,1553730060.903 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:01.262Z,1553730061.263 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:01.263Z,1553730061.263 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:01.639Z,1553730061.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:01.643Z,1553730061.643 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:01.734Z,1553730061.734 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:01.734Z,1553730061.734 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:02.087Z,1553730062.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:02.088Z,1553730062.088 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:02.088Z,1553730062.088 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:02.089Z,1553730062.089 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.954240 forward, -0.299041 starboard, 0.000000 keelward ]
2019-03-27T23:41:02.089Z,1553730062.089 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:02.089Z,1553730062.089 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:02.089Z,1553730062.089 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:02.091Z,1553730062.091 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925768,-0.296852,-0.234164;0.290663,-0.954857,0.061347;-0.241804,-0.011269,0.970260 ]
2019-03-27T23:41:02.092Z,1553730062.092 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 179.865805 degrees FINAL. Radians:3.139251
2019-03-27T23:41:02.093Z,1553730062.093 [lineCaptureHoming:I.](INFO): ContactLat = 36.802597 ContactLon = -121.788003
2019-03-27T23:41:02.138Z,1553730062.138 [Reporter](INFO): acoustic_contact_range 15.120001 m
2019-03-27T23:41:02.138Z,1553730062.138 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.139251 rad
2019-03-27T23:41:02.483Z,1553730062.483 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:02.483Z,1553730062.483 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:02.887Z,1553730062.887 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:02.887Z,1553730062.887 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:03.292Z,1553730063.292 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:03.292Z,1553730063.292 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:03.724Z,1553730063.724 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-03-27T23:41:03.735Z,1553730063.735 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:41:03.735Z,1553730063.735 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:41:03.740Z,1553730063.740 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:03.741Z,1553730063.741 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:03.785Z,1553730063.785 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:41:04.108Z,1553730064.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:04.109Z,1553730064.109 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:04.147Z,1553730064.148 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:41:04.148Z,1553730064.148 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:41:04.499Z,1553730064.499 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:04.500Z,1553730064.500 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:04.916Z,1553730064.916 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:04.916Z,1553730064.916 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:05.315Z,1553730065.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:05.315Z,1553730065.315 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:05.692Z,1553730065.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:05.699Z,1553730065.699 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:05.787Z,1553730065.787 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:05.788Z,1553730065.788 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:06.100Z,1553730066.100 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,186,80,81,11,FF
2019-03-27T23:41:06.161Z,1553730066.161 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:06.161Z,1553730066.161 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:06.524Z,1553730066.524 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:06.524Z,1553730066.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:06.930Z,1553730066.930 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:06.930Z,1553730066.930 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:07.327Z,1553730067.327 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:07.327Z,1553730067.327 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:07.759Z,1553730067.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:07.759Z,1553730067.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:08.131Z,1553730068.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:08.131Z,1553730068.131 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:08.535Z,1553730068.535 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:08.535Z,1553730068.535 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:08.953Z,1553730068.953 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:08.953Z,1553730068.953 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:09.352Z,1553730069.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:09.352Z,1553730069.352 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:09.728Z,1553730069.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:09.733Z,1553730069.733 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:09.803Z,1553730069.803 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:09.804Z,1553730069.804 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:10.196Z,1553730070.196 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:10.197Z,1553730070.197 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:10.197Z,1553730070.197 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:10.198Z,1553730070.198 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 1.000000 forward, 0.000873 starboard, 0.000000 keelward ]
2019-03-27T23:41:10.198Z,1553730070.198 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:10.198Z,1553730070.198 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:10.198Z,1553730070.198 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:10.200Z,1553730070.200 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925179,-0.298740,-0.234092;0.292627,-0.954261,0.061273;-0.241690,-0.011813,0.970282 ]
2019-03-27T23:41:10.201Z,1553730070.201 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.828366 rad -- adding 2pi
2019-03-27T23:41:10.201Z,1553730070.201 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.454819 rad after adding 2pi
2019-03-27T23:41:10.202Z,1553730070.202 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 197.946573 degrees FINAL. Radians:3.454819
2019-03-27T23:41:10.202Z,1553730070.202 [lineCaptureHoming:I.](INFO): ContactLat = 36.802489 ContactLon = -121.788100
2019-03-27T23:41:10.242Z,1553730070.242 [Reporter](INFO): acoustic_contact_range 28.920000 m
2019-03-27T23:41:10.243Z,1553730070.243 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.454819 rad
2019-03-27T23:41:10.560Z,1553730070.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:10.560Z,1553730070.560 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:11.010Z,1553730071.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:11.010Z,1553730071.010 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:11.397Z,1553730071.397 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:11.397Z,1553730071.397 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:11.838Z,1553730071.838 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:11.839Z,1553730071.839 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:12.183Z,1553730072.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:12.183Z,1553730072.183 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:12.585Z,1553730072.585 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:12.585Z,1553730072.585 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:12.999Z,1553730072.999 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:12.999Z,1553730072.999 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:13.395Z,1553730073.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:13.395Z,1553730073.395 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:13.763Z,1553730073.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:13.768Z,1553730073.768 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:13.850Z,1553730073.850 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:13.850Z,1553730073.850 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:14.218Z,1553730074.218 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:14.219Z,1553730074.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:14.219Z,1553730074.219 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:14.220Z,1553730074.220 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968148 forward, -0.250380 starboard, 0.000000 keelward ]
2019-03-27T23:41:14.220Z,1553730074.220 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:14.220Z,1553730074.220 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:14.220Z,1553730074.220 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:14.222Z,1553730074.222 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924940,-0.299541,-0.234011;0.293478,-0.954007,0.061172;-0.241571,-0.012096,0.970308 ]
2019-03-27T23:41:14.223Z,1553730074.223 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.088867 rad -- adding 2pi
2019-03-27T23:41:14.223Z,1553730074.223 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.194318 rad after adding 2pi
2019-03-27T23:41:14.223Z,1553730074.223 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.020943 degrees FINAL. Radians:3.194318
2019-03-27T23:41:14.224Z,1553730074.224 [lineCaptureHoming:I.](INFO): ContactLat = 36.803057 ContactLon = -121.787980
2019-03-27T23:41:14.262Z,1553730074.262 [Reporter](INFO): acoustic_contact_range -37.500000 m
2019-03-27T23:41:14.263Z,1553730074.263 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.194318 rad
2019-03-27T23:41:14.626Z,1553730074.626 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:14.627Z,1553730074.627 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:15.010Z,1553730075.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:15.010Z,1553730075.010 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:15.410Z,1553730075.410 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:15.410Z,1553730075.410 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:15.882Z,1553730075.882 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:15.882Z,1553730075.882 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:16.213Z,1553730076.213 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:16.213Z,1553730076.213 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:16.622Z,1553730076.622 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:16.622Z,1553730076.622 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:17.048Z,1553730077.048 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:17.048Z,1553730077.048 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:17.438Z,1553730077.438 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:17.438Z,1553730077.438 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:17.803Z,1553730077.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:17.808Z,1553730077.808 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:17.924Z,1553730077.924 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:17.924Z,1553730077.924 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:18.206Z,1553730078.206 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,ECF,000,1,08,FF
2019-03-27T23:41:18.279Z,1553730078.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:18.279Z,1553730078.279 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:18.647Z,1553730078.647 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:18.648Z,1553730078.648 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:19.063Z,1553730079.063 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:19.063Z,1553730079.063 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:19.452Z,1553730079.452 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:19.452Z,1553730079.452 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:19.867Z,1553730079.867 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:19.867Z,1553730079.867 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:20.276Z,1553730080.276 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:20.276Z,1553730080.276 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:20.704Z,1553730080.704 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:20.705Z,1553730080.705 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:21.092Z,1553730081.092 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:21.092Z,1553730081.092 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:21.469Z,1553730081.469 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:21.469Z,1553730081.469 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:21.836Z,1553730081.836 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:21.841Z,1553730081.841 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:21.948Z,1553730081.948 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:21.953Z,1553730081.953 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:22.283Z,1553730082.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:22.283Z,1553730082.283 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:22.284Z,1553730082.284 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:22.284Z,1553730082.284 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964327 forward, -0.264715 starboard, 0.000000 keelward ]
2019-03-27T23:41:22.285Z,1553730082.285 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:22.285Z,1553730082.285 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:22.285Z,1553730082.285 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:22.287Z,1553730082.287 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924051,-0.302411,-0.233830;0.296429,-0.953092,0.061198;-0.241369,-0.012764,0.970349 ]
2019-03-27T23:41:22.287Z,1553730082.287 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.101054 rad -- adding 2pi
2019-03-27T23:41:22.288Z,1553730082.288 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.182131 rad after adding 2pi
2019-03-27T23:41:22.288Z,1553730082.288 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.322693 degrees FINAL. Radians:3.182131
2019-03-27T23:41:22.289Z,1553730082.289 [lineCaptureHoming:I.](INFO): ContactLat = 36.803057 ContactLon = -121.787984
2019-03-27T23:41:22.334Z,1553730082.334 [Reporter](INFO): acoustic_contact_range -37.500000 m
2019-03-27T23:41:22.335Z,1553730082.335 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.182131 rad
2019-03-27T23:41:22.714Z,1553730082.714 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:22.715Z,1553730082.715 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:23.131Z,1553730083.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:23.131Z,1553730083.131 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:23.510Z,1553730083.510 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:23.511Z,1553730083.511 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:23.911Z,1553730083.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:23.912Z,1553730083.912 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:24.319Z,1553730084.319 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:24.319Z,1553730084.319 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:24.744Z,1553730084.744 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:24.744Z,1553730084.744 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:25.106Z,1553730085.106 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:25.106Z,1553730085.106 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:25.528Z,1553730085.528 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:25.528Z,1553730085.528 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:25.883Z,1553730085.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:25.889Z,1553730085.889 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:25.998Z,1553730085.998 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:25.998Z,1553730085.998 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:26.294Z,1553730086.294 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190327234124.600258,06,399,13,0098,0150,246,00,00,02,02,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,189,-0.05,-999,9760,4000*7F

2019-03-27T23:41:26.327Z,1553730086.327 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:26.327Z,1553730086.327 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:26.327Z,1553730086.327 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:26.328Z,1553730086.328 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967268 forward, -0.253758 starboard, 0.000000 keelward ]
2019-03-27T23:41:26.328Z,1553730086.328 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:26.328Z,1553730086.328 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:26.328Z,1553730086.328 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:26.330Z,1553730086.330 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923576,-0.303819,-0.233881;0.297878,-0.952639,0.061214;-0.241402,-0.013133,0.970336 ]
2019-03-27T23:41:26.331Z,1553730086.331 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.087838 rad -- adding 2pi
2019-03-27T23:41:26.331Z,1553730086.331 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.195347 rad after adding 2pi
2019-03-27T23:41:26.332Z,1553730086.332 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.079901 degrees FINAL. Radians:3.195347
2019-03-27T23:41:26.332Z,1553730086.332 [lineCaptureHoming:I.](INFO): ContactLat = 36.802677 ContactLon = -121.788004
2019-03-27T23:41:26.374Z,1553730086.374 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:41:26.375Z,1553730086.375 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.195347 rad
2019-03-27T23:41:26.815Z,1553730086.815 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:26.816Z,1553730086.816 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:27.163Z,1553730087.163 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:27.163Z,1553730087.163 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:27.560Z,1553730087.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:27.560Z,1553730087.560 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:27.998Z,1553730087.998 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:27.998Z,1553730087.998 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:28.352Z,1553730088.352 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:28.357Z,1553730088.357 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:28.799Z,1553730088.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:28.800Z,1553730088.800 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:29.187Z,1553730089.187 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:29.187Z,1553730089.187 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:29.583Z,1553730089.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:29.584Z,1553730089.584 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:29.919Z,1553730089.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:29.923Z,1553730089.923 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:30.055Z,1553730090.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:30.055Z,1553730090.055 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:30.322Z,1553730090.322 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-27T23:41:30.403Z,1553730090.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:30.404Z,1553730090.404 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:30.780Z,1553730090.780 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:30.780Z,1553730090.780 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:31.167Z,1553730091.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:31.167Z,1553730091.167 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:31.571Z,1553730091.571 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:31.571Z,1553730091.571 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:31.986Z,1553730091.986 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:31.986Z,1553730091.986 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:32.387Z,1553730092.387 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:32.387Z,1553730092.387 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:32.798Z,1553730092.798 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:32.799Z,1553730092.799 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:33.203Z,1553730093.203 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:33.203Z,1553730093.203 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:33.589Z,1553730093.589 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:33.589Z,1553730093.589 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:33.959Z,1553730093.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:33.963Z,1553730093.963 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:34.076Z,1553730094.076 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:34.076Z,1553730094.076 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:34.367Z,1553730094.367 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,16,FF
2019-03-27T23:41:34.419Z,1553730094.419 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:34.420Z,1553730094.420 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:34.815Z,1553730094.815 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:34.816Z,1553730094.816 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:35.219Z,1553730095.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:35.219Z,1553730095.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:35.621Z,1553730095.621 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:35.621Z,1553730095.621 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:36.035Z,1553730096.035 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:36.036Z,1553730096.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:36.418Z,1553730096.418 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:36.418Z,1553730096.418 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:36.831Z,1553730096.831 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:36.832Z,1553730096.832 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:37.228Z,1553730097.228 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:37.228Z,1553730097.228 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:37.632Z,1553730097.632 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:37.632Z,1553730097.632 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:38.015Z,1553730098.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:38.020Z,1553730098.020 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:38.090Z,1553730098.090 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:38.090Z,1553730098.090 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:38.402Z,1553730098.402 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-27T23:41:38.467Z,1553730098.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:38.467Z,1553730098.467 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:38.860Z,1553730098.860 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:38.861Z,1553730098.861 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:39.264Z,1553730099.264 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:39.265Z,1553730099.265 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:39.650Z,1553730099.650 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:39.651Z,1553730099.651 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:40.062Z,1553730100.062 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:40.062Z,1553730100.062 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:40.479Z,1553730100.479 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:40.479Z,1553730100.479 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:40.881Z,1553730100.881 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:40.881Z,1553730100.881 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:41.267Z,1553730101.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:41.267Z,1553730101.267 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:41.690Z,1553730101.690 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:41.690Z,1553730101.690 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:42.043Z,1553730102.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:42.068Z,1553730102.068 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:42.138Z,1553730102.138 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:42.139Z,1553730102.139 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:42.443Z,1553730102.443 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-27T23:41:42.516Z,1553730102.516 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:42.521Z,1553730102.521 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:42.917Z,1553730102.917 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:42.917Z,1553730102.917 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:43.287Z,1553730103.287 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:43.287Z,1553730103.287 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:43.736Z,1553730103.736 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:43.736Z,1553730103.736 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:44.103Z,1553730104.103 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:44.103Z,1553730104.103 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:44.531Z,1553730104.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:44.531Z,1553730104.531 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:44.931Z,1553730104.931 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:44.931Z,1553730104.931 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:45.327Z,1553730105.327 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:45.327Z,1553730105.327 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:45.749Z,1553730105.749 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:45.749Z,1553730105.749 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:46.094Z,1553730106.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:46.098Z,1553730106.098 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:46.214Z,1553730106.214 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:46.214Z,1553730106.214 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:46.522Z,1553730106.522 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:46.523Z,1553730106.523 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:46.523Z,1553730106.523 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:46.524Z,1553730106.524 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.991100 forward, -0.133121 starboard, 0.000000 keelward ]
2019-03-27T23:41:46.524Z,1553730106.524 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:46.524Z,1553730106.524 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:46.524Z,1553730106.524 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:46.526Z,1553730106.526 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923700,-0.303643,-0.233622;0.297668,-0.952698,0.061313;-0.241189,-0.012907,0.970392 ]
2019-03-27T23:41:46.527Z,1553730106.527 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.961272 rad -- adding 2pi
2019-03-27T23:41:46.527Z,1553730106.527 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.321913 rad after adding 2pi
2019-03-27T23:41:46.527Z,1553730106.527 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 190.331581 degrees FINAL. Radians:3.321913
2019-03-27T23:41:46.528Z,1553730106.528 [lineCaptureHoming:I.](INFO): ContactLat = 36.801900 ContactLon = -121.788187
2019-03-27T23:41:46.574Z,1553730106.574 [Reporter](INFO): acoustic_contact_range 96.720001 m
2019-03-27T23:41:46.575Z,1553730106.575 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.321913 rad
2019-03-27T23:41:46.942Z,1553730106.942 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:46.942Z,1553730106.942 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:47.335Z,1553730107.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:47.335Z,1553730107.335 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:47.756Z,1553730107.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:47.756Z,1553730107.756 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:48.143Z,1553730108.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:48.143Z,1553730108.143 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:48.550Z,1553730108.550 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:48.550Z,1553730108.550 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:48.978Z,1553730108.978 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:48.978Z,1553730108.978 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:49.343Z,1553730109.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:49.343Z,1553730109.343 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:49.759Z,1553730109.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:49.760Z,1553730109.760 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:50.119Z,1553730110.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:50.124Z,1553730110.124 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:50.178Z,1553730110.178 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:50.179Z,1553730110.179 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:50.563Z,1553730110.563 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:50.563Z,1553730110.563 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:50.564Z,1553730110.564 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:50.564Z,1553730110.564 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.973579 forward, -0.228351 starboard, 0.000000 keelward ]
2019-03-27T23:41:50.565Z,1553730110.565 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:50.565Z,1553730110.565 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:50.565Z,1553730110.565 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:50.567Z,1553730110.567 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924028,-0.302381,-0.233960;0.296370,-0.953103,0.061320;-0.241530,-0.012677,0.970311 ]
2019-03-27T23:41:50.568Z,1553730110.568 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.062413 rad -- adding 2pi
2019-03-27T23:41:50.568Z,1553730110.568 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.220772 rad after adding 2pi
2019-03-27T23:41:50.568Z,1553730110.568 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.536658 degrees FINAL. Radians:3.220772
2019-03-27T23:41:50.569Z,1553730110.569 [lineCaptureHoming:I.](INFO): ContactLat = 36.801911 ContactLon = -121.788078
2019-03-27T23:41:50.614Z,1553730110.614 [Reporter](INFO): acoustic_contact_range 94.140007 m
2019-03-27T23:41:50.615Z,1553730110.615 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.220772 rad
2019-03-27T23:41:50.967Z,1553730110.967 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:50.968Z,1553730110.968 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:51.370Z,1553730111.370 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:51.370Z,1553730111.370 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:51.804Z,1553730111.804 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:51.804Z,1553730111.804 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:52.183Z,1553730112.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:52.183Z,1553730112.183 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:52.574Z,1553730112.574 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:52.574Z,1553730112.574 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:52.991Z,1553730112.991 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:52.991Z,1553730112.991 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:53.386Z,1553730113.386 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:53.386Z,1553730113.386 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:53.797Z,1553730113.797 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:53.798Z,1553730113.798 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:54.159Z,1553730114.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:54.164Z,1553730114.164 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:54.219Z,1553730114.219 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:54.219Z,1553730114.219 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:54.267Z,1553730114.267 [CommandLine](IMPORTANT): got command show stack
2019-03-27T23:41:54.267Z,1553730114.267 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-27T23:41:54.268Z,1553730114.268 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-27T23:41:54.268Z,1553730114.268 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-27T23:41:54.268Z,1553730114.268 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-27T23:41:54.269Z,1553730114.269 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:I.
