2019-03-28T18:46:36.458Z,1553798796.458 [Supervisor](DEBUG): Initializing supervisor.
2019-03-28T18:46:36.460Z,1553798796.460 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-03-28T18:46:36.461Z,1553798796.461 [SyncHandler](INFO): Protected caller Thread ID is 804
2019-03-28T18:46:36.461Z,1553798796.461 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-03-28T18:46:36.462Z,1553798796.462 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-03-28T18:46:36.463Z,1553798796.463 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 805
2019-03-28T18:46:36.465Z,1553798796.465 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-03-28T18:46:36.477Z,1553798796.477 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-03-28T18:46:36.478Z,1553798796.478 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-03-28T18:46:36.478Z,1553798796.478 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 806
2019-03-28T18:46:36.479Z,1553798796.479 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-03-28T18:46:36.480Z,1553798796.480 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-03-28T18:46:36.480Z,1553798796.480 [logger ThreadHandler](INFO): Protected caller Thread ID is 807
2019-03-28T18:46:36.482Z,1553798796.482 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-03-28T18:46:36.483Z,1553798796.483 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-03-28T18:46:36.487Z,1553798796.487 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-03-28T18:46:36.910Z,1553798796.910 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-03-28T18:46:36.910Z,1553798796.910 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-03-28T18:46:37.009Z,1553798797.009 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-03-28T18:46:37.011Z,1553798797.011 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-03-28T18:46:37.355Z,1553798797.355 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-03-28T18:46:37.357Z,1553798797.357 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-03-28T18:46:37.499Z,1553798797.499 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-03-28T18:46:37.501Z,1553798797.501 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-03-28T18:46:37.694Z,1553798797.694 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-03-28T18:46:37.695Z,1553798797.695 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-03-28T18:46:38.151Z,1553798798.151 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-03-28T18:46:38.152Z,1553798798.152 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-03-28T18:46:38.363Z,1553798798.363 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-03-28T18:46:38.365Z,1553798798.365 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-03-28T18:46:38.513Z,1553798798.513 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-03-28T18:46:38.514Z,1553798798.514 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-03-28T18:46:38.711Z,1553798798.711 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-03-28T18:46:38.711Z,1553798798.711 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-03-28T18:46:38.808Z,1553798798.808 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-03-28T18:46:38.809Z,1553798798.809 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-03-28T18:46:39.131Z,1553798799.131 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-03-28T18:46:39.132Z,1553798799.132 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-03-28T18:46:39.214Z,1553798799.214 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-03-28T18:46:39.321Z,1553798799.321 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-03-28T18:46:39.323Z,1553798799.323 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-03-28T18:46:39.829Z,1553798799.829 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-03-28T18:46:39.829Z,1553798799.829 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-03-28T18:46:40.769Z,1553798800.769 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-03-28T18:46:40.771Z,1553798800.771 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-03-28T18:46:40.773Z,1553798800.773 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-03-28T18:46:40.983Z,1553798800.983 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-03-28T18:46:41.084Z,1553798801.084 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-03-28T18:46:41.183Z,1553798801.183 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-03-28T18:46:41.411Z,1553798801.411 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-03-28T18:46:41.412Z,1553798801.412 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-03-28T18:46:41.498Z,1553798801.498 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-03-28T18:46:41.593Z,1553798801.593 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-03-28T18:46:41.691Z,1553798801.691 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-03-28T18:46:41.775Z,1553798801.775 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-03-28T18:46:41.888Z,1553798801.888 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-03-28T18:46:42.073Z,1553798802.073 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-03-28T18:46:42.206Z,1553798802.206 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-03-28T18:46:42.216Z,1553798802.216 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-03-28T18:46:42.919Z,1553798802.919 [AHRS_M2] Loaded
2019-03-28T18:46:42.919Z,1553798802.919 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-03-28T18:46:43.059Z,1553798803.059 [DataOverHttps] Loaded
2019-03-28T18:46:43.059Z,1553798803.059 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-03-28T18:46:43.061Z,1553798803.061 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2019-03-28T18:46:43.061Z,1553798803.061 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 886
2019-03-28T18:46:43.074Z,1553798803.074 [Depth_Keller] Loaded
2019-03-28T18:46:43.075Z,1553798803.075 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-03-28T18:46:43.079Z,1553798803.079 [DropWeight] Loaded
2019-03-28T18:46:43.080Z,1553798803.080 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-03-28T18:46:43.132Z,1553798803.132 [DUSBL_Hydroid] Loaded
2019-03-28T18:46:43.132Z,1553798803.132 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-03-28T18:46:43.171Z,1553798803.171 [Micromodem] Loaded
2019-03-28T18:46:43.172Z,1553798803.172 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-03-28T18:46:43.268Z,1553798803.268 [NAL9602] Loaded
2019-03-28T18:46:43.268Z,1553798803.268 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-03-28T18:46:43.284Z,1553798803.284 [Onboard] Loaded
2019-03-28T18:46:43.284Z,1553798803.284 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-03-28T18:46:43.290Z,1553798803.290 [PowerOnly] Loaded
2019-03-28T18:46:43.290Z,1553798803.290 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-03-28T18:46:43.296Z,1553798803.296 [Radio_Surface] Loaded
2019-03-28T18:46:43.297Z,1553798803.297 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-03-28T18:46:43.298Z,1553798803.298 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2019-03-28T18:46:43.298Z,1553798803.298 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 887
2019-03-28T18:46:43.356Z,1553798803.356 [RDI_Pathfinder] Loaded
2019-03-28T18:46:43.357Z,1553798803.357 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-03-28T18:46:44.821Z,1553798804.821 [BPC1] Loaded
2019-03-28T18:46:44.822Z,1553798804.822 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-03-28T18:46:44.822Z,1553798804.822 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-03-28T18:46:44.824Z,1553798804.824 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-03-28T18:46:44.859Z,1553798804.859 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-03-28T18:46:44.860Z,1553798804.860 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-03-28T18:46:45.489Z,1553798805.489 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-03-28T18:46:45.489Z,1553798805.489 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-03-28T18:46:45.548Z,1553798805.548 [DeadReckonUsingSpeedCalculator] Loaded
2019-03-28T18:46:45.548Z,1553798805.548 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2019-03-28T18:46:45.607Z,1553798805.607 [DeadReckonWithRespectToSeafloor] Loaded
2019-03-28T18:46:45.607Z,1553798805.607 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2019-03-28T18:46:45.627Z,1553798805.627 [NavChart] Loaded
2019-03-28T18:46:45.627Z,1553798805.627 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-03-28T18:46:45.632Z,1553798805.632 [UniversalFixResidualReporter] Loaded
2019-03-28T18:46:45.632Z,1553798805.632 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-03-28T18:46:45.632Z,1553798805.632 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-03-28T18:46:45.633Z,1553798805.633 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-03-28T18:46:45.755Z,1553798805.755 [BuoyancyServo] Loaded
2019-03-28T18:46:45.755Z,1553798805.755 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-03-28T18:46:45.771Z,1553798805.771 [ElevatorServo] Loaded
2019-03-28T18:46:45.771Z,1553798805.771 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-03-28T18:46:45.786Z,1553798805.786 [MassServo] Loaded
2019-03-28T18:46:45.786Z,1553798805.786 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-03-28T18:46:45.801Z,1553798805.801 [RudderServo] Loaded
2019-03-28T18:46:45.801Z,1553798805.801 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-03-28T18:46:45.816Z,1553798805.816 [ThrusterServo] Loaded
2019-03-28T18:46:45.816Z,1553798805.816 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-03-28T18:46:45.816Z,1553798805.816 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-03-28T18:46:45.818Z,1553798805.818 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-03-28T18:46:46.137Z,1553798806.137 [CTD_NeilBrown] Loaded
2019-03-28T18:46:46.138Z,1553798806.138 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-03-28T18:46:46.139Z,1553798806.139 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408D04E0
2019-03-28T18:46:46.139Z,1553798806.139 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 888
2019-03-28T18:46:46.183Z,1553798806.183 [WetLabsSeaOWL_UV_A] Loaded