2019-03-27T23:41:54.269Z,1553730114.269 [lineCaptureHoming](IMPORTANT): Priority 4: lineCaptureHoming:J.Mass
2019-03-27T23:41:54.269Z,1553730114.269 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:K.Buoyancy
2019-03-27T23:41:54.270Z,1553730114.270 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:L
2019-03-27T23:41:54.270Z,1553730114.270 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:M
2019-03-27T23:41:54.271Z,1553730114.271 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-03-27T23:41:54.271Z,1553730114.271 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed
2019-03-27T23:41:54.271Z,1553730114.271 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo
2019-03-27T23:41:54.271Z,1553730114.271 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 11: lineCaptureHoming:RequestPing:A
2019-03-27T23:41:54.272Z,1553730114.272 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 12: lineCaptureHoming:RequestPing:B
2019-03-27T23:41:54.272Z,1553730114.272 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 13: lineCaptureHoming:RequestPing:C
2019-03-27T23:41:54.274Z,1553730114.274 [lineCaptureHoming:Lap:Rollout:MaintainHeading](IMPORTANT): Priority 14: lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait
2019-03-27T23:41:54.602Z,1553730114.602 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:54.603Z,1553730114.603 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:54.603Z,1553730114.603 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:54.604Z,1553730114.604 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.969872 forward, -0.243615 starboard, 0.000000 keelward ]
2019-03-27T23:41:54.604Z,1553730114.604 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:54.604Z,1553730114.604 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:54.604Z,1553730114.604 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:54.606Z,1553730114.606 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924445,-0.301090,-0.233977;0.295025,-0.953516,0.061372;-0.241580,-0.012294,0.970303 ]
2019-03-27T23:41:54.607Z,1553730114.607 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.079998 rad -- adding 2pi
2019-03-27T23:41:54.607Z,1553730114.607 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.203187 rad after adding 2pi
2019-03-27T23:41:54.607Z,1553730114.607 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.529109 degrees FINAL. Radians:3.203187
2019-03-27T23:41:54.608Z,1553730114.608 [lineCaptureHoming:I.](INFO): ContactLat = 36.802054 ContactLon = -121.788049
2019-03-27T23:41:54.646Z,1553730114.646 [Reporter](INFO): acoustic_contact_range 77.640007 m
2019-03-27T23:41:54.647Z,1553730114.647 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.203187 rad
2019-03-27T23:41:55.017Z,1553730115.017 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:55.017Z,1553730115.017 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:55.411Z,1553730115.411 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:55.412Z,1553730115.412 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:55.836Z,1553730115.836 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:55.836Z,1553730115.836 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:56.229Z,1553730116.229 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:56.230Z,1553730116.230 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:56.618Z,1553730116.618 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:56.618Z,1553730116.618 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:57.027Z,1553730117.027 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:57.027Z,1553730117.027 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:57.443Z,1553730117.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:57.443Z,1553730117.443 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:57.850Z,1553730117.850 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:57.851Z,1553730117.851 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:58.205Z,1553730118.205 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:41:58.210Z,1553730118.210 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:41:58.262Z,1553730118.262 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:58.263Z,1553730118.263 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:58.658Z,1553730118.658 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:58.658Z,1553730118.658 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:58.658Z,1553730118.658 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:41:58.659Z,1553730118.659 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.974370 forward, -0.224951 starboard, 0.000000 keelward ]
2019-03-27T23:41:58.659Z,1553730118.659 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:41:58.659Z,1553730118.659 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:58.660Z,1553730118.660 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:41:58.666Z,1553730118.666 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924750,-0.300128,-0.234010;0.294014,-0.953824,0.061450;-0.241647,-0.011976,0.970290 ]
2019-03-27T23:41:58.666Z,1553730118.666 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.061252 rad -- adding 2pi
2019-03-27T23:41:58.667Z,1553730118.667 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.221933 rad after adding 2pi
2019-03-27T23:41:58.668Z,1553730118.668 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.603184 degrees FINAL. Radians:3.221933
2019-03-27T23:41:58.674Z,1553730118.674 [lineCaptureHoming:I.](INFO): ContactLat = 36.802678 ContactLon = -121.788001
2019-03-27T23:41:58.754Z,1553730118.754 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:41:58.755Z,1553730118.755 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.221933 rad
2019-03-27T23:41:59.061Z,1553730119.061 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:59.061Z,1553730119.061 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:59.459Z,1553730119.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:59.459Z,1553730119.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:41:59.871Z,1553730119.871 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:41:59.872Z,1553730119.872 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:00.253Z,1553730120.253 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:00.253Z,1553730120.253 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:00.661Z,1553730120.661 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:00.661Z,1553730120.661 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:01.072Z,1553730121.072 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:01.072Z,1553730121.072 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:01.491Z,1553730121.491 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:01.491Z,1553730121.491 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:01.882Z,1553730121.882 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:01.882Z,1553730121.882 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:02.251Z,1553730122.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:02.255Z,1553730122.255 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:02.372Z,1553730122.372 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:02.381Z,1553730122.381 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:02.774Z,1553730122.774 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:02.774Z,1553730122.774 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:02.774Z,1553730122.774 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:02.775Z,1553730122.775 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.973179 forward, -0.230050 starboard, 0.000000 keelward ]
2019-03-27T23:42:02.775Z,1553730122.775 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:02.775Z,1553730122.775 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:02.775Z,1553730122.775 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:02.785Z,1553730122.785 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925075,-0.299131,-0.234001;0.292994,-0.954140,0.061416;-0.241641,-0.011746,0.970295 ]
2019-03-27T23:42:02.786Z,1553730122.786 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.067727 rad -- adding 2pi
2019-03-27T23:42:02.786Z,1553730122.786 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.215459 rad after adding 2pi
2019-03-27T23:42:02.787Z,1553730122.787 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.232209 degrees FINAL. Radians:3.215459
2019-03-27T23:42:02.788Z,1553730122.788 [lineCaptureHoming:I.](INFO): ContactLat = 36.802693 ContactLon = -121.787999
2019-03-27T23:42:02.854Z,1553730122.854 [Reporter](INFO): acoustic_contact_range 4.440000 m
2019-03-27T23:42:02.855Z,1553730122.855 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.215459 rad
2019-03-27T23:42:03.108Z,1553730123.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:03.108Z,1553730123.108 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:03.487Z,1553730123.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:03.487Z,1553730123.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:03.908Z,1553730123.908 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:03.908Z,1553730123.908 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:04.295Z,1553730124.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:04.295Z,1553730124.295 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:04.733Z,1553730124.733 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:04.733Z,1553730124.733 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:05.131Z,1553730125.131 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:05.131Z,1553730125.131 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:05.523Z,1553730125.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:05.523Z,1553730125.523 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:05.944Z,1553730125.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:05.944Z,1553730125.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:06.278Z,1553730126.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:06.280Z,1553730126.280 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:06.399Z,1553730126.399 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:06.399Z,1553730126.399 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:06.771Z,1553730126.771 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:06.771Z,1553730126.771 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:06.772Z,1553730126.772 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:06.772Z,1553730126.772 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.978867 forward, -0.204496 starboard, 0.000000 keelward ]
2019-03-27T23:42:06.773Z,1553730126.773 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:06.773Z,1553730126.773 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:06.773Z,1553730126.773 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:06.775Z,1553730126.775 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925239,-0.298558,-0.234085;0.292392,-0.954321,0.061467;-0.241744,-0.011573,0.970271 ]
2019-03-27T23:42:06.775Z,1553730126.775 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.041364 rad -- adding 2pi
2019-03-27T23:42:06.776Z,1553730126.776 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.241821 rad after adding 2pi
2019-03-27T23:42:06.776Z,1553730126.776 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 185.742678 degrees FINAL. Radians:3.241821
2019-03-27T23:42:06.777Z,1553730126.777 [lineCaptureHoming:I.](INFO): ContactLat = 36.802563 ContactLon = -121.788016
2019-03-27T23:42:06.818Z,1553730126.818 [Reporter](INFO): acoustic_contact_range 19.440001 m
2019-03-27T23:42:06.819Z,1553730126.819 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.241821 rad
2019-03-27T23:42:07.155Z,1553730127.155 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:07.156Z,1553730127.156 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:07.531Z,1553730127.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:07.531Z,1553730127.531 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:07.939Z,1553730127.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:07.939Z,1553730127.939 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:08.335Z,1553730128.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:08.335Z,1553730128.335 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:08.763Z,1553730128.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:08.763Z,1553730128.763 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:09.155Z,1553730129.155 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:09.156Z,1553730129.156 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:09.547Z,1553730129.547 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:09.547Z,1553730129.547 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:09.955Z,1553730129.955 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:09.956Z,1553730129.956 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:10.319Z,1553730130.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:10.323Z,1553730130.323 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:10.423Z,1553730130.423 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:10.423Z,1553730130.423 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:10.776Z,1553730130.776 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:10.776Z,1553730130.776 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:10.776Z,1553730130.776 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:10.778Z,1553730130.778 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.976107 forward, -0.217292 starboard, 0.000000 keelward ]
2019-03-27T23:42:10.778Z,1553730130.778 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:10.778Z,1553730130.778 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:10.778Z,1553730130.778 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:10.780Z,1553730130.780 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925222,-0.298624,-0.234068;0.292502,-0.954298,0.061296;-0.241676,-0.011753,0.970286 ]
2019-03-27T23:42:10.780Z,1553730130.780 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.054783 rad -- adding 2pi
2019-03-27T23:42:10.781Z,1553730130.781 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.228403 rad after adding 2pi
2019-03-27T23:42:10.781Z,1553730130.781 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.973844 degrees FINAL. Radians:3.228403
2019-03-27T23:42:10.782Z,1553730130.782 [lineCaptureHoming:I.](INFO): ContactLat = 36.802665 ContactLon = -121.788001
2019-03-27T23:42:10.826Z,1553730130.826 [Reporter](INFO): acoustic_contact_range 7.740000 m
2019-03-27T23:42:10.826Z,1553730130.826 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.228403 rad
2019-03-27T23:42:11.160Z,1553730131.160 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:11.160Z,1553730131.160 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:11.572Z,1553730131.572 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:11.572Z,1553730131.572 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:11.995Z,1553730131.995 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:11.996Z,1553730131.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:12.380Z,1553730132.380 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:12.381Z,1553730132.381 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:12.797Z,1553730132.797 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:12.797Z,1553730132.797 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:13.183Z,1553730133.183 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:13.183Z,1553730133.183 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:13.582Z,1553730133.582 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:13.582Z,1553730133.582 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:14.010Z,1553730134.010 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:14.010Z,1553730134.010 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:14.375Z,1553730134.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:14.381Z,1553730134.381 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:14.498Z,1553730134.498 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:14.499Z,1553730134.499 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:14.822Z,1553730134.822 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:14.822Z,1553730134.822 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:14.822Z,1553730134.822 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:14.823Z,1553730134.823 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.961021 forward, -0.276476 starboard, 0.000000 keelward ]
2019-03-27T23:42:14.823Z,1553730134.823 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:14.823Z,1553730134.823 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:14.823Z,1553730134.823 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:14.825Z,1553730134.825 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925244,-0.298704,-0.233877;0.292544,-0.954276,0.061450;-0.241538,-0.011563,0.970322 ]
2019-03-27T23:42:14.826Z,1553730134.826 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.117654 rad -- adding 2pi
2019-03-27T23:42:14.826Z,1553730134.826 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.165531 rad after adding 2pi
2019-03-27T23:42:14.827Z,1553730134.827 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 181.371589 degrees FINAL. Radians:3.165531
2019-03-27T23:42:14.828Z,1553730134.828 [lineCaptureHoming:I.](INFO): ContactLat = 36.802691 ContactLon = -121.787995
2019-03-27T23:42:14.870Z,1553730134.870 [Reporter](INFO): acoustic_contact_range 4.800000 m
2019-03-27T23:42:14.871Z,1553730134.871 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.165531 rad
2019-03-27T23:42:15.201Z,1553730135.201 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:15.201Z,1553730135.201 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:15.623Z,1553730135.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:15.624Z,1553730135.624 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:16.027Z,1553730136.027 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:16.028Z,1553730136.028 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:16.427Z,1553730136.427 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:16.427Z,1553730136.427 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:16.855Z,1553730136.855 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:16.855Z,1553730136.855 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:17.223Z,1553730137.223 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:17.223Z,1553730137.223 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:17.625Z,1553730137.625 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:17.625Z,1553730137.625 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:18.050Z,1553730138.050 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:18.050Z,1553730138.050 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:18.411Z,1553730138.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:18.418Z,1553730138.418 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:18.499Z,1553730138.499 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:18.499Z,1553730138.499 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:18.659Z,1553730138.659 [CommandLine](IMPORTANT): got command show stack
2019-03-27T23:42:18.659Z,1553730138.659 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-27T23:42:18.660Z,1553730138.660 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-27T23:42:18.660Z,1553730138.660 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-27T23:42:18.660Z,1553730138.660 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-27T23:42:18.660Z,1553730138.660 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:I.
2019-03-27T23:42:18.661Z,1553730138.661 [lineCaptureHoming](IMPORTANT): Priority 4: lineCaptureHoming:J.Mass
2019-03-27T23:42:18.661Z,1553730138.661 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:K.Buoyancy
2019-03-27T23:42:18.661Z,1553730138.661 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:L
2019-03-27T23:42:18.662Z,1553730138.662 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:M
2019-03-27T23:42:18.662Z,1553730138.662 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-03-27T23:42:18.662Z,1553730138.662 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed
2019-03-27T23:42:18.663Z,1553730138.663 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo
2019-03-27T23:42:18.663Z,1553730138.663 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 11: lineCaptureHoming:RequestPing:A
2019-03-27T23:42:18.663Z,1553730138.663 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 12: lineCaptureHoming:RequestPing:B
2019-03-27T23:42:18.664Z,1553730138.664 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 13: lineCaptureHoming:RequestPing:C
2019-03-27T23:42:18.664Z,1553730138.664 [lineCaptureHoming:Lap:Rollout:MaintainHeading](IMPORTANT): Priority 14: lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait
2019-03-27T23:42:18.879Z,1553730138.879 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:18.880Z,1553730138.880 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:18.880Z,1553730138.880 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:18.885Z,1553730138.885 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.972370 forward, -0.233445 starboard, 0.000000 keelward ]
2019-03-27T23:42:18.885Z,1553730138.885 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:18.885Z,1553730138.885 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:18.885Z,1553730138.885 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:18.887Z,1553730138.887 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925110,-0.299065,-0.233949;0.292875,-0.954163,0.061618;-0.241653,-0.011514,0.970294 ]
2019-03-27T23:42:18.888Z,1553730138.888 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.071396 rad -- adding 2pi
2019-03-27T23:42:18.888Z,1553730138.888 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.211789 rad after adding 2pi
2019-03-27T23:42:18.888Z,1553730138.888 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.021976 degrees FINAL. Radians:3.211789
2019-03-27T23:42:18.894Z,1553730138.894 [lineCaptureHoming:I.](INFO): ContactLat = 36.802679 ContactLon = -121.787997
2019-03-27T23:42:18.950Z,1553730138.950 [Reporter](INFO): acoustic_contact_range 6.240000 m
2019-03-27T23:42:18.951Z,1553730138.951 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.211789 rad
2019-03-27T23:42:19.280Z,1553730139.280 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:19.280Z,1553730139.280 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:19.666Z,1553730139.666 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:19.666Z,1553730139.666 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:20.095Z,1553730140.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:20.095Z,1553730140.095 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:20.479Z,1553730140.479 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:20.479Z,1553730140.479 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:20.881Z,1553730140.881 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:20.882Z,1553730140.882 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:21.267Z,1553730141.267 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:21.267Z,1553730141.267 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:21.676Z,1553730141.676 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:21.678Z,1553730141.678 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:22.091Z,1553730142.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:22.091Z,1553730142.091 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:22.443Z,1553730142.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:22.447Z,1553730142.447 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:22.501Z,1553730142.501 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:22.502Z,1553730142.502 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:22.903Z,1553730142.903 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:22.903Z,1553730142.903 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:22.903Z,1553730142.903 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:22.904Z,1553730142.904 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.984656 forward, 0.174508 starboard, 0.000000 keelward ]
2019-03-27T23:42:22.904Z,1553730142.904 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:22.904Z,1553730142.904 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:22.904Z,1553730142.904 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:22.906Z,1553730142.906 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924648,-0.300463,-0.233982;0.294362,-0.953717,0.061436;-0.241612,-0.012069,0.970298 ]
2019-03-27T23:42:22.907Z,1553730142.907 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.647927 rad -- adding 2pi
2019-03-27T23:42:22.907Z,1553730142.907 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.635259 rad after adding 2pi
2019-03-27T23:42:22.908Z,1553730142.908 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 208.284979 degrees FINAL. Radians:3.635259
2019-03-27T23:42:22.908Z,1553730142.908 [lineCaptureHoming:I.](INFO): ContactLat = 36.802579 ContactLon = -121.788095
2019-03-27T23:42:22.962Z,1553730142.962 [Reporter](INFO): acoustic_contact_range 20.039999 m
2019-03-27T23:42:22.963Z,1553730142.963 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.635259 rad
2019-03-27T23:42:23.299Z,1553730143.299 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:23.300Z,1553730143.300 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:23.734Z,1553730143.734 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:23.734Z,1553730143.734 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:24.111Z,1553730144.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:24.111Z,1553730144.111 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:24.495Z,1553730144.495 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:24.496Z,1553730144.496 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:24.907Z,1553730144.907 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:24.907Z,1553730144.907 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:25.307Z,1553730145.307 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:25.307Z,1553730145.307 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:25.732Z,1553730145.732 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:25.732Z,1553730145.732 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:26.201Z,1553730146.201 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:26.202Z,1553730146.202 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:26.491Z,1553730146.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:26.495Z,1553730146.495 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:26.550Z,1553730146.550 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:26.550Z,1553730146.550 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:26.883Z,1553730146.883 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-27T23:42:26.965Z,1553730146.965 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:26.966Z,1553730146.966 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:27.332Z,1553730147.332 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:27.332Z,1553730147.332 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:27.761Z,1553730147.761 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:27.761Z,1553730147.761 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:28.130Z,1553730148.130 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:28.130Z,1553730148.130 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:28.533Z,1553730148.533 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:28.534Z,1553730148.534 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:28.944Z,1553730148.944 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:28.944Z,1553730148.944 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:29.343Z,1553730149.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:29.343Z,1553730149.343 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:29.768Z,1553730149.768 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:29.768Z,1553730149.768 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:30.171Z,1553730150.171 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:30.171Z,1553730150.171 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:30.523Z,1553730150.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:30.528Z,1553730150.528 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:30.613Z,1553730150.613 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:30.614Z,1553730150.614 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:30.996Z,1553730150.996 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:30.996Z,1553730150.996 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:30.996Z,1553730150.996 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:31.001Z,1553730151.001 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.972978 forward, -0.230899 starboard, 0.000000 keelward ]
2019-03-27T23:42:31.002Z,1553730151.002 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:31.002Z,1553730151.002 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:31.002Z,1553730151.002 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:31.004Z,1553730151.004 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923929,-0.302785,-0.233829;0.296761,-0.952975,0.061414;-0.241428,-0.012649,0.970336 ]
2019-03-27T23:42:31.004Z,1553730151.004 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.064677 rad -- adding 2pi
2019-03-27T23:42:31.004Z,1553730151.004 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.218508 rad after adding 2pi
2019-03-27T23:42:31.006Z,1553730151.006 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.406939 degrees FINAL. Radians:3.218508
2019-03-27T23:42:31.006Z,1553730151.006 [lineCaptureHoming:I.](INFO): ContactLat = 36.802681 ContactLon = -121.787996
2019-03-27T23:42:31.058Z,1553730151.058 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:42:31.059Z,1553730151.059 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.218508 rad
2019-03-27T23:42:31.395Z,1553730151.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:31.396Z,1553730151.396 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:31.780Z,1553730151.780 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:31.781Z,1553730151.781 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:32.163Z,1553730152.163 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:32.163Z,1553730152.163 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:32.567Z,1553730152.567 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:32.567Z,1553730152.567 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:33.017Z,1553730153.017 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:33.018Z,1553730153.018 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:33.384Z,1553730153.384 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:33.384Z,1553730153.384 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:33.791Z,1553730153.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:33.791Z,1553730153.791 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:34.191Z,1553730154.191 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:34.191Z,1553730154.191 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:34.563Z,1553730154.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:34.567Z,1553730154.567 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:34.621Z,1553730154.621 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:34.621Z,1553730154.621 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:35.023Z,1553730155.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:35.023Z,1553730155.023 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:35.023Z,1553730155.023 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:35.024Z,1553730155.024 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.995884 forward, -0.090633 starboard, 0.000000 keelward ]
2019-03-27T23:42:35.025Z,1553730155.025 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:35.025Z,1553730155.025 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:35.025Z,1553730155.025 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:35.027Z,1553730155.027 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923529,-0.304079,-0.233733;0.298138,-0.952556,0.061238;-0.241265,-0.013130,0.970370 ]
2019-03-27T23:42:35.027Z,1553730155.027 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.916786 rad -- adding 2pi
2019-03-27T23:42:35.028Z,1553730155.028 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.366399 rad after adding 2pi
2019-03-27T23:42:35.028Z,1553730155.028 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 192.880444 degrees FINAL. Radians:3.366399
2019-03-27T23:42:35.029Z,1553730155.029 [lineCaptureHoming:I.](INFO): ContactLat = 36.802486 ContactLon = -121.788061
2019-03-27T23:42:35.086Z,1553730155.086 [Reporter](INFO): acoustic_contact_range 29.160002 m
2019-03-27T23:42:35.087Z,1553730155.087 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.366399 rad
2019-03-27T23:42:35.431Z,1553730155.431 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:35.431Z,1553730155.431 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:35.823Z,1553730155.823 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:35.824Z,1553730155.824 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:36.225Z,1553730156.225 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:36.226Z,1553730156.226 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:36.610Z,1553730156.610 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:36.610Z,1553730156.610 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:37.075Z,1553730157.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:37.075Z,1553730157.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:37.424Z,1553730157.424 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:37.424Z,1553730157.424 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:37.852Z,1553730157.852 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:37.852Z,1553730157.852 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:38.238Z,1553730158.238 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:38.238Z,1553730158.238 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:38.598Z,1553730158.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:38.599Z,1553730158.599 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:38.754Z,1553730158.754 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:38.755Z,1553730158.755 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:39.047Z,1553730159.047 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:39.048Z,1553730159.048 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:39.048Z,1553730159.048 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:39.081Z,1553730159.081 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.999969 forward, -0.007854 starboard, 0.000000 keelward ]
2019-03-27T23:42:39.081Z,1553730159.081 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:39.081Z,1553730159.081 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:39.081Z,1553730159.081 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:39.083Z,1553730159.083 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923218,-0.305055,-0.233686;0.299135,-0.952241,0.061277;-0.241219,-0.013331,0.970379 ]
2019-03-27T23:42:39.084Z,1553730159.084 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -2.830523 rad -- adding 2pi
2019-03-27T23:42:39.084Z,1553730159.084 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.452662 rad after adding 2pi
2019-03-27T23:42:39.097Z,1553730159.097 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 197.822947 degrees FINAL. Radians:3.452662
2019-03-27T23:42:39.098Z,1553730159.098 [lineCaptureHoming:I.](INFO): ContactLat = 36.802384 ContactLon = -121.788130
2019-03-27T23:42:39.162Z,1553730159.162 [Reporter](INFO): acoustic_contact_range 42.179996 m
2019-03-27T23:42:39.163Z,1553730159.163 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.452662 rad
2019-03-27T23:42:39.487Z,1553730159.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:39.487Z,1553730159.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:39.958Z,1553730159.958 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:39.958Z,1553730159.958 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:40.304Z,1553730160.304 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:40.304Z,1553730160.304 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:40.732Z,1553730160.732 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:40.732Z,1553730160.732 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:41.155Z,1553730161.155 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:41.155Z,1553730161.155 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:41.522Z,1553730161.522 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:41.522Z,1553730161.522 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:41.940Z,1553730161.940 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:41.940Z,1553730161.940 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:42.279Z,1553730162.279 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:42.280Z,1553730162.280 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:42.664Z,1553730162.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:42.674Z,1553730162.674 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:42.890Z,1553730162.890 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:42.890Z,1553730162.890 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:43.058Z,1553730163.058 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-27T23:42:43.124Z,1553730163.124 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:43.124Z,1553730163.124 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:43.511Z,1553730163.511 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:43.512Z,1553730163.512 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:43.950Z,1553730163.950 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:43.951Z,1553730163.951 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:44.324Z,1553730164.324 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:44.324Z,1553730164.324 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:44.788Z,1553730164.788 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:44.788Z,1553730164.788 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:45.144Z,1553730165.144 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:45.144Z,1553730165.144 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:45.570Z,1553730165.570 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:45.570Z,1553730165.570 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:45.984Z,1553730165.984 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:45.984Z,1553730165.984 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:46.328Z,1553730166.328 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:46.328Z,1553730166.328 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:46.715Z,1553730166.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:46.732Z,1553730166.732 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:46.905Z,1553730166.905 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:46.906Z,1553730166.906 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:47.151Z,1553730167.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:47.151Z,1553730167.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:47.151Z,1553730167.151 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:47.152Z,1553730167.152 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.980271 forward, -0.197657 starboard, 0.000000 keelward ]
2019-03-27T23:42:47.152Z,1553730167.152 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:47.152Z,1553730167.152 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:47.153Z,1553730167.153 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:47.155Z,1553730167.155 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.922962,-0.305942,-0.233541;0.300073,-0.951953,0.061173;-0.241035,-0.013619,0.970421 ]
2019-03-27T23:42:47.155Z,1553730167.155 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.026196 rad -- adding 2pi
2019-03-27T23:42:47.156Z,1553730167.156 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.256989 rad after adding 2pi
2019-03-27T23:42:47.156Z,1553730167.156 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 186.611710 degrees FINAL. Radians:3.256989
2019-03-27T23:42:47.157Z,1553730167.157 [lineCaptureHoming:I.](INFO): ContactLat = 36.802668 ContactLon = -121.787999
2019-03-27T23:42:47.216Z,1553730167.216 [Reporter](INFO): acoustic_contact_range 7.740000 m
2019-03-27T23:42:47.217Z,1553730167.217 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.256989 rad
2019-03-27T23:42:47.587Z,1553730167.587 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:47.587Z,1553730167.587 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:47.977Z,1553730167.977 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:47.977Z,1553730167.977 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:48.439Z,1553730168.439 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:48.439Z,1553730168.439 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:48.918Z,1553730168.918 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:48.918Z,1553730168.918 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:49.243Z,1553730169.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:49.243Z,1553730169.243 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:49.559Z,1553730169.559 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:49.559Z,1553730169.559 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:50.060Z,1553730170.060 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:50.060Z,1553730170.060 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:50.420Z,1553730170.420 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:50.420Z,1553730170.420 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:50.779Z,1553730170.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:50.794Z,1553730170.794 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:51.007Z,1553730171.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:51.007Z,1553730171.007 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:51.026Z,1553730171.026 [CommandLine](IMPORTANT): got command get SpeedControl.speedCmd
2019-03-27T23:42:51.027Z,1553730171.027 [CommandLine](IMPORTANT): SpeedControl.speedCmd 1.000000 m/s
2019-03-27T23:42:51.175Z,1553730171.175 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,11,FF
2019-03-27T23:42:51.258Z,1553730171.258 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:51.258Z,1553730171.258 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:51.615Z,1553730171.615 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:51.616Z,1553730171.616 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:52.068Z,1553730172.068 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:52.073Z,1553730172.073 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:52.402Z,1553730172.402 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:52.402Z,1553730172.402 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:52.890Z,1553730172.890 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:52.890Z,1553730172.890 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:53.216Z,1553730173.216 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:53.216Z,1553730173.216 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:53.621Z,1553730173.621 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:53.622Z,1553730173.622 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:54.067Z,1553730174.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:54.067Z,1553730174.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:54.458Z,1553730174.458 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:54.459Z,1553730174.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:54.786Z,1553730174.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:54.791Z,1553730174.791 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:54.920Z,1553730174.920 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:54.920Z,1553730174.920 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:55.236Z,1553730175.236 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:55.236Z,1553730175.236 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:55.236Z,1553730175.236 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:55.257Z,1553730175.257 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.982123 forward, -0.188238 starboard, 0.000000 keelward ]
2019-03-27T23:42:55.258Z,1553730175.258 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:55.258Z,1553730175.258 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:55.258Z,1553730175.258 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:55.260Z,1553730175.260 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923281,-0.304921,-0.233614;0.299030,-0.952283,0.061137;-0.241108,-0.013411,0.970406 ]
2019-03-27T23:42:55.260Z,1553730175.260 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.017411 rad -- adding 2pi
2019-03-27T23:42:55.266Z,1553730175.266 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.265774 rad after adding 2pi
2019-03-27T23:42:55.267Z,1553730175.267 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 187.115095 degrees FINAL. Radians:3.265774
2019-03-27T23:42:55.268Z,1553730175.268 [lineCaptureHoming:I.](INFO): ContactLat = 36.802658 ContactLon = -121.788000
2019-03-27T23:42:55.340Z,1553730175.340 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-27T23:42:55.341Z,1553730175.341 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.265774 rad
2019-03-27T23:42:55.623Z,1553730175.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:55.623Z,1553730175.623 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:56.043Z,1553730176.043 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:56.044Z,1553730176.044 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:56.439Z,1553730176.439 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:56.440Z,1553730176.440 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:56.848Z,1553730176.848 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:56.849Z,1553730176.849 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:57.258Z,1553730177.258 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:57.258Z,1553730177.258 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:57.635Z,1553730177.635 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:57.635Z,1553730177.635 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:58.051Z,1553730178.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:58.052Z,1553730178.052 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:58.451Z,1553730178.451 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:58.452Z,1553730178.452 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:58.515Z,1553730178.515 [CommandLine](IMPORTANT): got command show stack
2019-03-27T23:42:58.515Z,1553730178.515 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-27T23:42:58.516Z,1553730178.516 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-27T23:42:58.516Z,1553730178.516 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-27T23:42:58.516Z,1553730178.516 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-27T23:42:58.516Z,1553730178.516 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:I.