2019-03-28T18:46:46.184Z,1553798806.184 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-03-28T18:46:46.185Z,1553798806.185 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409004E0
2019-03-28T18:46:46.185Z,1553798806.185 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 889
2019-03-28T18:46:46.186Z,1553798806.186 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-03-28T18:46:46.186Z,1553798806.186 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-03-28T18:46:46.497Z,1553798806.497 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-03-28T18:46:46.497Z,1553798806.497 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-03-28T18:46:46.552Z,1553798806.552 [DepthRateCalculator] Loaded
2019-03-28T18:46:46.553Z,1553798806.553 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-03-28T18:46:46.558Z,1553798806.558 [PitchRateCalculator] Loaded
2019-03-28T18:46:46.559Z,1553798806.559 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-03-28T18:46:46.571Z,1553798806.571 [SpeedCalculator] Loaded
2019-03-28T18:46:46.571Z,1553798806.571 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-03-28T18:46:46.591Z,1553798806.591 [TempGradientCalculator] Loaded
2019-03-28T18:46:46.592Z,1553798806.592 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-03-28T18:46:46.597Z,1553798806.597 [YawRateCalculator] Loaded
2019-03-28T18:46:46.597Z,1553798806.597 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-03-28T18:46:46.637Z,1553798806.637 [ElevatorOffsetCalculator] Loaded
2019-03-28T18:46:46.637Z,1553798806.637 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-03-28T18:46:46.638Z,1553798806.638 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-03-28T18:46:46.640Z,1553798806.640 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-03-28T18:46:46.796Z,1553798806.796 [SBIT](DEBUG): Construct Startup Built In Test.
2019-03-28T18:46:46.817Z,1553798806.817 [SBIT] Loaded
2019-03-28T18:46:46.818Z,1553798806.818 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-03-28T18:46:46.818Z,1553798806.818 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-03-28T18:46:46.830Z,1553798806.830 [IBIT] Loaded
2019-03-28T18:46:46.830Z,1553798806.830 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-03-28T18:46:46.833Z,1553798806.833 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-03-28T18:46:46.972Z,1553798806.972 [CBIT] Loaded
2019-03-28T18:46:46.972Z,1553798806.972 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-03-28T18:46:46.972Z,1553798806.972 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-03-28T18:46:46.974Z,1553798806.974 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-03-28T18:46:47.091Z,1553798807.091 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-03-28T18:46:47.091Z,1553798807.091 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-03-28T18:46:47.214Z,1553798807.214 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-03-28T18:46:47.216Z,1553798807.216 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-03-28T18:46:47.302Z,1553798807.302 [VerticalControl](DEBUG): Construct VerticalControl.
2019-03-28T18:46:47.385Z,1553798807.385 [VerticalControl] Loaded
2019-03-28T18:46:47.385Z,1553798807.385 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-03-28T18:46:47.386Z,1553798807.386 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-03-28T18:46:47.443Z,1553798807.443 [HorizontalControl] Loaded
2019-03-28T18:46:47.443Z,1553798807.443 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-03-28T18:46:47.444Z,1553798807.444 [SpeedControl](DEBUG): Construct SpeedControl.
2019-03-28T18:46:47.445Z,1553798807.445 [SpeedControl] Loaded
2019-03-28T18:46:47.446Z,1553798807.446 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-03-28T18:46:47.446Z,1553798807.446 [LoopControl](DEBUG): Construct LoopControl.
2019-03-28T18:46:47.447Z,1553798807.447 [LoopControl] Loaded
2019-03-28T18:46:47.447Z,1553798807.447 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-03-28T18:46:47.448Z,1553798807.448 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-03-28T18:46:47.448Z,1553798807.448 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-03-28T18:46:47.489Z,1553798807.489 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-03-28T18:46:47.493Z,1553798807.493 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-03-28T18:46:47.494Z,1553798807.494 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-03-28T18:46:47.501Z,1553798807.500 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-03-28T18:46:47.502Z,1553798807.502 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACF4E0
2019-03-28T18:46:47.502Z,1553798807.502 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 890
2019-03-28T18:46:47.506Z,1553798807.506 [Supervisor](INFO): Main Thread ID is 800
2019-03-28T18:46:47.507Z,1553798807.507 [Supervisor](DEBUG): Running supervisor.
2019-03-28T18:46:47.507Z,1553798807.507 [CommandLine ThreadHandler](INFO): Handler Thread ID is 891
2019-03-28T18:46:47.509Z,1553798807.509 [controlThread ThreadHandler](INFO): Handler Thread ID is 892
2019-03-28T18:46:47.510Z,1553798807.510 [controlThread](DEBUG): Initializing ControlThread
2019-03-28T18:46:47.517Z,1553798807.517 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-28T18:46:47.518Z,1553798807.518 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-03-28T18:46:47.518Z,1553798807.518 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-03-28T18:46:47.519Z,1553798807.519 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-03-28T18:46:47.519Z,1553798807.519 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-03-28T18:46:47.520Z,1553798807.520 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-03-28T18:46:47.520Z,1553798807.520 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-03-28T18:46:47.520Z,1553798807.520 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-03-28T18:46:47.521Z,1553798807.521 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-03-28T18:46:47.521Z,1553798807.521 [SBIT](INFO): Initialize SBIT Component.
2019-03-28T18:46:47.522Z,1553798807.522 [SBIT](IMPORTANT): git: 2019-03-18-26-gc8399b8
2019-03-28T18:46:47.522Z,1553798807.522 [SBIT](INFO): git hash: c8399b8e53db2b8366337064c7df5542bc2caf88
2019-03-28T18:46:47.523Z,1553798807.523 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-03-28T18:46:47.523Z,1553798807.523 [SBIT](IMPORTANT): Kernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2019-03-28T18:46:47.524Z,1553798807.524 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-03-28T18:46:47.525Z,1553798807.525 [IBIT](INFO): Initialize IBIT Component.
2019-03-28T18:46:47.525Z,1553798807.525 [CBIT](DEBUG): Initialize CBIT Component.
2019-03-28T18:46:47.526Z,1553798807.526 [logger ThreadHandler](INFO): Handler Thread ID is 893
2019-03-28T18:46:47.538Z,1553798807.538 [CBIT](DEBUG): Initialized mux pins.
2019-03-28T18:46:47.538Z,1553798807.538 [CBIT](DEBUG): Initializing the watchdog timer.
2019-03-28T18:46:47.546Z,1553798807.546 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 894
2019-03-28T18:46:47.547Z,1553798807.547 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-03-28T18:46:47.558Z,1553798807.558 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 895
2019-03-28T18:46:47.562Z,1553798807.562 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-03-28T18:46:47.562Z,1553798807.562 [CBIT](DEBUG): Initializing heartbeat.
2019-03-28T18:46:47.570Z,1553798807.570 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 896
2019-03-28T18:46:47.571Z,1553798807.571 [CTD_NeilBrown](INFO): Powering down
2019-03-28T18:46:47.606Z,1553798807.606 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 897
2019-03-28T18:46:47.607Z,1553798807.607 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-03-28T18:46:47.634Z,1553798807.634 [CBIT](DEBUG): Deactivating GF circuits.
2019-03-28T18:46:47.634Z,1553798807.634 [CBIT](DEBUG): Deactivating emergency mode.
2019-03-28T18:46:47.635Z,1553798807.635 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 898
2019-03-28T18:46:47.642Z,1553798807.642 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-03-28T18:46:47.643Z,1553798807.643 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-03-28T18:46:47.643Z,1553798807.643 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-03-28T18:46:47.643Z,1553798807.643 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-03-28T18:46:47.643Z,1553798807.643 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-03-28T18:46:47.643Z,1553798807.643 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-03-28T18:46:47.643Z,1553798807.643 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-03-28T18:46:47.644Z,1553798807.644 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-03-28T18:46:47.644Z,1553798807.644 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-03-28T18:46:47.644Z,1553798807.644 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-03-28T18:46:47.644Z,1553798807.644 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-03-28T18:46:47.644Z,1553798807.644 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-03-28T18:46:47.645Z,1553798807.645 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-03-28T18:46:47.645Z,1553798807.645 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-03-28T18:46:47.645Z,1553798807.645 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-03-28T18:46:47.645Z,1553798807.645 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-03-28T18:46:47.670Z,1553798807.670 [CBIT](DEBUG): Backplane powered.
2019-03-28T18:46:47.670Z,1553798807.670 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-03-28T18:46:47.672Z,1553798807.672 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-03-28T18:46:47.672Z,1553798807.672 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-03-28T18:46:47.673Z,1553798807.673 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-03-28T18:46:47.674Z,1553798807.674 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-03-28T18:46:47.697Z,1553798807.697 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T18:46:47.724Z,1553798807.724 [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>