2019-03-27T23:42:58.517Z,1553730178.517 [lineCaptureHoming](IMPORTANT): Priority 4: lineCaptureHoming:J.Mass
2019-03-27T23:42:58.517Z,1553730178.517 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:K.Buoyancy
2019-03-27T23:42:58.517Z,1553730178.517 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:L
2019-03-27T23:42:58.518Z,1553730178.518 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:M
2019-03-27T23:42:58.518Z,1553730178.518 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-03-27T23:42:58.518Z,1553730178.518 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed
2019-03-27T23:42:58.519Z,1553730178.519 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo
2019-03-27T23:42:58.519Z,1553730178.519 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 11: lineCaptureHoming:RequestPing:A
2019-03-27T23:42:58.519Z,1553730178.519 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 12: lineCaptureHoming:RequestPing:B
2019-03-27T23:42:58.520Z,1553730178.520 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 13: lineCaptureHoming:RequestPing:C
2019-03-27T23:42:58.520Z,1553730178.520 [lineCaptureHoming:Lap:Rollout:MaintainHeading](IMPORTANT): Priority 14: lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait
2019-03-27T23:42:58.815Z,1553730178.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:42:58.819Z,1553730178.819 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:42:58.912Z,1553730178.912 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:58.912Z,1553730178.912 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:59.259Z,1553730179.259 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:59.259Z,1553730179.259 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:42:59.260Z,1553730179.260 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:42:59.260Z,1553730179.260 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.980615 forward, -0.195946 starboard, 0.000000 keelward ]
2019-03-27T23:42:59.261Z,1553730179.261 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:42:59.261Z,1553730179.261 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:59.261Z,1553730179.261 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:42:59.263Z,1553730179.263 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923779,-0.303246,-0.233825;0.297218,-0.952828,0.061489;-0.241442,-0.012695,0.970332 ]
2019-03-27T23:42:59.264Z,1553730179.264 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.027309 rad -- adding 2pi
2019-03-27T23:42:59.264Z,1553730179.264 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.255877 rad after adding 2pi
2019-03-27T23:42:59.264Z,1553730179.264 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 186.547984 degrees FINAL. Radians:3.255877
2019-03-27T23:42:59.265Z,1553730179.265 [lineCaptureHoming:I.](INFO): ContactLat = 36.802679 ContactLon = -121.787996
2019-03-27T23:42:59.318Z,1553730179.318 [Reporter](INFO): acoustic_contact_range 6.479999 m
2019-03-27T23:42:59.318Z,1553730179.318 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.255877 rad
2019-03-27T23:42:59.673Z,1553730179.673 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:42:59.674Z,1553730179.674 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:00.079Z,1553730180.079 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:00.079Z,1553730180.079 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:00.497Z,1553730180.497 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:00.498Z,1553730180.498 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:00.889Z,1553730180.889 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:00.889Z,1553730180.889 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:01.271Z,1553730181.271 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:01.271Z,1553730181.271 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:01.728Z,1553730181.728 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:01.728Z,1553730181.728 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:02.091Z,1553730182.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:02.092Z,1553730182.092 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:02.487Z,1553730182.487 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:02.487Z,1553730182.487 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:02.863Z,1553730182.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:02.867Z,1553730182.867 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:02.938Z,1553730182.938 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:02.938Z,1553730182.938 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:03.311Z,1553730183.311 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:03.312Z,1553730183.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:03.312Z,1553730183.312 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:03.317Z,1553730183.317 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.978329 forward, -0.207058 starboard, 0.000000 keelward ]
2019-03-27T23:43:03.317Z,1553730183.317 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:03.317Z,1553730183.317 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:03.317Z,1553730183.317 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:03.319Z,1553730183.319 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924156,-0.301989,-0.233962;0.295944,-0.953230,0.061403;-0.241563,-0.012494,0.970305 ]
2019-03-27T23:43:03.320Z,1553730183.320 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.040356 rad -- adding 2pi
2019-03-27T23:43:03.320Z,1553730183.320 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.242830 rad after adding 2pi
2019-03-27T23:43:03.320Z,1553730183.320 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 185.800448 degrees FINAL. Radians:3.242830
2019-03-27T23:43:03.325Z,1553730183.325 [lineCaptureHoming:I.](INFO): ContactLat = 36.802678 ContactLon = -121.787995
2019-03-27T23:43:03.374Z,1553730183.374 [Reporter](INFO): acoustic_contact_range 6.539999 m
2019-03-27T23:43:03.375Z,1553730183.375 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.242830 rad
2019-03-27T23:43:03.742Z,1553730183.742 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:03.742Z,1553730183.742 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:04.124Z,1553730184.124 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:04.124Z,1553730184.124 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:04.506Z,1553730184.506 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:04.506Z,1553730184.506 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:04.915Z,1553730184.915 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:04.916Z,1553730184.916 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:05.315Z,1553730185.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:05.315Z,1553730185.315 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:05.778Z,1553730185.778 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:05.778Z,1553730185.778 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:06.250Z,1553730186.250 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:06.251Z,1553730186.251 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:06.704Z,1553730186.704 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:06.713Z,1553730186.713 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:06.899Z,1553730186.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:06.903Z,1553730186.903 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:06.991Z,1553730186.991 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:06.991Z,1553730186.991 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:07.339Z,1553730187.339 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:07.339Z,1553730187.339 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:07.339Z,1553730187.339 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:07.340Z,1553730187.340 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.980785 forward, -0.195090 starboard, 0.000000 keelward ]
2019-03-27T23:43:07.340Z,1553730187.340 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:07.357Z,1553730187.357 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:07.357Z,1553730187.357 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:07.359Z,1553730187.359 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924545,-0.300731,-0.234046;0.294612,-0.953633,0.061551;-0.241704,-0.012046,0.970275 ]
2019-03-27T23:43:07.360Z,1553730187.360 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.029124 rad -- adding 2pi
2019-03-27T23:43:07.360Z,1553730187.360 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.254061 rad after adding 2pi
2019-03-27T23:43:07.365Z,1553730187.365 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 186.443988 degrees FINAL. Radians:3.254061
2019-03-27T23:43:07.366Z,1553730187.366 [lineCaptureHoming:I.](INFO): ContactLat = 36.802679 ContactLon = -121.787995
2019-03-27T23:43:07.410Z,1553730187.410 [Reporter](INFO): acoustic_contact_range 6.479999 m
2019-03-27T23:43:07.411Z,1553730187.411 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.254061 rad
2019-03-27T23:43:07.896Z,1553730187.896 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:07.896Z,1553730187.896 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:08.136Z,1553730188.136 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:08.136Z,1553730188.136 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:08.543Z,1553730188.543 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:08.543Z,1553730188.543 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:08.952Z,1553730188.952 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:08.953Z,1553730188.953 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:09.347Z,1553730189.347 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:09.347Z,1553730189.347 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:09.797Z,1553730189.797 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:09.797Z,1553730189.797 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:10.155Z,1553730190.155 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:10.155Z,1553730190.155 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:10.565Z,1553730190.565 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:10.565Z,1553730190.565 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:10.932Z,1553730190.932 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:10.937Z,1553730190.937 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:11.007Z,1553730191.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:11.007Z,1553730191.007 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:11.348Z,1553730191.348 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-27T23:43:11.403Z,1553730191.403 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:11.403Z,1553730191.403 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:11.782Z,1553730191.782 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:11.782Z,1553730191.782 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:12.176Z,1553730192.176 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:12.176Z,1553730192.176 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:12.599Z,1553730192.599 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:12.600Z,1553730192.600 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:13.052Z,1553730193.052 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:13.061Z,1553730193.061 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:13.396Z,1553730193.396 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:13.396Z,1553730193.396 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:13.843Z,1553730193.843 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:13.844Z,1553730193.844 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:14.209Z,1553730194.209 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:14.209Z,1553730194.209 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:14.611Z,1553730194.611 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:14.611Z,1553730194.611 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:14.974Z,1553730194.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:14.975Z,1553730194.975 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:15.084Z,1553730195.084 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:15.084Z,1553730195.084 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:15.419Z,1553730195.419 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:15.420Z,1553730195.420 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:15.420Z,1553730195.420 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:15.429Z,1553730195.429 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.969231 forward, -0.246153 starboard, 0.000000 keelward ]
2019-03-27T23:43:15.429Z,1553730195.429 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:15.429Z,1553730195.429 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:15.429Z,1553730195.429 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:15.431Z,1553730195.431 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925273,-0.298536,-0.233979;0.292337,-0.954330,0.061588;-0.241680,-0.011415,0.970289 ]
2019-03-27T23:43:15.432Z,1553730195.432 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.085457 rad -- adding 2pi
2019-03-27T23:43:15.432Z,1553730195.432 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.197728 rad after adding 2pi
2019-03-27T23:43:15.432Z,1553730195.432 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.216314 degrees FINAL. Radians:3.197728
2019-03-27T23:43:15.441Z,1553730195.441 [lineCaptureHoming:I.](INFO): ContactLat = 36.802682 ContactLon = -121.787989
2019-03-27T23:43:15.498Z,1553730195.498 [Reporter](INFO): acoustic_contact_range 6.240000 m
2019-03-27T23:43:15.499Z,1553730195.499 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.197728 rad
2019-03-27T23:43:15.851Z,1553730195.851 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:15.852Z,1553730195.852 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:16.243Z,1553730196.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:16.243Z,1553730196.243 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:16.643Z,1553730196.643 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:16.644Z,1553730196.644 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:17.063Z,1553730197.063 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:17.064Z,1553730197.064 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:17.435Z,1553730197.435 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:17.435Z,1553730197.435 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:17.883Z,1553730197.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:17.884Z,1553730197.884 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:18.259Z,1553730198.259 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:18.259Z,1553730198.259 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:18.655Z,1553730198.655 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:18.655Z,1553730198.655 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:19.015Z,1553730199.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:19.019Z,1553730199.019 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:19.090Z,1553730199.090 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:19.090Z,1553730199.090 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:19.459Z,1553730199.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:19.459Z,1553730199.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:19.460Z,1553730199.460 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:19.460Z,1553730199.460 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967709 forward, -0.252069 starboard, 0.000000 keelward ]
2019-03-27T23:43:19.461Z,1553730199.461 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:19.461Z,1553730199.461 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:19.461Z,1553730199.461 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:19.463Z,1553730199.463 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925611,-0.297375,-0.234121;0.291141,-0.954696,0.061589;-0.241829,-0.011155,0.970255 ]
2019-03-27T23:43:19.464Z,1553730199.464 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.093006 rad -- adding 2pi
2019-03-27T23:43:19.464Z,1553730199.464 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.190180 rad after adding 2pi
2019-03-27T23:43:19.464Z,1553730199.464 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.783826 degrees FINAL. Radians:3.190180
2019-03-27T23:43:19.465Z,1553730199.465 [lineCaptureHoming:I.](INFO): ContactLat = 36.802682 ContactLon = -121.787988
2019-03-27T23:43:19.522Z,1553730199.522 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:43:19.522Z,1553730199.522 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.190180 rad
2019-03-27T23:43:19.876Z,1553730199.876 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:19.876Z,1553730199.876 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:20.266Z,1553730200.266 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:20.266Z,1553730200.266 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:20.700Z,1553730200.700 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:20.701Z,1553730200.701 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:21.108Z,1553730201.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:21.108Z,1553730201.108 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:21.493Z,1553730201.493 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:21.494Z,1553730201.494 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:21.911Z,1553730201.911 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:21.911Z,1553730201.911 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:22.281Z,1553730202.281 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:22.281Z,1553730202.281 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:22.748Z,1553730202.748 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:22.748Z,1553730202.748 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:23.055Z,1553730203.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:23.059Z,1553730203.059 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:23.130Z,1553730203.130 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:23.130Z,1553730203.130 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:23.507Z,1553730203.507 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:23.507Z,1553730203.507 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:23.507Z,1553730203.507 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:23.508Z,1553730203.508 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971342 forward, -0.237686 starboard, 0.000000 keelward ]
2019-03-27T23:43:23.508Z,1553730203.508 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:23.509Z,1553730203.509 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:23.509Z,1553730203.509 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:23.511Z,1553730203.511 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925763,-0.296956,-0.234051;0.290717,-0.954827,0.061551;-0.241756,-0.011061,0.970274 ]
2019-03-27T23:43:23.511Z,1553730203.511 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.078170 rad -- adding 2pi
2019-03-27T23:43:23.512Z,1553730203.512 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.205015 rad after adding 2pi
2019-03-27T23:43:23.512Z,1553730203.512 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.633843 degrees FINAL. Radians:3.205015
2019-03-27T23:43:23.513Z,1553730203.513 [lineCaptureHoming:I.](INFO): ContactLat = 36.802682 ContactLon = -121.787989
2019-03-27T23:43:23.558Z,1553730203.558 [Reporter](INFO): acoustic_contact_range 6.240000 m
2019-03-27T23:43:23.559Z,1553730203.559 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.205015 rad
2019-03-27T23:43:23.914Z,1553730203.914 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:23.914Z,1553730203.914 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:24.312Z,1553730204.312 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:24.312Z,1553730204.312 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:24.750Z,1553730204.750 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:24.751Z,1553730204.751 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:25.108Z,1553730205.108 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:25.109Z,1553730205.109 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:25.513Z,1553730205.513 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:25.514Z,1553730205.514 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:25.923Z,1553730205.923 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:25.923Z,1553730205.923 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:26.331Z,1553730206.331 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:26.331Z,1553730206.331 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:26.756Z,1553730206.756 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:26.757Z,1553730206.757 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:27.095Z,1553730207.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:27.100Z,1553730207.100 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:27.203Z,1553730207.203 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:27.203Z,1553730207.203 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:27.560Z,1553730207.560 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:27.560Z,1553730207.560 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:27.560Z,1553730207.560 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:27.565Z,1553730207.565 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.970296 forward, -0.241922 starboard, 0.000000 keelward ]
2019-03-27T23:43:27.566Z,1553730207.566 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:27.566Z,1553730207.566 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:27.566Z,1553730207.566 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:27.568Z,1553730207.568 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.925715,-0.296958,-0.234237;0.290703,-0.954827,0.061627;-0.241957,-0.011044,0.970224 ]
2019-03-27T23:43:27.568Z,1553730207.568 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.082662 rad -- adding 2pi
2019-03-27T23:43:27.573Z,1553730207.573 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.200524 rad after adding 2pi
2019-03-27T23:43:27.573Z,1553730207.573 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.376495 degrees FINAL. Radians:3.200524
2019-03-27T23:43:27.574Z,1553730207.574 [lineCaptureHoming:I.](INFO): ContactLat = 36.802681 ContactLon = -121.787989
2019-03-27T23:43:27.619Z,1553730207.619 [Reporter](INFO): acoustic_contact_range 6.300001 m
2019-03-27T23:43:27.620Z,1553730207.620 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.200524 rad
2019-03-27T23:43:27.986Z,1553730207.986 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:27.986Z,1553730207.986 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:28.351Z,1553730208.351 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:28.352Z,1553730208.352 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:28.763Z,1553730208.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:28.763Z,1553730208.763 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:29.156Z,1553730209.156 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:29.156Z,1553730209.156 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:29.562Z,1553730209.562 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:29.562Z,1553730209.562 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:29.974Z,1553730209.974 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:29.974Z,1553730209.974 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:30.373Z,1553730210.373 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:30.373Z,1553730210.373 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:30.794Z,1553730210.794 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:30.794Z,1553730210.794 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:31.139Z,1553730211.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:31.144Z,1553730211.144 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:31.249Z,1553730211.249 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:31.249Z,1553730211.249 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:31.547Z,1553730211.547 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,187,80,81,0B,FF
2019-03-27T23:43:31.631Z,1553730211.631 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:31.631Z,1553730211.631 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:31.989Z,1553730211.989 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:31.989Z,1553730211.989 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:32.387Z,1553730212.387 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:32.387Z,1553730212.387 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:32.799Z,1553730212.799 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:32.799Z,1553730212.799 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:33.197Z,1553730213.197 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:33.197Z,1553730213.197 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:33.602Z,1553730213.602 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:33.602Z,1553730213.602 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:34.012Z,1553730214.012 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:34.012Z,1553730214.012 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:34.419Z,1553730214.419 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:34.419Z,1553730214.419 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:34.835Z,1553730214.835 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:34.835Z,1553730214.835 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:35.179Z,1553730215.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:35.183Z,1553730215.183 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:35.275Z,1553730215.275 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:35.276Z,1553730215.276 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:35.583Z,1553730215.583 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,187,80,81,0A,FF
2019-03-27T23:43:35.635Z,1553730215.635 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:35.635Z,1553730215.635 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:36.031Z,1553730216.031 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:36.031Z,1553730216.031 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:36.423Z,1553730216.423 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:36.423Z,1553730216.423 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:36.842Z,1553730216.842 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:36.842Z,1553730216.842 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:37.243Z,1553730217.243 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:37.243Z,1553730217.243 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:37.657Z,1553730217.657 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:37.657Z,1553730217.657 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:38.075Z,1553730218.075 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:38.075Z,1553730218.075 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:38.442Z,1553730218.442 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:38.442Z,1553730218.442 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:38.859Z,1553730218.859 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:38.859Z,1553730218.859 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:39.219Z,1553730219.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:39.225Z,1553730219.225 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:39.323Z,1553730219.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:39.323Z,1553730219.323 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:39.619Z,1553730219.619 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,189,80,81,0E,FF
2019-03-27T23:43:39.694Z,1553730219.694 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:39.695Z,1553730219.695 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:40.068Z,1553730220.068 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:40.068Z,1553730220.068 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:40.467Z,1553730220.467 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:40.468Z,1553730220.468 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:40.899Z,1553730220.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:40.899Z,1553730220.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:41.283Z,1553730221.283 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:41.283Z,1553730221.283 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:41.717Z,1553730221.717 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:41.717Z,1553730221.717 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:42.086Z,1553730222.086 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:42.086Z,1553730222.086 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:42.481Z,1553730222.481 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:42.482Z,1553730222.482 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:42.914Z,1553730222.914 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:42.914Z,1553730222.914 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:43.261Z,1553730223.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:43.266Z,1553730223.266 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:43.324Z,1553730223.324 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:43.324Z,1553730223.324 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:43.662Z,1553730223.662 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EE6,000,0027,FF
2019-03-27T23:43:43.766Z,1553730223.766 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:43.766Z,1553730223.766 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:44.115Z,1553730224.115 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:44.116Z,1553730224.116 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:44.539Z,1553730224.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:44.539Z,1553730224.539 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:44.931Z,1553730224.931 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:44.932Z,1553730224.932 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:45.309Z,1553730225.309 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:45.310Z,1553730225.310 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:45.740Z,1553730225.740 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:45.740Z,1553730225.740 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:46.119Z,1553730226.119 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:46.119Z,1553730226.119 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:46.526Z,1553730226.526 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:46.526Z,1553730226.526 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:46.938Z,1553730226.938 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:46.938Z,1553730226.938 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:47.295Z,1553730227.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:47.299Z,1553730227.299 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:47.379Z,1553730227.379 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:47.379Z,1553730227.379 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:47.721Z,1553730227.721 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-27T23:43:47.815Z,1553730227.815 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:47.816Z,1553730227.816 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:48.167Z,1553730228.167 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:48.167Z,1553730228.167 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:48.555Z,1553730228.555 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:48.556Z,1553730228.556 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:48.987Z,1553730228.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:48.988Z,1553730228.988 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:49.363Z,1553730229.363 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:49.363Z,1553730229.363 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:49.783Z,1553730229.783 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:49.784Z,1553730229.784 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:50.159Z,1553730230.159 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:50.160Z,1553730230.160 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:50.575Z,1553730230.575 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:50.575Z,1553730230.575 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:50.995Z,1553730230.995 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:50.995Z,1553730230.995 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:51.335Z,1553730231.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:51.336Z,1553730231.336 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:51.436Z,1553730231.436 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:51.436Z,1553730231.436 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:51.738Z,1553730231.738 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-27T23:43:51.833Z,1553730231.833 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:51.833Z,1553730231.833 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:52.179Z,1553730232.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:52.179Z,1553730232.179 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:52.587Z,1553730232.587 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:52.587Z,1553730232.587 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:52.995Z,1553730232.995 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:52.995Z,1553730232.995 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:53.391Z,1553730233.391 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:53.391Z,1553730233.391 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:53.803Z,1553730233.803 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:53.803Z,1553730233.803 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:54.200Z,1553730234.200 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:54.200Z,1553730234.200 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:54.610Z,1553730234.610 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:54.610Z,1553730234.610 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:55.031Z,1553730235.031 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:55.031Z,1553730235.031 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:55.379Z,1553730235.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:55.383Z,1553730235.383 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:55.491Z,1553730235.491 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:55.491Z,1553730235.491 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:55.883Z,1553730235.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:55.883Z,1553730235.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:55.883Z,1553730235.883 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:55.884Z,1553730235.884 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966376 forward, -0.257133 starboard, 0.000000 keelward ]
2019-03-27T23:43:55.884Z,1553730235.884 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:55.884Z,1553730235.884 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:55.884Z,1553730235.884 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:55.890Z,1553730235.890 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923706,-0.303612,-0.233639;0.297624,-0.952709,0.061361;-0.241220,-0.012857,0.970385 ]
2019-03-27T23:43:55.891Z,1553730235.891 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.091663 rad -- adding 2pi
2019-03-27T23:43:55.891Z,1553730235.891 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.191522 rad after adding 2pi
2019-03-27T23:43:55.892Z,1553730235.892 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.860734 degrees FINAL. Radians:3.191522
2019-03-27T23:43:55.892Z,1553730235.892 [lineCaptureHoming:I.](INFO): ContactLat = 36.802684 ContactLon = -121.787986
2019-03-27T23:43:55.950Z,1553730235.950 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:43:55.951Z,1553730235.951 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.191522 rad
2019-03-27T23:43:56.227Z,1553730236.227 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:56.227Z,1553730236.227 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:56.623Z,1553730236.623 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:56.624Z,1553730236.624 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:57.038Z,1553730237.038 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:57.038Z,1553730237.038 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:57.443Z,1553730237.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:57.444Z,1553730237.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:57.852Z,1553730237.852 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:57.853Z,1553730237.853 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:58.254Z,1553730238.254 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:58.254Z,1553730238.254 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:58.642Z,1553730238.642 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:58.642Z,1553730238.642 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:59.055Z,1553730239.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:59.055Z,1553730239.055 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:59.414Z,1553730239.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:43:59.419Z,1553730239.419 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:43:59.492Z,1553730239.492 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:59.492Z,1553730239.492 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:59.872Z,1553730239.872 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:43:59.872Z,1553730239.872 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:43:59.872Z,1553730239.872 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:43:59.873Z,1553730239.873 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967046 forward, -0.254602 starboard, 0.000000 keelward ]
2019-03-27T23:43:59.873Z,1553730239.873 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:43:59.873Z,1553730239.873 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:59.873Z,1553730239.873 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:43:59.875Z,1553730239.875 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923494,-0.304235,-0.233666;0.298316,-0.952505,0.061168;-0.241177,-0.013218,0.970391 ]
2019-03-27T23:43:59.876Z,1553730239.876 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.088290 rad -- adding 2pi
2019-03-27T23:43:59.876Z,1553730239.876 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.194895 rad after adding 2pi
2019-03-27T23:43:59.877Z,1553730239.877 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.054015 degrees FINAL. Radians:3.194895
2019-03-27T23:43:59.878Z,1553730239.878 [lineCaptureHoming:I.](INFO): ContactLat = 36.802684 ContactLon = -121.787986
2019-03-27T23:43:59.938Z,1553730239.938 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:43:59.939Z,1553730239.939 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.194895 rad
2019-03-27T23:44:00.272Z,1553730240.272 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:00.272Z,1553730240.272 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:00.708Z,1553730240.708 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:00.708Z,1553730240.708 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:01.121Z,1553730241.121 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:01.121Z,1553730241.121 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:01.492Z,1553730241.492 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:01.492Z,1553730241.492 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:01.883Z,1553730241.883 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:01.883Z,1553730241.883 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:02.277Z,1553730242.277 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:02.277Z,1553730242.277 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:02.709Z,1553730242.709 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:02.709Z,1553730242.709 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:03.095Z,1553730243.095 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:03.095Z,1553730243.095 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:03.463Z,1553730243.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:03.467Z,1553730243.467 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:03.523Z,1553730243.523 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:03.524Z,1553730243.524 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:03.921Z,1553730243.921 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:03.921Z,1553730243.921 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:03.921Z,1553730243.921 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:03.922Z,1553730243.922 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.788011 forward, -0.615661 starboard, 0.000000 keelward ]
2019-03-27T23:44:03.922Z,1553730243.922 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:03.923Z,1553730243.923 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:03.923Z,1553730243.923 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:03.925Z,1553730243.925 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923600,-0.303917,-0.233660;0.297926,-0.952611,0.061412;-0.241252,-0.012893,0.970377 ]
2019-03-27T23:44:03.925Z,1553730243.925 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 159.153134 degrees FINAL. Radians:2.777746
2019-03-27T23:44:03.926Z,1553730243.926 [lineCaptureHoming:I.](INFO): ContactLat = 36.801763 ContactLon = -121.787518
2019-03-27T23:44:03.966Z,1553730243.966 [Reporter](INFO): acoustic_contact_range 118.979996 m
2019-03-27T23:44:03.967Z,1553730243.967 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.777746 rad
2019-03-27T23:44:04.315Z,1553730244.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:04.315Z,1553730244.315 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:04.746Z,1553730244.746 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:04.746Z,1553730244.746 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:05.110Z,1553730245.110 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:05.110Z,1553730245.110 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:05.507Z,1553730245.507 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:05.508Z,1553730245.508 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:05.926Z,1553730245.926 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:05.926Z,1553730245.926 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:06.335Z,1553730246.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:06.335Z,1553730246.335 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:06.753Z,1553730246.753 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:06.753Z,1553730246.753 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:07.147Z,1553730247.147 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:07.147Z,1553730247.147 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:07.499Z,1553730247.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:07.504Z,1553730247.504 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:07.608Z,1553730247.608 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:07.608Z,1553730247.608 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:07.967Z,1553730247.967 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:07.967Z,1553730247.967 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:07.967Z,1553730247.967 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:07.968Z,1553730247.968 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964787 forward, -0.263031 starboard, 0.000000 keelward ]
2019-03-27T23:44:07.968Z,1553730247.968 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:07.968Z,1553730247.968 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:07.968Z,1553730247.968 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:07.975Z,1553730247.975 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923669,-0.303652,-0.233731;0.297737,-0.952692,0.061077;-0.241220,-0.013176,0.970381 ]
2019-03-27T23:44:07.975Z,1553730247.975 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.097914 rad -- adding 2pi
2019-03-27T23:44:07.975Z,1553730247.975 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.185271 rad after adding 2pi
2019-03-27T23:44:07.976Z,1553730247.976 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.502586 degrees FINAL. Radians:3.185271
2019-03-27T23:44:07.981Z,1553730247.981 [lineCaptureHoming:I.](INFO): ContactLat = 36.801955 ContactLon = -121.788024
2019-03-27T23:44:08.033Z,1553730248.033 [Reporter](INFO): acoustic_contact_range 89.699997 m
2019-03-27T23:44:08.034Z,1553730248.034 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.185271 rad
2019-03-27T23:44:08.342Z,1553730248.342 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:08.342Z,1553730248.342 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:08.759Z,1553730248.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:08.759Z,1553730248.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:09.146Z,1553730249.146 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:09.146Z,1553730249.146 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:09.549Z,1553730249.549 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:09.549Z,1553730249.549 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:09.963Z,1553730249.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:09.963Z,1553730249.963 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:10.361Z,1553730250.361 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:10.361Z,1553730250.361 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:10.782Z,1553730250.782 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:10.782Z,1553730250.782 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:11.186Z,1553730251.186 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:11.186Z,1553730251.186 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:11.539Z,1553730251.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:11.573Z,1553730251.573 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:11.727Z,1553730251.727 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:11.727Z,1553730251.727 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:11.978Z,1553730251.978 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:11.978Z,1553730251.978 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:11.978Z,1553730251.978 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:11.979Z,1553730251.979 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966151 forward, -0.257976 starboard, 0.000000 keelward ]