2019-03-28T18:46:47.725Z,1553798807.725 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-03-28T18:46:47.789Z,1553798807.789 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-03-28T18:46:47.806Z,1553798807.806 [Default:A.Wait](DEBUG): Construct Wait.
2019-03-28T18:46:47.808Z,1553798807.808 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T18:46:47.839Z,1553798807.839 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-03-28T18:46:47.841Z,1553798807.841 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-03-28T18:46:47.859Z,1553798807.859 [Default:E.Execute](DEBUG): Construct Execute.
2019-03-28T18:46:47.871Z,1553798807.871 [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>


2019-03-28T18:46:47.880Z,1553798807.880 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,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,
2019-03-28T18:46:47.895Z,1553798807.895 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-03-28T18:46:47.962Z,1553798807.962 [Radio_Surface](INFO): Powering up
2019-03-28T18:46:48.039Z,1553798808.039 [DUSBL_Hydroid](INFO): Powering up
2019-03-28T18:46:48.039Z,1553798808.039 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-28T18:46:48.140Z,1553798808.140 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-03-28T18:46:48.146Z,1553798808.146 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-03-28T18:46:48.147Z,1553798808.147 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-03-28T18:46:48.154Z,1553798808.154 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-03-28T18:46:48.155Z,1553798808.155 [MassServo](DEBUG): Initializing EZServoServo.
2019-03-28T18:46:48.162Z,1553798808.162 [MassServo](DEBUG): Initializing MassServo.
2019-03-28T18:46:48.163Z,1553798808.163 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-28T18:46:48.170Z,1553798808.170 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-28T18:46:48.171Z,1553798808.171 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-03-28T18:46:48.178Z,1553798808.178 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-03-28T18:46:48.307Z,1553798808.307 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2019-03-28T18:46:48.308Z,1553798808.308 [Micromodem](INFO): Powering up
2019-03-28T18:46:48.309Z,1553798808.309 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-28T18:46:49.034Z,1553798809.034 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-03-28T18:46:49.034Z,1553798809.034 [RudderServo](FAULT): Rudder failed to initialize
2019-03-28T18:46:49.034Z,1553798809.034 [RudderServo] Communications Fault, FailCount= 1
2019-03-28T18:46:49.034Z,1553798809.034 [RudderServo](ERROR): Communications Fault
2019-03-28T18:46:49.169Z,1553798809.169 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-03-28T18:46:49.343Z,1553798809.343 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-03-28T18:46:49.343Z,1553798809.343 [RudderServo](INFO): Powering down
2019-03-28T18:46:50.014Z,1553798810.014 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-28T18:46:50.135Z,1553798810.135 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-28T18:46:50.139Z,1553798810.139 [CBIT](INFO): Clearing failed state for component RudderServo
2019-03-28T18:46:50.139Z,1553798810.139 [RudderServo] No Fault, FailCount= 1
2019-03-28T18:46:53.256Z,1553798813.256 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-28T18:47:01.329Z,1553798821.329 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-03-28T18:47:04.535Z,1553798824.535 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-28T18:47:06.148Z,1553798826.148 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-28T18:47:13.421Z,1553798833.421 [NAL9602](INFO): Powering up NAL9602
2019-03-28T18:47:15.844Z,1553798835.844 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-28T18:47:16.311Z,1553798836.311 [SBIT](IMPORTANT): Beginning Startup BIT
2019-03-28T18:47:16.340Z,1553798836.340 [CBIT](IMPORTANT): Beginning ground fault scan
2019-03-28T18:47:23.632Z,1553798843.632 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-28T18:47:24.436Z,1553798844.436 [NAL9602](INFO): NAL9602 initialized
2019-03-28T18:47:25.254Z,1553798845.254 [NAL9602](DEBUG): Fix Requested
2019-03-28T18:47:27.450Z,1553798847.450 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.011358
CHAN A1 (24V): -0.026880
CHAN A2 (12V): -0.006992
CHAN A3 (5V): -0.001913
CHAN B0 (3.3V): 0.000272
CHAN B1 (3.15aV): 0.000196
CHAN B2 (3.15bV): 0.000101
CHAN B3 (GND): 0.001897
OPEN: 0.009073
Full Scale Calc: 4.765 mA, -1.589 mA
2019-03-28T18:47:33.496Z,1553798853.496 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-28T18:47:43.608Z,1553798863.608 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-28T18:47:53.309Z,1553798873.309 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-28T18:47:54Z,0*7C

2019-03-28T18:47:53.706Z,1553798873.706 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,184753,AUV,2.0.276*19
$CRE,184753,OPROC,0.10.0.46*4C

2019-03-28T18:48:09.626Z,1553798889.626 [SBIT](IMPORTANT): SBIT PASSED
2019-03-28T18:48:09.690Z,1553798889.690 [CommandLine](IMPORTANT): got command configSet list
2019-03-28T18:48:09.690Z,1553798889.690 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-03-28T18:48:09.691Z,1553798889.691 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=20 count;

2019-03-28T18:48:09.691Z,1553798889.691 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.range 2.000000 meter;

2019-03-28T18:48:09.691Z,1553798889.691 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 angular_degree;