2019-03-27T23:44:11.979Z,1553730251.979 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:11.979Z,1553730251.979 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:11.979Z,1553730251.979 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:11.981Z,1553730251.981 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923828,-0.303290,-0.233574;0.297318,-0.952811,0.061256;-0.241131,-0.012856,0.970407 ]
2019-03-27T23:44:11.982Z,1553730251.982 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.092912 rad -- adding 2pi
2019-03-27T23:44:11.982Z,1553730251.982 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.190274 rad after adding 2pi
2019-03-27T23:44:11.983Z,1553730251.983 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.789208 degrees FINAL. Radians:3.190274
2019-03-27T23:44:11.984Z,1553730251.984 [lineCaptureHoming:I.](INFO): ContactLat = 36.802683 ContactLon = -121.787984
2019-03-27T23:44:12.038Z,1553730252.038 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:44:12.039Z,1553730252.039 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.190274 rad
2019-03-27T23:44:12.383Z,1553730252.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:12.383Z,1553730252.383 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:12.794Z,1553730252.794 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:12.794Z,1553730252.794 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:13.189Z,1553730253.189 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:13.190Z,1553730253.190 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:13.596Z,1553730253.596 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:13.596Z,1553730253.596 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:14.023Z,1553730254.023 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:14.024Z,1553730254.024 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:14.421Z,1553730254.421 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:14.421Z,1553730254.421 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:14.821Z,1553730254.821 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:14.821Z,1553730254.821 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:15.199Z,1553730255.199 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:15.199Z,1553730255.199 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:15.579Z,1553730255.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:15.584Z,1553730255.584 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:15.636Z,1553730255.636 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:15.636Z,1553730255.636 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:16.036Z,1553730256.036 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:16.036Z,1553730256.036 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:16.036Z,1553730256.036 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:16.041Z,1553730256.041 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965473 forward, -0.260505 starboard, 0.000000 keelward ]
2019-03-27T23:44:16.042Z,1553730256.042 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:16.042Z,1553730256.042 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:16.042Z,1553730256.042 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:16.044Z,1553730256.044 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923694,-0.303520,-0.233807;0.297511,-0.952739,0.061445;-0.241407,-0.012804,0.970339 ]
2019-03-27T23:44:16.044Z,1553730256.044 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.095358 rad -- adding 2pi
2019-03-27T23:44:16.049Z,1553730256.049 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.187827 rad after adding 2pi
2019-03-27T23:44:16.049Z,1553730256.049 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.649039 degrees FINAL. Radians:3.187827
2019-03-27T23:44:16.050Z,1553730256.050 [lineCaptureHoming:I.](INFO): ContactLat = 36.802683 ContactLon = -121.787984
2019-03-27T23:44:16.118Z,1553730256.118 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:44:16.119Z,1553730256.119 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.187827 rad
2019-03-27T23:44:16.427Z,1553730256.427 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:16.427Z,1553730256.427 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:16.842Z,1553730256.842 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:16.843Z,1553730256.843 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:17.238Z,1553730257.238 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:17.238Z,1553730257.238 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:17.660Z,1553730257.660 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:17.665Z,1553730257.665 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:18.043Z,1553730258.043 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:18.044Z,1553730258.044 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:18.444Z,1553730258.444 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:18.444Z,1553730258.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:18.848Z,1553730258.848 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:18.848Z,1553730258.848 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:19.247Z,1553730259.247 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:19.247Z,1553730259.247 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:19.619Z,1553730259.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:19.623Z,1553730259.623 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:19.724Z,1553730259.724 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:19.724Z,1553730259.724 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:20.019Z,1553730260.019 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-27T23:44:20.091Z,1553730260.091 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:20.091Z,1553730260.091 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:20.466Z,1553730260.466 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:20.467Z,1553730260.467 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:20.899Z,1553730260.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:20.899Z,1553730260.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:21.265Z,1553730261.265 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:21.266Z,1553730261.266 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:21.684Z,1553730261.684 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:21.685Z,1553730261.685 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:22.083Z,1553730262.083 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:22.083Z,1553730262.083 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:22.483Z,1553730262.483 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:22.483Z,1553730262.483 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:22.917Z,1553730262.917 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:22.918Z,1553730262.918 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:23.295Z,1553730263.295 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:23.296Z,1553730263.296 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:23.658Z,1553730263.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:23.662Z,1553730263.662 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:23.801Z,1553730263.801 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:23.801Z,1553730263.801 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:24.099Z,1553730264.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:24.100Z,1553730264.100 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:24.100Z,1553730264.100 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:24.105Z,1553730264.105 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.971549 forward, -0.236838 starboard, 0.000000 keelward ]
2019-03-27T23:44:24.105Z,1553730264.105 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:24.105Z,1553730264.105 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:24.105Z,1553730264.105 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:24.107Z,1553730264.107 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923780,-0.303289,-0.233766;0.297317,-0.952811,0.061266;-0.241316,-0.012906,0.970361 ]
2019-03-27T23:44:24.108Z,1553730264.108 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.070428 rad -- adding 2pi
2019-03-27T23:44:24.108Z,1553730264.108 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.212758 rad after adding 2pi
2019-03-27T23:44:24.108Z,1553730264.108 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.077450 degrees FINAL. Radians:3.212758
2019-03-27T23:44:24.129Z,1553730264.129 [lineCaptureHoming:I.](INFO): ContactLat = 36.802660 ContactLon = -121.787987
2019-03-27T23:44:24.190Z,1553730264.190 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-27T23:44:24.191Z,1553730264.191 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.212758 rad
2019-03-27T23:44:24.500Z,1553730264.500 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:24.500Z,1553730264.500 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:24.927Z,1553730264.927 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:24.927Z,1553730264.927 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:25.307Z,1553730265.307 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:25.308Z,1553730265.308 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:25.759Z,1553730265.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:25.759Z,1553730265.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:26.127Z,1553730266.127 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:26.127Z,1553730266.127 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:26.527Z,1553730266.527 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:26.528Z,1553730266.528 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:26.963Z,1553730266.963 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:26.963Z,1553730266.963 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:27.343Z,1553730267.343 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:27.344Z,1553730267.344 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:27.712Z,1553730267.712 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:27.716Z,1553730267.716 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:27.835Z,1553730267.835 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:27.835Z,1553730267.835 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:28.139Z,1553730268.139 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:28.139Z,1553730268.139 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:28.139Z,1553730268.139 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:28.140Z,1553730268.140 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.966600 forward, -0.256289 starboard, 0.000000 keelward ]
2019-03-27T23:44:28.140Z,1553730268.140 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:28.140Z,1553730268.140 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:28.141Z,1553730268.141 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:28.143Z,1553730268.143 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924011,-0.302777,-0.233514;0.296814,-0.952975,0.061152;-0.241048,-0.012805,0.970429 ]
2019-03-27T23:44:28.143Z,1553730268.143 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.091669 rad -- adding 2pi
2019-03-27T23:44:28.144Z,1553730268.144 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.191516 rad after adding 2pi
2019-03-27T23:44:28.144Z,1553730268.144 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.860406 degrees FINAL. Radians:3.191516
2019-03-27T23:44:28.145Z,1553730268.145 [lineCaptureHoming:I.](INFO): ContactLat = 36.802601 ContactLon = -121.787988
2019-03-27T23:44:28.190Z,1553730268.190 [Reporter](INFO): acoustic_contact_range 15.540001 m
2019-03-27T23:44:28.190Z,1553730268.190 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.191516 rad
2019-03-27T23:44:28.539Z,1553730268.539 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:28.539Z,1553730268.539 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:28.981Z,1553730268.981 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:28.982Z,1553730268.982 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:29.341Z,1553730269.341 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:29.342Z,1553730269.342 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:29.769Z,1553730269.769 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:29.770Z,1553730269.770 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:30.163Z,1553730270.163 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:30.163Z,1553730270.163 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:30.583Z,1553730270.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:30.584Z,1553730270.584 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:30.965Z,1553730270.965 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:30.965Z,1553730270.965 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:31.359Z,1553730271.359 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:31.360Z,1553730271.360 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:31.735Z,1553730271.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:31.740Z,1553730271.740 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:31.846Z,1553730271.846 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:31.846Z,1553730271.846 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:32.179Z,1553730272.179 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:32.179Z,1553730272.179 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:32.179Z,1553730272.179 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:32.180Z,1553730272.180 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.973179 forward, -0.230050 starboard, 0.000000 keelward ]
2019-03-27T23:44:32.180Z,1553730272.180 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:32.180Z,1553730272.180 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:32.180Z,1553730272.180 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:32.182Z,1553730272.182 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923885,-0.303207,-0.233458;0.297273,-0.952837,0.061085;-0.240969,-0.012966,0.970446 ]
2019-03-27T23:44:32.183Z,1553730272.183 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.063329 rad -- adding 2pi
2019-03-27T23:44:32.183Z,1553730272.183 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.219857 rad after adding 2pi
2019-03-27T23:44:32.184Z,1553730272.184 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 184.484188 degrees FINAL. Radians:3.219857
2019-03-27T23:44:32.185Z,1553730272.185 [lineCaptureHoming:I.](INFO): ContactLat = 36.802659 ContactLon = -121.787987
2019-03-27T23:44:32.230Z,1553730272.230 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-27T23:44:32.231Z,1553730272.231 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.219857 rad
2019-03-27T23:44:32.583Z,1553730272.583 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:32.583Z,1553730272.583 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:33.007Z,1553730273.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:33.007Z,1553730273.007 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:33.402Z,1553730273.402 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:33.402Z,1553730273.402 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:33.827Z,1553730273.827 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:33.827Z,1553730273.827 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:34.235Z,1553730274.235 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:34.235Z,1553730274.235 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:34.603Z,1553730274.603 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:34.603Z,1553730274.603 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:35.007Z,1553730275.007 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:35.007Z,1553730275.007 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:35.407Z,1553730275.407 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:35.407Z,1553730275.407 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:35.779Z,1553730275.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:35.786Z,1553730275.786 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:35.903Z,1553730275.903 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:35.903Z,1553730275.903 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:36.183Z,1553730276.183 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,11,FF
2019-03-27T23:44:36.251Z,1553730276.251 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:36.251Z,1553730276.251 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:36.634Z,1553730276.634 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:36.635Z,1553730276.635 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:37.058Z,1553730277.058 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:37.058Z,1553730277.058 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:37.425Z,1553730277.425 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:37.426Z,1553730277.426 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:37.835Z,1553730277.835 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:37.835Z,1553730277.835 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:38.235Z,1553730278.235 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:38.235Z,1553730278.235 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:38.633Z,1553730278.633 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:38.633Z,1553730278.633 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:39.058Z,1553730279.058 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:39.058Z,1553730279.058 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:39.459Z,1553730279.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:39.459Z,1553730279.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:39.819Z,1553730279.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:39.824Z,1553730279.824 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:39.939Z,1553730279.939 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:39.939Z,1553730279.939 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:40.219Z,1553730280.219 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-27T23:44:40.290Z,1553730280.290 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:40.290Z,1553730280.290 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:40.722Z,1553730280.722 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:40.723Z,1553730280.723 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:41.082Z,1553730281.082 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:41.083Z,1553730281.083 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:41.481Z,1553730281.481 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:41.481Z,1553730281.481 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:41.891Z,1553730281.891 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:41.891Z,1553730281.891 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:42.287Z,1553730282.287 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:42.287Z,1553730282.287 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:42.713Z,1553730282.713 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:42.713Z,1553730282.713 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:43.101Z,1553730283.101 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:43.102Z,1553730283.102 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:43.509Z,1553730283.509 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:43.509Z,1553730283.509 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:43.857Z,1553730283.857 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:43.862Z,1553730283.862 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:43.991Z,1553730283.991 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:43.991Z,1553730283.991 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:44.260Z,1553730284.260 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-27T23:44:44.311Z,1553730284.311 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:44.311Z,1553730284.311 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:44.746Z,1553730284.746 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:44.746Z,1553730284.746 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:45.107Z,1553730285.107 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:45.107Z,1553730285.107 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:45.531Z,1553730285.531 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:45.531Z,1553730285.531 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:45.925Z,1553730285.925 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:45.925Z,1553730285.925 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:46.322Z,1553730286.322 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:46.322Z,1553730286.322 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:46.755Z,1553730286.755 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:46.755Z,1553730286.755 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:47.121Z,1553730287.121 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:47.121Z,1553730287.121 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:47.525Z,1553730287.525 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:47.525Z,1553730287.525 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:47.899Z,1553730287.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:47.921Z,1553730287.921 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:48.067Z,1553730288.067 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:48.067Z,1553730288.067 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:48.303Z,1553730288.303 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-27T23:44:48.355Z,1553730288.355 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:48.355Z,1553730288.355 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:48.763Z,1553730288.763 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:48.763Z,1553730288.763 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:49.152Z,1553730289.152 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:49.152Z,1553730289.152 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:49.575Z,1553730289.575 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:49.575Z,1553730289.575 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:49.975Z,1553730289.975 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:49.976Z,1553730289.976 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:50.354Z,1553730290.354 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:50.354Z,1553730290.354 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:50.767Z,1553730290.767 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:50.768Z,1553730290.768 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:51.172Z,1553730291.172 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:51.172Z,1553730291.172 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:51.568Z,1553730291.568 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:51.568Z,1553730291.568 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:51.935Z,1553730291.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:51.940Z,1553730291.940 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:52.051Z,1553730292.051 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:52.051Z,1553730292.051 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:52.339Z,1553730292.339 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-27T23:44:52.415Z,1553730292.415 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:52.416Z,1553730292.416 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:52.810Z,1553730292.810 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:52.810Z,1553730292.810 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:53.187Z,1553730293.187 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:53.187Z,1553730293.187 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:53.585Z,1553730293.585 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:53.585Z,1553730293.585 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:53.995Z,1553730293.995 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:53.995Z,1553730293.995 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:54.395Z,1553730294.395 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:54.395Z,1553730294.395 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:54.810Z,1553730294.810 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:54.810Z,1553730294.810 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:55.210Z,1553730295.210 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:55.210Z,1553730295.210 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:55.619Z,1553730295.619 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:55.620Z,1553730295.620 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:55.979Z,1553730295.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:44:55.983Z,1553730295.983 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:44:56.090Z,1553730296.090 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:56.090Z,1553730296.090 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:56.419Z,1553730296.419 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:56.419Z,1553730296.419 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:56.419Z,1553730296.419 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:44:56.420Z,1553730296.420 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.964095 forward, -0.265556 starboard, 0.000000 keelward ]