2019-03-28T18:48:09.692Z,1553798889.692 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-03-28T18:48:10.006Z,1553798890.006 [MissionManager](IMPORTANT): Started mission Startup
2019-03-28T18:48:10.007Z,1553798890.007 [Startup] Running Loop=1
2019-03-28T18:48:10.007Z,1553798890.007 [Startup](DEBUG): Aggregate::initialize Startup
2019-03-28T18:48:10.007Z,1553798890.007 [Startup:A.GoToSurface] Running Loop=1
2019-03-28T18:48:10.007Z,1553798890.007 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T18:48:10.008Z,1553798890.008 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T18:48:10.008Z,1553798890.008 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T18:48:10.008Z,1553798890.008 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T18:48:10.009Z,1553798890.009 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T18:48:10.009Z,1553798890.009 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T18:48:10.011Z,1553798890.011 [Startup:StartupSatComms] Running Loop=1
2019-03-28T18:48:10.011Z,1553798890.011 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-03-28T18:48:10.011Z,1553798890.011 [Startup:StartupSatComms:A] Running Loop=1
2019-03-28T18:48:10.394Z,1553798890.394 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-03-28T18:49:10.180Z,1553798950.180 [Startup:StartupSatComms:A](INFO): Timed out from 2019-03-28T18:48:10.0Z
2019-03-28T18:49:10.181Z,1553798950.181 [Startup:StartupSatComms:A] Stopped
2019-03-28T18:49:10.181Z,1553798950.181 [Startup:StartupSatComms:B] Running Loop=1
2019-03-28T18:49:10.587Z,1553798950.587 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T18:49:20.689Z,1553798960.689 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T18:49:20.689Z,1553798960.689 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  99.58, 102.24,  74.30
2019-03-28T18:49:21.232Z,1553798961.232 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005161
2019-03-28T18:49:26.837Z,1553798966.837 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T165625/Courier0072.lzma
2019-03-28T18:49:27.644Z,1553798967.644 [DataOverHttps](INFO): Moved sent file to Logs/20190328T165625/Courier0072.lzma.bak
2019-03-28T18:49:27.644Z,1553798967.644 [DataOverHttps](INFO): SBD MOMSN=10270992
2019-03-28T18:49:39.171Z,1553798979.171 [DataOverHttps](INFO): Sending 99 bytes from file Logs/20190328T184456/Courier0000.lzma
2019-03-28T18:49:39.975Z,1553798979.975 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184456/Courier0000.lzma.bak
2019-03-28T18:49:39.975Z,1553798979.975 [DataOverHttps](INFO): SBD MOMSN=10270995
2019-03-28T18:49:47.762Z,1553798987.762 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-28T18:49:47.762Z,1553798987.762 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-28T18:49:47.763Z,1553798987.763 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-28T18:49:47.763Z,1553798987.763 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-28T18:49:47.764Z,1553798987.764 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T18:49:47.764Z,1553798987.764 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T18:49:47.775Z,1553798987.775 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-28T18:49:47.775Z,1553798987.775 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-28T18:49:47.775Z,1553798987.775 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T18:49:48.170Z,1553798988.170 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-28T18:49:48.170Z,1553798988.170 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-28T18:49:48.171Z,1553798988.171 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-28T18:49:48.171Z,1553798988.171 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-28T18:49:48.171Z,1553798988.171 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T18:49:48.171Z,1553798988.171 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T18:49:48.553Z,1553798988.553 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-28T18:49:53.297Z,1553798993.297 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T165625/Express0074.lzma
2019-03-28T18:49:54.099Z,1553798994.099 [DataOverHttps](INFO): Moved sent file to Logs/20190328T165625/Express0074.lzma.bak
2019-03-28T18:49:54.100Z,1553798994.100 [DataOverHttps](INFO): SBD MOMSN=10271016
2019-03-28T18:50:05.851Z,1553799005.851 [DataOverHttps](INFO): Sending 509 bytes from file Logs/20190328T184456/Express0001.lzma
2019-03-28T18:50:06.655Z,1553799006.655 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184456/Express0001.lzma.bak
2019-03-28T18:50:06.655Z,1553799006.655 [DataOverHttps](INFO): SBD MOMSN=10271018
2019-03-28T18:50:10.256Z,1553799010.256 [Startup:StartupSatComms:B](INFO): Timed out from 2019-03-28T18:49:10.2Z
2019-03-28T18:50:10.256Z,1553799010.256 [Startup:StartupSatComms:B] Stopped
2019-03-28T18:50:10.257Z,1553799010.257 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-03-28T18:50:10.257Z,1553799010.257 [Startup:StartupSatComms] Stopped
2019-03-28T18:50:10.257Z,1553799010.257 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-03-28T18:50:10.272Z,1553799010.272 [Startup](INFO): Completed Startup
2019-03-28T18:50:10.273Z,1553799010.273 [MissionManager](INFO): Startup is completed.
2019-03-28T18:50:10.273Z,1553799010.273 [MissionManager](INFO): Uninitializing Mission Startup
2019-03-28T18:50:10.286Z,1553799010.286 [Startup] Stopped
2019-03-28T18:50:10.287Z,1553799010.287 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-03-28T18:50:10.287Z,1553799010.287 [Startup:A.GoToSurface] Stopped
2019-03-28T18:50:10.287Z,1553799010.287 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T18:50:10.584Z,1553799010.584 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T18:50:10.585Z,1553799010.585 [Default] Running Loop=1
2019-03-28T18:50:10.585Z,1553799010.585 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T18:50:10.585Z,1553799010.585 [Default:B.GoToSurface] Running Loop=1
2019-03-28T18:50:10.585Z,1553799010.585 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T18:50:10.585Z,1553799010.585 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T18:50:10.598Z,1553799010.598 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T18:50:10.598Z,1553799010.598 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T18:50:10.599Z,1553799010.599 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T18:50:10.599Z,1553799010.599 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T18:50:10.599Z,1553799010.599 [Default:A.Wait] Running Loop=1
2019-03-28T18:50:10.599Z,1553799010.599 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T18:50:22.347Z,1553799022.347 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T18:50:22.347Z,1553799022.347 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -15,   -2,   -31,A
2019-03-28T18:50:23.762Z,1553799023.762 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T18:50:23.763Z,1553799023.763 [Default:A.Wait] Stopped
2019-03-28T18:50:23.763Z,1553799023.763 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T18:50:24.021Z,1553799024.021 [Default:CheckIn] Running Loop=1
2019-03-28T18:50:24.021Z,1553799024.021 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T18:50:24.021Z,1553799024.021 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T18:50:24.353Z,1553799024.353 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T18:50:30.127Z,1553799030.127 [CommandLine](IMPORTANT): got command get longitude
2019-03-28T18:50:30.128Z,1553799030.128 [CommandLine](FAULT): Element has no value
2019-03-28T18:51:01.267Z,1553799061.267 [DataOverHttps](INFO): Sending 786 bytes from file Logs/20190328T184636/Express0001.lzma
2019-03-28T18:51:02.064Z,1553799062.064 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0001.lzma.bak
2019-03-28T18:51:02.064Z,1553799062.064 [DataOverHttps](IMPORTANT): SBD MOMSN=10271056, MTMSN=20190328T184340
2019-03-28T18:51:07.206Z,1553799067.206 [DataOverHttps](INFO): Received command:maintain control verticalControl.buoyancyAction 945 cc;maintain sensor Depth_Keller.depth 0 m
2019-03-28T18:51:08.984Z,1553799068.984 [CommandLine](IMPORTANT): got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter
2019-03-28T18:51:08.985Z,1553799068.985 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.
2019-03-28T18:51:08.986Z,1553799068.986 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2019-03-28T18:51:08.987Z,1553799068.987 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-03-28T18:51:09.182Z,1553799069.182 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,Depth_Keller,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-28T18:51:25.679Z,1553799085.679 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T18:51:25.679Z,1553799085.679 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  66.98,  94.42, 101.41,

2019-03-28T18:51:26.723Z,1553799086.723 [CommandLine](IMPORTANT): got command get latitude
2019-03-28T18:51:26.724Z,1553799086.724 [CommandLine](FAULT): Element has no value
2019-03-28T18:51:38.989Z,1553799098.989 [NAL9602](INFO): SBD MO Status=2, MOMSN=2489, MT Status=2, MTMSN=0
2019-03-28T18:51:38.989Z,1553799098.989 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T18:51:49.852Z,1553799109.852 [CommandLine](IMPORTANT): got command show stack
2019-03-28T18:51:49.852Z,1553799109.852 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-28T18:51:49.852Z,1553799109.852 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-03-28T18:51:49.853Z,1553799109.853 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS
2019-03-28T18:51:56.366Z,1553799116.366 [NAL9602](INFO): SBD MO Status=0, MOMSN=2489, MT Status=0, MTMSN=0
2019-03-28T18:51:56.366Z,1553799116.366 [NAL9602](INFO): No messages in MT queue
2019-03-28T18:51:57.186Z,1553799117.186 [NAL9602](DEBUG): Fix Requested
2019-03-28T18:51:57.578Z,1553799117.578 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184436.00,A,3648.16234,N,12147.28026,W,0.350,25.85,280319,,,A*49
2019-03-28T18:51:57.581Z,1553799117.581 [NAL9602](INFO): GPS fix at 20190328T184436: (36.802706, -121.788004)
2019-03-28T18:51:57.639Z,1553799117.639 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T18:51:57.639Z,1553799117.639 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T18:51:58.033Z,1553799118.033 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T18:52:08.937Z,1553799128.937 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20190328T184636/Courier0004.lzma
2019-03-28T18:52:09.743Z,1553799129.743 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0004.lzma.bak
2019-03-28T18:52:09.744Z,1553799129.744 [DataOverHttps](INFO): SBD MOMSN=10271082
2019-03-28T18:52:25.109Z,1553799145.109 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0007.lzma
2019-03-28T18:52:25.916Z,1553799145.916 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0007.lzma.bak
2019-03-28T18:52:25.917Z,1553799145.917 [DataOverHttps](IMPORTANT): SBD MOMSN=10271088, MTMSN=20190328T184504
2019-03-28T18:52:29.979Z,1553799149.979 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T18:52:32.638Z,1553799152.638 [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" 4b5cw 1 3
2019-03-28T18:52:32.681Z,1553799152.681 [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" 4b5cw 1 3.000000
2019-03-28T18:52:32.682Z,1553799152.682 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b5cw
2019-03-28T18:52:32.683Z,1553799152.683 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 3 with id='4b5cw'): "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
2019-03-28T18:52:33.443Z,1553799153.443 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T184512
2019-03-28T18:52:39.454Z,1553799159.454 [DataOverHttps](INFO): Sending 522 bytes from file Logs/20190328T184636/Express0005.lzma
2019-03-28T18:52:39.458Z,1553799159.458 [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" 4b5cw 2 3
2019-03-28T18:52:39.495Z,1553799159.495 [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" 4b5cw 2 3.000000
2019-03-28T18:52:39.496Z,1553799159.496 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b5cw
2019-03-28T18:52:39.497Z,1553799159.497 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 3 with id='4b5cw'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T18:52:40.263Z,1553799160.263 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0005.lzma.bak
2019-03-28T18:52:40.264Z,1553799160.264 [DataOverHttps](IMPORTANT): SBD MOMSN=10271091, MTMSN=20190328T184519
2019-03-28T18:52:46.285Z,1553799166.285 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b5cw 3 3
2019-03-28T18:52:46.321Z,1553799166.321 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b5cw 3 3.000000
2019-03-28T18:52:46.322Z,1553799166.322 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b5cw
2019-03-28T18:52:46.323Z,1553799166.323 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 3 with id='4b5cw'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T18:52:46.426Z,1553799166.426 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T18:52:46.427Z,1553799166.427 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T18:52:46.831Z,1553799166.831 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T18:52:46.834Z,1553799166.834 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T18:52:46.837Z,1553799166.837 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T18:52:46.848Z,1553799166.848 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T18:52:46.855Z,1553799166.855 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T18:52:46.862Z,1553799166.862 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T18:52:46.865Z,1553799166.865 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T18:52:46.872Z,1553799166.872 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T18:52:46.879Z,1553799166.879 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T18:52:46.886Z,1553799166.886 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T18:52:46.889Z,1553799166.889 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T18:52:46.896Z,1553799166.896 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T18:52:46.903Z,1553799166.903 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T18:52:46.910Z,1553799166.910 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T18:52:46.913Z,1553799166.913 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T18:52:47.002Z,1553799167.002 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T18:52:47.005Z,1553799167.005 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T18:52:47.024Z,1553799167.024 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T18:52:47.039Z,1553799167.039 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T18:52:47.059Z,1553799167.059 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T18:52:47.070Z,1553799167.070 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T18:52:47.073Z,1553799167.073 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T18:52:47.088Z,1553799167.088 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T18:52:47.100Z,1553799167.100 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T18:52:47.107Z,1553799167.107 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T18:52:47.126Z,1553799167.126 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T18:52:47.129Z,1553799167.129 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T18:52:47.148Z,1553799167.148 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T18:52:47.155Z,1553799167.155 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T18:52:47.167Z,1553799167.167 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T18:52:47.167Z,1553799167.167 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T18:52:47.238Z,1553799167.238 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T18:52:47.247Z,1553799167.247 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T18:52:47.254Z,1553799167.254 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T18:52:47.255Z,1553799167.255 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T18:52:47.304Z,1553799167.304 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T18:52:47.391Z,1553799167.391 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T18:52:47.445Z,1553799167.445 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T18:52:47.558Z,1553799167.558 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T18:52:47.561Z,1553799167.561 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T18:52:47.580Z,1553799167.580 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T18:52:47.589Z,1553799167.589 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T18:52:47.593Z,1553799167.593 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T18:52:47.613Z,1553799167.613 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T18:52:47.617Z,1553799167.617 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T18:52:47.636Z,1553799167.636 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T18:52:47.982Z,1553799167.982 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T18:52:47.990Z,1553799167.990 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T18:52:48.019Z,1553799168.019 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T18:52:48.031Z,1553799168.031 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T18:52:48.055Z,1553799168.055 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T18:52:48.067Z,1553799168.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T18:52:48.100Z,1553799168.100 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T18:52:48.125Z,1553799168.125 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-28T18:52:48.200Z,1553799168.200 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T18:52:48.239Z,1553799168.239 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T18:52:48.255Z,1553799168.255 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T18:52:48.295Z,1553799168.295 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T18:52:48.354Z,1553799168.354 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>120</Value></DefineArg>

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

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

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

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

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

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

    <DefineArg Name="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/> -->

            <Timeout Duration="TerminalGuidanceTimeout"/>
            
 <!--           <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="DockRange"/></Lt>
            </Break>
-->
            <When>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Gt><Arg Name="DockRange"/></Gt>
            </When>

            <!--<Syslog Severity="Important">Setting Heading: <Estimation:TrackAcousticContact.heading_to_contact/><Units:radian/>.</Syslog> -->
            <!-- DEBUG -->
            