2019-03-27T23:44:56.420Z,1553730296.420 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:44:56.421Z,1553730296.421 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:56.421Z,1553730296.421 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:44:56.423Z,1553730296.423 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923152,-0.305181,-0.233785;0.299196,-0.952204,0.061558;-0.241397,-0.013120,0.970338 ]
2019-03-27T23:44:56.423Z,1553730296.423 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.098955 rad -- adding 2pi
2019-03-27T23:44:56.424Z,1553730296.424 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.184230 rad after adding 2pi
2019-03-27T23:44:56.424Z,1553730296.424 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.442945 degrees FINAL. Radians:3.184230
2019-03-27T23:44:56.441Z,1553730296.441 [lineCaptureHoming:I.](INFO): ContactLat = 36.802683 ContactLon = -121.787981
2019-03-27T23:44:56.490Z,1553730296.490 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:44:56.491Z,1553730296.491 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.184230 rad
2019-03-27T23:44:56.824Z,1553730296.824 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:56.824Z,1553730296.824 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:57.223Z,1553730297.223 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:57.223Z,1553730297.223 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:57.626Z,1553730297.626 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:57.626Z,1553730297.626 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:58.055Z,1553730298.055 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:58.055Z,1553730298.055 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:58.443Z,1553730298.443 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:58.444Z,1553730298.444 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:58.871Z,1553730298.871 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:58.872Z,1553730298.872 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:59.275Z,1553730299.275 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:59.275Z,1553730299.275 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:44:59.684Z,1553730299.684 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:44:59.689Z,1553730299.689 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:00.014Z,1553730300.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:00.016Z,1553730300.016 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:00.151Z,1553730300.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:00.151Z,1553730300.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:00.459Z,1553730300.459 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:00.459Z,1553730300.459 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:00.460Z,1553730300.460 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:45:00.460Z,1553730300.460 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.968800 forward, -0.247845 starboard, 0.000000 keelward ]
2019-03-27T23:45:00.465Z,1553730300.465 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:45:00.465Z,1553730300.465 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:45:00.465Z,1553730300.465 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:45:00.467Z,1553730300.467 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.923391,-0.304350,-0.233922;0.298313,-0.952474,0.061668;-0.241573,-0.012839,0.970298 ]
2019-03-27T23:45:00.468Z,1553730300.468 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.080967 rad -- adding 2pi
2019-03-27T23:45:00.468Z,1553730300.468 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.202218 rad after adding 2pi
2019-03-27T23:45:00.468Z,1553730300.468 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 183.473580 degrees FINAL. Radians:3.202218
2019-03-27T23:45:00.489Z,1553730300.489 [lineCaptureHoming:I.](INFO): ContactLat = 36.802683 ContactLon = -121.787982
2019-03-27T23:45:00.550Z,1553730300.550 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-27T23:45:00.551Z,1553730300.551 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.202218 rad
2019-03-27T23:45:00.876Z,1553730300.876 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:00.881Z,1553730300.881 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:01.263Z,1553730301.263 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:01.264Z,1553730301.264 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:01.712Z,1553730301.712 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:01.712Z,1553730301.712 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:02.099Z,1553730302.099 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:02.099Z,1553730302.099 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:02.503Z,1553730302.503 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:02.504Z,1553730302.504 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:02.899Z,1553730302.899 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:02.899Z,1553730302.899 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:03.281Z,1553730303.281 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:03.281Z,1553730303.281 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:03.711Z,1553730303.711 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:03.711Z,1553730303.711 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:04.059Z,1553730304.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:04.064Z,1553730304.064 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:04.163Z,1553730304.163 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:04.163Z,1553730304.163 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:04.458Z,1553730304.458 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,185,80,81,0A,FF
2019-03-27T23:45:04.511Z,1553730304.511 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:04.511Z,1553730304.511 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:04.910Z,1553730304.910 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:04.910Z,1553730304.910 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:05.315Z,1553730305.315 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:05.315Z,1553730305.315 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:05.745Z,1553730305.745 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:05.745Z,1553730305.745 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:06.143Z,1553730306.143 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:06.143Z,1553730306.143 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:06.510Z,1553730306.510 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:06.510Z,1553730306.510 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:06.923Z,1553730306.923 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:06.923Z,1553730306.923 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:07.323Z,1553730307.323 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:07.323Z,1553730307.323 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:07.791Z,1553730307.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:07.791Z,1553730307.791 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:08.099Z,1553730308.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:08.104Z,1553730308.104 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:08.207Z,1553730308.207 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:08.207Z,1553730308.207 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:08.555Z,1553730308.555 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:08.555Z,1553730308.555 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:08.555Z,1553730308.555 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:45:08.556Z,1553730308.556 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.967046 forward, -0.254602 starboard, 0.000000 keelward ]
2019-03-27T23:45:08.556Z,1553730308.556 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:45:08.556Z,1553730308.556 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:45:08.556Z,1553730308.556 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:45:08.562Z,1553730308.562 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924209,-0.301841,-0.233943;0.295777,-0.953278,0.061462;-0.241564,-0.012392,0.970306 ]
2019-03-27T23:45:08.563Z,1553730308.563 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.090877 rad -- adding 2pi
2019-03-27T23:45:08.563Z,1553730308.563 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.192308 rad after adding 2pi
2019-03-27T23:45:08.564Z,1553730308.564 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.905772 degrees FINAL. Radians:3.192308
2019-03-27T23:45:08.564Z,1553730308.564 [lineCaptureHoming:I.](INFO): ContactLat = 36.802683 ContactLon = -121.787981
2019-03-27T23:45:08.626Z,1553730308.626 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:45:08.627Z,1553730308.627 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.192308 rad
2019-03-27T23:45:08.975Z,1553730308.975 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:08.976Z,1553730308.976 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:09.348Z,1553730309.348 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:09.348Z,1553730309.348 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:09.759Z,1553730309.759 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:09.759Z,1553730309.759 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:10.151Z,1553730310.151 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:10.151Z,1553730310.151 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:10.553Z,1553730310.553 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:10.553Z,1553730310.553 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:10.970Z,1553730310.970 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:10.970Z,1553730310.970 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:11.372Z,1553730311.372 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:11.372Z,1553730311.372 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:11.782Z,1553730311.782 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:11.783Z,1553730311.783 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:12.139Z,1553730312.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:12.143Z,1553730312.143 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:12.248Z,1553730312.248 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:12.248Z,1553730312.248 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:12.579Z,1553730312.579 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:12.579Z,1553730312.579 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:12.579Z,1553730312.579 [lineCaptureHoming:I.](INFO): READERS ACTIVE AND TOUCHED
2019-03-27T23:45:12.580Z,1553730312.580 [lineCaptureHoming:I.](INFO): direction in vehicle frame: [ 0.965245 forward, -0.261347 starboard, 0.000000 keelward ]
2019-03-27T23:45:12.580Z,1553730312.580 [lineCaptureHoming:I.](INFO): CALLING PROCESS
2019-03-27T23:45:12.597Z,1553730312.597 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:45:12.597Z,1553730312.597 [lineCaptureHoming:I.](DEBUG): Processing response from acoustic contact.
2019-03-27T23:45:12.599Z,1553730312.599 [lineCaptureHoming:I.](INFO): rotationFromVehicleToNavigationFrame_ = [ -0.924367,-0.301196,-0.234151;0.295138,-0.953482,0.061367;-0.241742,-0.012381,0.970262 ]
2019-03-27T23:45:12.599Z,1553730312.599 [lineCaptureHoming:I.](INFO): azimuthInNED_ = -3.098768 rad -- adding 2pi
2019-03-27T23:45:12.600Z,1553730312.600 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 3.184417 rad after adding 2pi
2019-03-27T23:45:12.600Z,1553730312.600 [lineCaptureHoming:I.](INFO): azimuthInNED_ = 182.453669 degrees FINAL. Radians:3.184417
2019-03-27T23:45:12.607Z,1553730312.607 [lineCaptureHoming:I.](INFO): ContactLat = 36.802683 ContactLon = -121.787980
2019-03-27T23:45:12.658Z,1553730312.658 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-03-27T23:45:12.659Z,1553730312.659 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.184417 rad
2019-03-27T23:45:12.987Z,1553730312.987 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:12.987Z,1553730312.987 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:13.383Z,1553730313.383 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:13.383Z,1553730313.383 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:13.791Z,1553730313.791 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:13.791Z,1553730313.791 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:14.217Z,1553730314.217 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:14.218Z,1553730314.218 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:14.607Z,1553730314.607 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:14.607Z,1553730314.607 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:15.027Z,1553730315.027 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:15.028Z,1553730315.028 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:15.424Z,1553730315.424 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:15.424Z,1553730315.424 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:15.835Z,1553730315.835 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:15.835Z,1553730315.835 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:16.179Z,1553730316.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:16.183Z,1553730316.183 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:16.285Z,1553730316.285 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:16.285Z,1553730316.285 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:16.594Z,1553730316.594 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-27T23:45:16.680Z,1553730316.680 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:16.680Z,1553730316.680 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:17.026Z,1553730317.026 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:17.026Z,1553730317.026 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:17.427Z,1553730317.427 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:17.427Z,1553730317.427 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:17.846Z,1553730317.846 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:17.847Z,1553730317.847 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:18.239Z,1553730318.239 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:18.239Z,1553730318.239 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:18.650Z,1553730318.650 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:18.651Z,1553730318.651 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:19.087Z,1553730319.087 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:19.087Z,1553730319.087 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:19.441Z,1553730319.441 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:19.442Z,1553730319.442 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:19.859Z,1553730319.859 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:19.859Z,1553730319.859 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:20.219Z,1553730320.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:20.223Z,1553730320.223 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:20.277Z,1553730320.277 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:20.277Z,1553730320.277 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:20.618Z,1553730320.618 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-27T23:45:20.709Z,1553730320.709 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:20.709Z,1553730320.709 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:21.068Z,1553730321.068 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:21.068Z,1553730321.068 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:21.471Z,1553730321.471 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:21.471Z,1553730321.471 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:21.884Z,1553730321.884 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:21.884Z,1553730321.884 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:22.285Z,1553730322.285 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:22.285Z,1553730322.285 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:22.736Z,1553730322.736 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:22.741Z,1553730322.741 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:23.111Z,1553730323.111 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:23.111Z,1553730323.111 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:23.481Z,1553730323.481 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:23.481Z,1553730323.481 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:23.895Z,1553730323.895 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:23.895Z,1553730323.895 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:24.255Z,1553730324.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-27T23:45:24.262Z,1553730324.262 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-27T23:45:24.335Z,1553730324.335 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:24.336Z,1553730324.336 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:24.680Z,1553730324.680 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-27T23:45:24.770Z,1553730324.770 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:24.770Z,1553730324.770 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:24.946Z,1553730324.946 [CommandLine](IMPORTANT): got command stop
2019-03-27T23:45:24.947Z,1553730324.947 [CommandLine](IMPORTANT): Scheduling is paused
2019-03-27T23:45:24.947Z,1553730324.947 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-27T23:45:25.107Z,1553730325.107 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:45:25.107Z,1553730325.107 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:45:25.108Z,1553730325.108 [MissionManager](INFO): MissionManager is completed.
2019-03-27T23:45:25.108Z,1553730325.108 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming] Stopped
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-27T23:45:25.109Z,1553730325.109 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:I.] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:I.](DEBUG): Uninitializing TrackAcousticContact.
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:J.Mass] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:L] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:M] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:DiveCmd] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-27T23:45:25.110Z,1553730325.110 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:RequestPing] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-27T23:45:25.111Z,1553730325.111 [lineCaptureHoming:Lap] Stopped
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Rollout] Stopped
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-27T23:45:25.112Z,1553730325.112 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-03-27T23:45:25.113Z,1553730325.113 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-27T23:45:25.505Z,1553730325.505 [MissionManager](IMPORTANT): Started mission Default
2019-03-27T23:45:25.505Z,1553730325.505 [Default] Running Loop=1
2019-03-27T23:45:25.506Z,1553730325.506 [Default](DEBUG): Aggregate::initialize Default
2019-03-27T23:45:25.506Z,1553730325.506 [Default:B.GoToSurface] Running Loop=1
2019-03-27T23:45:25.506Z,1553730325.506 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-27T23:45:25.506Z,1553730325.506 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-27T23:45:25.506Z,1553730325.506 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-27T23:45:25.507Z,1553730325.507 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-27T23:45:25.507Z,1553730325.507 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-27T23:45:25.507Z,1553730325.507 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-27T23:45:25.508Z,1553730325.508 [Default:A.Wait] Running Loop=1
2019-03-27T23:45:25.508Z,1553730325.508 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-27T23:45:25.546Z,1553730325.546 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-27T23:45:38.719Z,1553730338.719 [DataOverHttps](IMPORTANT): SBD MTMSN=20190327T233832
2019-03-27T23:45:38.912Z,1553730338.912 [Default:A.Wait](INFO): Done Waiting.
2019-03-27T23:45:38.917Z,1553730338.917 [Default:A.Wait] Stopped
2019-03-27T23:45:38.917Z,1553730338.917 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-27T23:45:39.254Z,1553730339.254 [Default:CheckIn] Running Loop=1
2019-03-27T23:45:39.254Z,1553730339.254 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-27T23:45:39.255Z,1553730339.255 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-27T23:45:40.833Z,1553730340.833 [NAL9602](DEBUG): Fix Requested
2019-03-27T23:45:41.225Z,1553730341.225 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,233834.00,A,3648.16806,N,12147.27647,W,0.311,334.20,270319,,,A*7B
2019-03-27T23:45:41.227Z,1553730341.227 [NAL9602](INFO): GPS fix at 20190327T233834: (36.802801, -121.787941)
2019-03-27T23:45:41.263Z,1553730341.263 [UniversalFixResidualReporter](INFO): Fix residual: 101.3 %DT, over the last 837.6 m. Residual distance 848.7 m at bearing -161.6 degrees. Fix at (36.8028, -121.7879) with 12.1 m made good.