            <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>


2019-03-28T18:52:48.355Z,1553799168.355 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T18:52:57.921Z,1553799177.921 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0009.lzma
2019-03-28T18:52:58.727Z,1553799178.727 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0009.lzma.bak
2019-03-28T18:52:58.727Z,1553799178.727 [DataOverHttps](INFO): SBD MOMSN=10271140
2019-03-28T18:53:05.588Z,1553799185.588 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T18:53:05.589Z,1553799185.589 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T18:53:05.590Z,1553799185.590 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T18:53:05.591Z,1553799185.591 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T18:53:10.140Z,1553799190.140 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T184548
2019-03-28T18:53:19.621Z,1553799199.621 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0013.lzma
2019-03-28T18:53:19.624Z,1553799199.624 [DataOverHttps](INFO): Received command:sched asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc;maintain sensor Depth_Keller.depth 0 m" 4b5e5 1 2
2019-03-28T18:53:22.417Z,1553799202.417 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T18:53:22.418Z,1553799202.418 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T18:53:22.419Z,1553799202.419 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T18:53:22.420Z,1553799202.420 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T18:53:22.431Z,1553799202.431 [CommandLine](IMPORTANT): got command schedule asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc;maintain sensor Depth_Keller.depth 0 m" 4b5e5 1 2.000000
2019-03-28T18:53:22.438Z,1553799202.438 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=4b5e5
2019-03-28T18:53:22.439Z,1553799202.439 [CommandLine](IMPORTANT): Scheduled #4 (#1 of 2 with id='4b5e5'): "report t acoustic_contact_range;report m SpeedControl.speedCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc;maintain sensor Depth_Keller.depth 0 m" ASAP
2019-03-28T18:53:23.059Z,1553799203.059 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0013.lzma.bak
2019-03-28T18:53:23.059Z,1553799203.059 [DataOverHttps](IMPORTANT): SBD MOMSN=10271144, MTMSN=20190328T184559
2019-03-28T18:53:28.184Z,1553799208.184 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 5.
2019-03-28T18:53:28.195Z,1553799208.195 [BPC1](INFO): Received data from all battery sticks.
2019-03-28T18:53:28.919Z,1553799208.919 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T18:53:28.920Z,1553799208.920 [CommandLine](IMPORTANT): got command run 
2019-03-28T18:53:28.926Z,1553799208.926 [CommandLine](IMPORTANT): Running 
2019-03-28T18:53:29.035Z,1553799209.035 [Default] Stopped
2019-03-28T18:53:29.036Z,1553799209.036 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T18:53:29.036Z,1553799209.036 [Default:B.GoToSurface] Stopped
2019-03-28T18:53:29.036Z,1553799209.036 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T18:53:29.036Z,1553799209.036 [Default:CheckIn] Stopped
2019-03-28T18:53:29.036Z,1553799209.036 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T18:53:29.036Z,1553799209.036 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T18:53:29.036Z,1553799209.036 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T18:53:29.036Z,1553799209.036 [lineCaptureHoming] Running Loop=1
2019-03-28T18:53:29.036Z,1553799209.036 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T18:53:29.037Z,1553799209.037 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T18:53:29.046Z,1553799209.046 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T18:53:29.046Z,1553799209.046 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T18:53:29.046Z,1553799209.046 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T18:53:29.046Z,1553799209.046 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T18:53:29.047Z,1553799209.047 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T18:53:29.047Z,1553799209.047 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T18:53:29.047Z,1553799209.047 [lineCaptureHoming:L] Running Loop=1
2019-03-28T18:53:29.047Z,1553799209.047 [lineCaptureHoming:M] Running Loop=1
2019-03-28T18:53:29.047Z,1553799209.047 [lineCaptureHoming:B] Running Loop=1
2019-03-28T18:53:29.048Z,1553799209.048 [lineCaptureHoming:M] Running Loop=1
2019-03-28T18:53:29.048Z,1553799209.048 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T18:53:29.048Z,1553799209.048 [lineCaptureHoming:L] Running Loop=1
2019-03-28T18:53:29.049Z,1553799209.049 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T18:53:29.049Z,1553799209.049 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T18:53:29.054Z,1553799209.054 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T18:53:29.054Z,1553799209.054 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T18:53:29.055Z,1553799209.055 [lineCaptureHoming:B] Stopped
2019-03-28T18:53:29.055Z,1553799209.055 [lineCaptureHoming:C] Running Loop=1
2019-03-28T18:53:29.055Z,1553799209.055 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T18:53:29.055Z,1553799209.055 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T18:53:29.056Z,1553799209.056 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T18:53:29.056Z,1553799209.056 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T18:53:29.417Z,1553799209.417 [lineCaptureHoming:C] Stopped
2019-03-28T18:53:29.417Z,1553799209.417 [lineCaptureHoming:D] Running Loop=1
2019-03-28T18:53:29.830Z,1553799209.830 [lineCaptureHoming:D] Stopped
2019-03-28T18:53:29.830Z,1553799209.830 [lineCaptureHoming:F] Running Loop=1
2019-03-28T18:53:30.226Z,1553799210.226 [lineCaptureHoming:F] Stopped
2019-03-28T18:53:30.227Z,1553799210.227 [lineCaptureHoming:G] Running Loop=1
2019-03-28T18:53:30.650Z,1553799210.650 [lineCaptureHoming:G] Stopped
2019-03-28T18:53:30.651Z,1553799210.651 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T18:53:30.651Z,1553799210.651 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T18:53:31.014Z,1553799211.014 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T18:53:31.014Z,1553799211.014 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T18:53:31.014Z,1553799211.014 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T18:53:31.015Z,1553799211.015 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T18:53:31.015Z,1553799211.015 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T18:53:31.015Z,1553799211.015 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T18:53:31.450Z,1553799211.450 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T18:53:31.450Z,1553799211.450 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T18:53:31.450Z,1553799211.450 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T18:53:31.450Z,1553799211.450 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T18:53:31.451Z,1553799211.451 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T18:53:31.451Z,1553799211.451 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T18:53:31.452Z,1553799211.452 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T18:53:31.452Z,1553799211.452 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T18:53:31.452Z,1553799211.452 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T18:53:31.453Z,1553799211.453 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T18:53:31.478Z,1553799211.478 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553798676.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T18:53:31.478Z,1553799211.478 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T18:53:31.822Z,1553799211.822 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T18:53:31.933Z,1553799211.933 [DataOverHttps](INFO): Received command:sched asap "report m HorizontalControl.headingCmd" 4b5e5 2 2
2019-03-28T18:53:31.938Z,1553799211.938 [CommandLine](IMPORTANT): got command schedule asap "report m HorizontalControl.headingCmd" 4b5e5 2 2.000000
2019-03-28T18:53:31.939Z,1553799211.939 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=4b5e5
2019-03-28T18:53:31.939Z,1553799211.939 [CommandLine](IMPORTANT): Scheduled #5 (#2 of 2 with id='4b5e5'): "report m HorizontalControl.headingCmd" ASAP
2019-03-28T18:53:32.240Z,1553799212.240 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T18:53:33.418Z,1553799213.418 [NAL9602](DEBUG): Fix Requested
2019-03-28T18:53:33.822Z,1553799213.822 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,184612.00,A,3648.16676,N,12147.28385,W,0.389,25.85,280319,,,A*41
2019-03-28T18:53:33.824Z,1553799213.824 [NAL9602](INFO): GPS fix at 20190328T184612: (36.802779, -121.788064)
2019-03-28T18:53:33.988Z,1553799213.988 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T18:53:33.988Z,1553799213.988 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T18:53:34.347Z,1553799214.347 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T18:53:47.087Z,1553799227.087 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-03-28T18:53:47.088Z,1553799227.088 [CommandLine](IMPORTANT): got command report mod SpeedControl.speedCmd
2019-03-28T18:53:47.121Z,1553799227.121 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 2.500000 centimeter
2019-03-28T18:53:47.131Z,1553799227.131 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2019-03-28T18:53:47.131Z,1553799227.131 [CommandLine](IMPORTANT): got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter
2019-03-28T18:53:47.132Z,1553799227.132 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2019-03-28T18:53:47.404Z,1553799227.404 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T18:53:47.409Z,1553799227.409 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,Depth_Keller,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.buoyancyAction,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-28T18:53:49.425Z,1553799229.425 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0016.lzma
2019-03-28T18:53:50.231Z,1553799230.231 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0016.lzma.bak
2019-03-28T18:53:50.231Z,1553799230.231 [DataOverHttps](INFO): SBD MOMSN=10271151
2019-03-28T18:53:50.244Z,1553799230.244 [CommandLine](IMPORTANT): got command report mod HorizontalControl.headingCmd
2019-03-28T18:53:50.361Z,1553799230.361 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T18:53:55.707Z,1553799235.707 [CommandLine](IMPORTANT): got command report
2019-03-28T18:53:55.707Z,1553799235.707 [Reporter](INFO): acoustic_contact_range reporting when touched
2019-03-28T18:53:55.707Z,1553799235.707 [Reporter](INFO): SpeedControl.speedCmd reporting changes
2019-03-28T18:53:55.708Z,1553799235.708 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2019-03-28T18:53:56.609Z,1553799236.609 [NAL9602](INFO): SBD MO Status=2, MOMSN=2490, MT Status=2, MTMSN=0
2019-03-28T18:53:56.609Z,1553799236.609 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T18:53:58.307Z,1553799238.307 [CommandLine](IMPORTANT): got command show stack
2019-03-28T18:53:58.307Z,1553799238.307 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-28T18:53:58.307Z,1553799238.307 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-28T18:53:58.307Z,1553799238.307 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-28T18:53:58.308Z,1553799238.308 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-28T18:53:58.308Z,1553799238.308 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-28T18:53:58.308Z,1553799238.308 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-03-28T18:53:58.309Z,1553799238.309 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.
2019-03-28T18:53:58.309Z,1553799238.309 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Mass
2019-03-28T18:53:58.309Z,1553799238.309 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Buoyancy
2019-03-28T18:53:58.309Z,1553799238.309 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-28T18:53:58.311Z,1553799238.311 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-28T18:54:07.699Z,1553799247.699 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T18:54:07.954Z,1553799247.954 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T18:54:07.954Z,1553799247.954 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T18:54:08.380Z,1553799248.380 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T18:54:11.061Z,1553799251.061 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0019.lzma
2019-03-28T18:54:11.863Z,1553799251.863 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0019.lzma.bak
2019-03-28T18:54:11.863Z,1553799251.863 [DataOverHttps](INFO): SBD MOMSN=10271153
2019-03-28T18:54:18.443Z,1553799258.443 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553799296.000000 second
2019-03-28T18:54:18.471Z,1553799258.471 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T18:54:18.472Z,1553799258.472 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T18:54:18.472Z,1553799258.472 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T18:54:18.472Z,1553799258.472 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T18:54:18.472Z,1553799258.472 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T18:54:18.472Z,1553799258.472 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T18:54:18.862Z,1553799258.862 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T18:54:18.862Z,1553799258.862 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T18:54:18.863Z,1553799258.863 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T18:54:18.863Z,1553799258.863 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T18:54:19.283Z,1553799259.283 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T18:54:19.283Z,1553799259.283 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T18:54:19.680Z,1553799259.680 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T18:54:19.680Z,1553799259.680 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T18:54:19.680Z,1553799259.680 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T18:54:19.680Z,1553799259.680 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T18:54:20.086Z,1553799260.086 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T18:54:20.087Z,1553799260.087 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T18:54:20.488Z,1553799260.488 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T18:54:20.488Z,1553799260.488 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T18:54:20.488Z,1553799260.488 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T18:54:20.488Z,1553799260.488 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T18:54:20.488Z,1553799260.488 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T18:54:20.489Z,1553799260.489 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T18:54:20.489Z,1553799260.489 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T18:54:20.489Z,1553799260.489 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T18:54:20.490Z,1553799260.490 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T18:54:20.491Z,1553799260.491 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T18:54:20.492Z,1553799260.492 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T18:54:20.492Z,1553799260.492 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T18:54:20.492Z,1553799260.492 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T18:54:20.492Z,1553799260.492 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T18:54:20.492Z,1553799260.492 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T18:54:20.492Z,1553799260.492 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T18:54:20.493Z,1553799260.493 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T18:54:20.494Z,1553799260.494 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T18:54:20.495Z,1553799260.495 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T18:54:20.496Z,1553799260.496 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T18:54:20.496Z,1553799260.496 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T18:54:20.496Z,1553799260.496 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T18:54:20.496Z,1553799260.496 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T18:54:20.496Z,1553799260.496 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T18:54:20.511Z,1553799260.511 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T18:54:20.848Z,1553799260.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:20.852Z,1553799260.852 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:20.948Z,1553799260.948 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T18:54:20.949Z,1553799260.949 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T18:54:20.949Z,1553799260.949 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T18:54:20.949Z,1553799260.949 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T18:54:20.949Z,1553799260.949 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T18:54:20.949Z,1553799260.949 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T18:54:20.949Z,1553799260.949 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T18:54:21.325Z,1553799261.325 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T18:54:21.330Z,1553799261.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T18:54:21.331Z,1553799261.331 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T18:54:21.331Z,1553799261.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T18:54:21.331Z,1553799261.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T18:54:21.331Z,1553799261.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T18:54:21.332Z,1553799261.332 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T18:54:21.674Z,1553799261.674 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T18:54:21.674Z,1553799261.674 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,190328115533 -0.1,   0.0,1448.9,  0
2019-03-28T18:54:21.690Z,1553799261.690 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T18:54:21.690Z,1553799261.690 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T18:54:21.844Z,1553799261.844 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T18:54:22.226Z,1553799262.226 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T18:54:22.226Z,1553799262.226 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T18:54:24.888Z,1553799264.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:24.893Z,1553799264.893 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:25.447Z,1553799265.447 [Reporter](INFO): acoustic_contact_range 9.419999 m
2019-03-28T18:54:25.730Z,1553799265.730 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:54:25.730Z,1553799265.730 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:54:25.730Z,1553799265.730 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-28T18:54:25.730Z,1553799265.730 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Initialize.
2019-03-28T18:54:25.731Z,1553799265.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:54:25.731Z,1553799265.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:54:25.731Z,1553799265.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:54:25.731Z,1553799265.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:54:25.731Z,1553799265.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:54:25.732Z,1553799265.732 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-28T18:54:25.732Z,1553799265.732 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 9.419999 m .
2019-03-28T18:54:25.733Z,1553799265.733 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:54:25.733Z,1553799265.733 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:54:25.733Z,1553799265.733 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-28T18:54:25.733Z,1553799265.733 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T18:54:25.733Z,1553799265.733 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:Dock:UpdateNav] Running Loop=1
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-03-28T18:54:25.738Z,1553799265.738 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-03-28T18:54:25.876Z,1553799265.876 [Reporter](INFO): HorizontalControl.headingCmd 3.080993 rad
2019-03-28T18:54:26.116Z,1553799266.116 [PowerOnly](INFO): Powering up
2019-03-28T18:54:26.134Z,1553799266.134 [lineCaptureHoming:Lap:Dock:UpdateNav] Stopped
2019-03-28T18:54:26.134Z,1553799266.134 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T18:54:26.134Z,1553799266.134 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Stopped
2019-03-28T18:54:26.134Z,1553799266.134 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-03-28T18:54:26.134Z,1553799266.134 [lineCaptureHoming:Lap:Dock:B.Wait] Running Loop=1
2019-03-28T18:54:26.134Z,1553799266.134 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T18:54:26.135Z,1553799266.135 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:54:26.135Z,1553799266.135 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:54:26.135Z,1553799266.135 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:54:26.135Z,1553799266.135 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:54:26.135Z,1553799266.135 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:54:28.932Z,1553799268.932 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:28.936Z,1553799268.936 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:29.331Z,1553799269.331 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0D,FF
2019-03-28T18:54:32.159Z,1553799272.159 [NAL9602](INFO): SBD MO Status=2, MOMSN=2490, MT Status=2, MTMSN=0
2019-03-28T18:54:32.159Z,1553799272.159 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T18:54:32.972Z,1553799272.972 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:32.976Z,1553799272.976 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:33.375Z,1553799273.375 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T18:54:37.005Z,1553799277.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:37.012Z,1553799277.012 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:41.054Z,1553799281.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:41.058Z,1553799281.058 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:41.587Z,1553799281.587 [Reporter](INFO): acoustic_contact_range 325.979980 m
2019-03-28T18:54:45.092Z,1553799285.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:45.096Z,1553799285.096 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:45.623Z,1553799285.623 [Reporter](INFO): acoustic_contact_range 60.179996 m