2019-03-27T23:45:41.264Z,1553730341.264 [Default:CheckIn:Read_GPS] Stopped
2019-03-27T23:45:41.264Z,1553730341.264 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-27T23:45:45.162Z,1553730345.162 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20190327T231801/Courier0012.lzma
2019-03-27T23:45:45.175Z,1553730345.175 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange 1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 49oc1 1 3
2019-03-27T23:45:45.248Z,1553730345.248 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange 1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 49oc1 1 3.000000
2019-03-27T23:45:45.249Z,1553730345.249 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=49oc1
2019-03-27T23:45:45.249Z,1553730345.249 [CommandLine](IMPORTANT): Scheduled #3 (#1 of 3 with id='49oc1'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange 1 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAP
2019-03-27T23:45:45.583Z,1553730345.583 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0012.lzma.bak
2019-03-27T23:45:45.583Z,1553730345.583 [DataOverHttps](IMPORTANT): SBD MOMSN=10262883, MTMSN=20190327T233839
2019-03-27T23:45:51.091Z,1553730351.091 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-03-27T23:45:51.091Z,1553730351.091 [RDI_Pathfinder](ERROR): Failed to parse:
:RA  99.91,  95.92, 109.93
2019-03-27T23:45:51.117Z,1553730351.117 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-27T23:45:51.118Z,1553730351.118 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-27T23:45:51.198Z,1553730351.198 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-27T23:45:51.554Z,1553730351.554 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-27T23:45:51.554Z,1553730351.554 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-27T23:45:51.973Z,1553730351.973 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 49oc1 2 3
2019-03-27T23:45:52.054Z,1553730352.054 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" 49oc1 2 3.000000
2019-03-27T23:45:52.054Z,1553730352.054 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=49oc1
2019-03-27T23:45:52.055Z,1553730352.055 [CommandLine](IMPORTANT): Scheduled #4 (#2 of 3 with id='49oc1'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-27T23:45:52.779Z,1553730352.779 [DataOverHttps](IMPORTANT): SBD MTMSN=20190327T233846
2019-03-27T23:45:57.195Z,1553730357.195 [CommandLine](IMPORTANT): got command show variable pumpThresh
2019-03-27T23:45:58.620Z,1553730358.620 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T231801/Courier0016.lzma
2019-03-27T23:45:58.622Z,1553730358.622 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 49oc1 3 3
2019-03-27T23:45:58.693Z,1553730358.693 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 49oc1 3 3.000000
2019-03-27T23:45:58.694Z,1553730358.694 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=49oc1
2019-03-27T23:45:58.696Z,1553730358.696 [CommandLine](IMPORTANT): Scheduled #5 (#3 of 3 with id='49oc1'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-27T23:45:58.875Z,1553730358.875 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-27T23:45:58.876Z,1553730358.876 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-27T23:45:59.374Z,1553730359.374 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-27T23:45:59.376Z,1553730359.376 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-27T23:45:59.387Z,1553730359.387 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-27T23:45:59.397Z,1553730359.397 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-27T23:45:59.399Z,1553730359.399 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-27T23:45:59.410Z,1553730359.410 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-27T23:45:59.412Z,1553730359.412 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-27T23:45:59.422Z,1553730359.422 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-27T23:45:59.457Z,1553730359.457 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-27T23:45:59.459Z,1553730359.459 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-27T23:45:59.477Z,1553730359.477 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-27T23:45:59.480Z,1553730359.480 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-27T23:45:59.490Z,1553730359.490 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-27T23:45:59.492Z,1553730359.492 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-27T23:45:59.515Z,1553730359.515 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-27T23:45:59.517Z,1553730359.517 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-27T23:45:59.519Z,1553730359.519 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-27T23:45:59.593Z,1553730359.593 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-27T23:45:59.595Z,1553730359.595 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-27T23:45:59.614Z,1553730359.614 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-27T23:45:59.616Z,1553730359.616 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-27T23:45:59.631Z,1553730359.631 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-27T23:45:59.679Z,1553730359.679 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-27T23:45:59.708Z,1553730359.708 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-27T23:45:59.745Z,1553730359.745 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-27T23:45:59.748Z,1553730359.748 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-27T23:45:59.758Z,1553730359.758 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-27T23:45:59.760Z,1553730359.760 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-27T23:45:59.778Z,1553730359.778 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-27T23:45:59.793Z,1553730359.793 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-27T23:45:59.793Z,1553730359.793 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-27T23:45:59.831Z,1553730359.831 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0016.lzma.bak
2019-03-27T23:45:59.831Z,1553730359.831 [DataOverHttps](INFO): SBD MOMSN=10262888
2019-03-27T23:45:59.844Z,1553730359.844 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-27T23:45:59.862Z,1553730359.862 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-27T23:45:59.865Z,1553730359.865 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-27T23:45:59.866Z,1553730359.866 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-27T23:45:59.895Z,1553730359.895 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-27T23:45:59.922Z,1553730359.922 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-27T23:45:59.992Z,1553730359.992 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-27T23:46:00.124Z,1553730360.124 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-27T23:46:00.134Z,1553730360.134 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-27T23:46:00.143Z,1553730360.143 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-27T23:46:00.153Z,1553730360.153 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-27T23:46:00.156Z,1553730360.156 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-27T23:46:00.159Z,1553730360.159 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-27T23:46:00.166Z,1553730360.166 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-27T23:46:00.176Z,1553730360.176 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-27T23:46:00.306Z,1553730360.306 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-27T23:46:00.313Z,1553730360.313 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-27T23:46:00.337Z,1553730360.337 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-27T23:46:00.340Z,1553730360.340 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-27T23:46:00.431Z,1553730360.431 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-27T23:46:00.445Z,1553730360.445 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-27T23:46:00.498Z,1553730360.498 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-27T23:46:00.512Z,1553730360.512 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-27T23:46:00.530Z,1553730360.530 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-27T23:46:00.571Z,1553730360.571 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-27T23:46:00.588Z,1553730360.588 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-27T23:46:00.617Z,1553730360.617 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-27T23:46:00.636Z,1553730360.636 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-27T23:46:00.764Z,1553730360.764 [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="cameraRange"><Description>
        Range to activate the camera 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><Sensor: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="cameraRequested"><Description>
        Mission variable (don't change). The mission sets this to true after
        camera 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>

        <ReadData>
            <Universal:acoustic_contact_range/>
            <Universal:acoustic_contact_direction_vehicle_frame/>
        </ReadData>

<!--
        <Aggregate Id="UseDUSBL">
            <Sequence/>
            <Break>
                <Not><Arg Name="EnabledDUSBL"/></Not>
            </Break>
                <Assign><Parallel/><Sensor:DUSBL_Hydroid.transponderCode/><Arg Name="TransponderCode"/></Assign>
                <Assign><Parallel/><Sensor:DUSBL_Hydroid.numberOfPingsRequested/><Arg Name="NumberOfPings"/></Assign>            
        </Aggregate>     
-->    
        <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"/>
            </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/><Estimation:TrackAcousticContact.heading_to_contact/></Setting>
            </Guidance:Point>

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

            <Aggregate Id="ActivateCamera">

                <When>
                    <Not><Arg Name="cameraRequested"/></Not>
                    <And><Universal:acoustic_contact_range/><Le><Arg Name="cameraRange"/></Le></And>                	   
                </When>
                
                <Syslog Severity="Important">Lights, Camera on at range: <Universal:acoustic_contact_range/><Units:meter/>.</Syslog>
                
                <ReadData Strategy="MinError">
                    <Sensor:PowerOnly.samplePowerOnly/>
                </ReadData>
                
                <Assign><Sequence/><Arg Name="cameraRequested"/><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="cameraRequested"/><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>


2019-03-27T23:46:00.788Z,1553730360.788 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-27T23:46:11.706Z,1553730371.706 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-27T23:46:11.789Z,1553730371.789 [NAL9602](FAULT): received: 
+CSQ:0

OK65, 2, 0, 0, 0

OK
2019-03-27T23:46:11.789Z,1553730371.789 [NAL9602] Data Fault, FailCount= 1
2019-03-27T23:46:11.789Z,1553730371.789 [NAL9602](ERROR): Data Fault
2019-03-27T23:46:11.895Z,1553730371.895 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-27T23:46:12.075Z,1553730372.075 [NAL9602](INFO): Powering down
2019-03-27T23:46:12.491Z,1553730372.491 [NAL9602](FAULT): LCB fault:  Invalid Command. Hardware Overcurrent Shutdown. Software Overcurrent. Current Limiter Activated.
2019-03-27T23:46:12.491Z,1553730372.491 [NAL9602] Hardware Fault, FailCount= 1
2019-03-27T23:46:12.491Z,1553730372.491 [NAL9602](ERROR): Hardware Fault
2019-03-27T23:46:12.979Z,1553730372.979 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-27T23:46:12.979Z,1553730372.979 [NAL9602] No Fault, FailCount= 1
2019-03-27T23:46:19.258Z,1553730379.258 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-27T23:46:19.259Z,1553730379.259 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 1.000000 meter
2019-03-27T23:46:19.260Z,1553730379.260 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-27T23:46:19.261Z,1553730379.261 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-27T23:46:21.872Z,1553730381.872 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T231801/Courier0019.lzma
2019-03-27T23:46:22.682Z,1553730382.682 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0019.lzma.bak
2019-03-27T23:46:22.683Z,1553730382.683 [DataOverHttps](INFO): SBD MOMSN=10262891
2019-03-27T23:46:30.713Z,1553730390.713 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-27T23:46:30.713Z,1553730390.713 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00, 101.25,  95.26, 101.58,  BI,   -48,   -59,    -1,   +65,A
2019-03-27T23:46:38.797Z,1553730398.797 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-27T23:46:38.798Z,1553730398.798 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-27T23:46:38.798Z,1553730398.798 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-27T23:46:38.799Z,1553730398.799 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-27T23:46:42.375Z,1553730402.375 [NAL9602](INFO): Powering up NAL9602
2019-03-27T23:46:43.820Z,1553730403.820 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190327T231801/Courier0022.lzma
2019-03-27T23:46:44.703Z,1553730404.703 [DataOverHttps](INFO): Moved sent file to Logs/20190327T231801/Courier0022.lzma.bak
2019-03-27T23:46:44.704Z,1553730404.704 [DataOverHttps](INFO): SBD MOMSN=10262911
2019-03-27T23:46:45.929Z,1553730405.929 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-27T23:46:45.930Z,1553730405.930 [CommandLine](IMPORTANT): got command run 
2019-03-27T23:46:45.932Z,1553730405.932 [CommandLine](IMPORTANT): Running 
2019-03-27T23:46:46.072Z,1553730406.072 [Default] Stopped
2019-03-27T23:46:46.077Z,1553730406.077 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-27T23:46:46.078Z,1553730406.078 [Default:B.GoToSurface] Stopped
2019-03-27T23:46:46.078Z,1553730406.078 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-27T23:46:46.078Z,1553730406.078 [Default:CheckIn] Stopped
2019-03-27T23:46:46.079Z,1553730406.079 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-27T23:46:46.079Z,1553730406.079 [Default:CheckIn:Read_Iridium] Stopped
2019-03-27T23:46:46.079Z,1553730406.079 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-27T23:46:46.079Z,1553730406.079 [lineCaptureHoming] Running Loop=1
2019-03-27T23:46:46.079Z,1553730406.079 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-27T23:46:46.079Z,1553730406.079 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-27T23:46:46.079Z,1553730406.079 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-27T23:46:46.079Z,1553730406.079 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-27T23:46:46.079Z,1553730406.079 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:I.] Running Loop=1
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-27T23:46:46.080Z,1553730406.080 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-27T23:46:46.085Z,1553730406.085 [lineCaptureHoming:L] Running Loop=1
2019-03-27T23:46:46.085Z,1553730406.085 [lineCaptureHoming:M] Running Loop=1
2019-03-27T23:46:46.085Z,1553730406.085 [lineCaptureHoming:B] Running Loop=1
2019-03-27T23:46:46.086Z,1553730406.086 [lineCaptureHoming:M] Running Loop=1
2019-03-27T23:46:46.086Z,1553730406.086 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-27T23:46:46.086Z,1553730406.086 [lineCaptureHoming:L] Running Loop=1
2019-03-27T23:46:46.087Z,1553730406.087 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-27T23:46:46.087Z,1553730406.087 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-27T23:46:46.087Z,1553730406.087 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-27T23:46:46.088Z,1553730406.088 [lineCaptureHoming:I.] Running Loop=1
2019-03-27T23:46:46.088Z,1553730406.088 [lineCaptureHoming:I.](DEBUG): Tracking...
2019-03-27T23:46:46.088Z,1553730406.088 [lineCaptureHoming:I.](DEBUG): Tracking contact label: 2
2019-03-27T23:46:46.088Z,1553730406.088 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-27T23:46:46.088Z,1553730406.088 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-27T23:46:46.088Z,1553730406.088 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-27T23:46:46.093Z,1553730406.093 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-27T23:46:46.094Z,1553730406.094 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-27T23:46:46.094Z,1553730406.094 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-27T23:46:46.095Z,1553730406.095 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-27T23:46:46.095Z,1553730406.095 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-27T23:46:46.095Z,1553730406.095 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-27T23:46:46.095Z,1553730406.095 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-27T23:46:46.204Z,1553730406.204 [MissionManager](CRITICAL): SIGSEGV: address not mapped to object
2019-03-27T23:46:46.204Z,1553730406.204 [MissionManager](CRITICAL): Bad address: 0x0
2019-03-27T23:46:46.214Z,1553730406.214 [MissionManager](CRITICAL): Backtrace: 
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1790e4]
./bin/LRAUV(_ZN10DataReader8asStringERK4Unit+0xd0) [0xe2c0c]
./bin/LRAUV(_ZN15SyslogComponent3runEv+0x114) [0x16c2f0]
./bin/LRAUV(_ZN15SyslogComponent16runIfUnsatisfiedEv+0x10) [0x16bdd8]
./bin/LRAUV(_ZN11MissionItem16runIfUnsatisfiedEv+0x200) [0x162348]
./bin/LRAUV(_ZN9Aggregate3runEv+0x330) [0x153030]
./bin/LRAUV(_ZN9Aggregate7executeEv+0x10) [0x153ae0]
./bin/LRAUV(_ZN9Aggregate3runEv+0x330) [0x153030]
./bin/LRAUV(_ZN9Aggregate7executeEv+0x10) [0x153ae0]
./bin/LRAUV(_ZN14MissionManager3runEv+0x258) [0x163ea8]
./bin/LRAUV(_ZN9Component7executeEv+0x1f8) [0xd6a68]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xbc) [0x178c80]

2019-03-27T23:46:46.214Z,1553730406.214 [MissionManager] Software Fault, FailCount= 1
2019-03-27T23:46:46.214Z,1553730406.214 [MissionManager](ERROR): Software Fault
2019-03-27T23:46:46.219Z,1553730406.219 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-03-27T23:46:46.220Z,15537