2019-03-28T18:54:49.127Z,1553799289.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:49.129Z,1553799289.129 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:49.451Z,1553799289.451 [CommandLine](IMPORTANT): got command report
2019-03-28T18:54:49.452Z,1553799289.452 [Reporter](INFO): acoustic_contact_range reporting when touched
2019-03-28T18:54:49.452Z,1553799289.452 [Reporter](INFO): SpeedControl.speedCmd reporting changes
2019-03-28T18:54:49.452Z,1553799289.452 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2019-03-28T18:54:49.683Z,1553799289.683 [Reporter](INFO): acoustic_contact_range 10.200003 m
2019-03-28T18:54:53.172Z,1553799293.172 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:53.230Z,1553799293.230 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:54:53.569Z,1553799293.569 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,186,80,81,13,FF
2019-03-28T18:54:54.401Z,1553799294.401 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-03-28T18:54:57.212Z,1553799297.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:54:57.216Z,1553799297.216 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:01.261Z,1553799301.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:01.294Z,1553799301.294 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:01.651Z,1553799301.651 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,187,80,81,0B,FF
2019-03-28T18:55:02.090Z,1553799302.090 [CommandLine](IMPORTANT): got command report touch TrackAcousticContact.heading_to_contact
2019-03-28T18:55:05.304Z,1553799305.304 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:05.308Z,1553799305.308 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:05.696Z,1553799305.696 [DUSBL_Hydroid](ERROR): NEGATIVE RANGE NOT USING
2019-03-28T18:55:09.331Z,1553799309.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:09.335Z,1553799309.335 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:09.858Z,1553799309.858 [Reporter](INFO): acoustic_contact_range 55.740002 m
2019-03-28T18:55:09.859Z,1553799309.859 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.146593 rad
2019-03-28T18:55:13.385Z,1553799313.385 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:13.392Z,1553799313.392 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:13.775Z,1553799313.775 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-28T18:55:17.406Z,1553799317.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:17.409Z,1553799317.409 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:17.811Z,1553799317.811 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-28T18:55:21.452Z,1553799321.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:21.456Z,1553799321.456 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:21.855Z,1553799321.855 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,ED7,000,0058,FF
2019-03-28T18:55:25.488Z,1553799325.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:25.489Z,1553799325.489 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:26.067Z,1553799326.067 [Reporter](INFO): acoustic_contact_range 15.899998 m
2019-03-28T18:55:26.068Z,1553799326.068 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.951037 rad
2019-03-28T18:55:26.762Z,1553799326.762 [lineCaptureHoming:Lap:Dock:B.Wait](INFO): Done Waiting.
2019-03-28T18:55:26.762Z,1553799326.762 [lineCaptureHoming:Lap:Dock:B.Wait] Stopped
2019-03-28T18:55:26.762Z,1553799326.762 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T18:55:26.762Z,1553799326.762 [lineCaptureHoming:Lap:Dock:C] Running Loop=1
2019-03-28T18:55:27.158Z,1553799327.158 [lineCaptureHoming:Lap:Dock:C] Stopped
2019-03-28T18:55:27.158Z,1553799327.158 [lineCaptureHoming:Lap:Dock:D] Running Loop=1
2019-03-28T18:55:27.159Z,1553799327.159 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:55:27.159Z,1553799327.159 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:55:27.159Z,1553799327.159 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:55:27.159Z,1553799327.159 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:55:27.160Z,1553799327.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 15.899998 m .
2019-03-28T18:55:27.160Z,1553799327.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:55:27.160Z,1553799327.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:55:27.535Z,1553799327.535 [PowerOnly](INFO): Powering down
2019-03-28T18:55:27.605Z,1553799327.605 [lineCaptureHoming:Lap:Dock:D] Stopped
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Dock](INFO): Completed lineCaptureHoming:Lap:Dock
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Dock] Stopped
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-03-28T18:55:27.610Z,1553799327.610 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-28T18:55:27.611Z,1553799327.611 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-03-28T18:55:27.611Z,1553799327.611 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T18:55:27.611Z,1553799327.611 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:55:27.611Z,1553799327.611 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:55:27.612Z,1553799327.612 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:55:27.612Z,1553799327.612 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:55:27.612Z,1553799327.612 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-28T18:55:27.946Z,1553799327.946 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-03-28T18:55:27.947Z,1553799327.947 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T18:55:27.947Z,1553799327.947 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T18:55:27.947Z,1553799327.947 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T18:55:27.947Z,1553799327.947 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T18:55:27.947Z,1553799327.947 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T18:55:29.528Z,1553799329.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:29.532Z,1553799329.532 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:29.931Z,1553799329.931 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,1A,FF
2019-03-28T18:55:30.859Z,1553799330.859 [Reporter](INFO): acoustic_contact_range 8.759999 m
2019-03-28T18:55:30.860Z,1553799330.860 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.126197 rad
2019-03-28T18:55:33.565Z,1553799333.565 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:33.569Z,1553799333.569 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:33.976Z,1553799333.976 [DUSBL_Hydroid](ERROR): NEGATIVE RANGE NOT USING
2019-03-28T18:55:37.612Z,1553799337.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:37.617Z,1553799337.617 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:38.012Z,1553799338.012 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-28T18:55:41.652Z,1553799341.652 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:41.656Z,1553799341.656 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:42.143Z,1553799342.143 [Reporter](INFO): acoustic_contact_range 7.080001 m
2019-03-28T18:55:42.144Z,1553799342.144 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.157413 rad
2019-03-28T18:55:45.692Z,1553799345.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:45.696Z,1553799345.696 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:46.199Z,1553799346.199 [Reporter](INFO): acoustic_contact_range 203.639984 m
2019-03-28T18:55:46.200Z,1553799346.200 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.172636 rad
2019-03-28T18:55:49.734Z,1553799349.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:49.741Z,1553799349.741 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:50.142Z,1553799350.142 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,186,80,81,0F,FF
2019-03-28T18:55:53.768Z,1553799353.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:53.772Z,1553799353.772 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:54.350Z,1553799354.350 [Reporter](INFO): acoustic_contact_range 64.020004 m
2019-03-28T18:55:54.352Z,1553799354.352 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.068343 rad
2019-03-28T18:55:57.808Z,1553799357.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:55:57.812Z,1553799357.812 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:55:58.367Z,1553799358.367 [Reporter](INFO): acoustic_contact_range 46.259998 m
2019-03-28T18:55:58.368Z,1553799358.368 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.631860 rad
2019-03-28T18:56:01.847Z,1553799361.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:56:01.849Z,1553799361.849 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:56:02.451Z,1553799362.451 [Reporter](INFO): acoustic_contact_range 25.020000 m
2019-03-28T18:56:02.452Z,1553799362.452 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.465712 rad
2019-03-28T18:56:05.885Z,1553799365.885 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:56:05.889Z,1553799365.889 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:56:06.306Z,1553799366.306 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,186,80,81,0E,FF
2019-03-28T18:56:07.480Z,1553799367.480 [CommandLine](IMPORTANT): got command stop
2019-03-28T18:56:07.480Z,1553799367.480 [CommandLine](IMPORTANT): Scheduling is paused
2019-03-28T18:56:07.480Z,1553799367.480 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T18:56:07.544Z,1553799367.544 [MissionManager](INFO): MissionManager is completed.
2019-03-28T18:56:07.544Z,1553799367.544 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T18:56:07.544Z,1553799367.544 [lineCaptureHoming] Stopped
2019-03-28T18:56:07.544Z,1553799367.544 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T18:56:07.544Z,1553799367.544 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T18:56:07.544Z,1553799367.544 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T18:56:07.544Z,1553799367.544 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T18:56:07.544Z,1553799367.544 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:I.] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:L] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:M] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T18:56:07.545Z,1553799367.545 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T18:56:07.546Z,1553799367.546 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T18:56:07.547Z,1553799367.547 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Stopped
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:Rollout] Stopped
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-03-28T18:56:07.548Z,1553799367.548 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T18:56:07.611Z,1553799367.611 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T18:56:07.941Z,1553799367.941 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T18:56:07.941Z,1553799367.941 [Default] Running Loop=1
2019-03-28T18:56:07.941Z,1553799367.941 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T18:56:07.941Z,1553799367.941 [Default:B.GoToSurface] Running Loop=1
2019-03-28T18:56:07.941Z,1553799367.941 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T18:56:07.942Z,1553799367.942 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T18:56:07.942Z,1553799367.942 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T18:56:07.942Z,1553799367.942 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T18:56:07.943Z,1553799367.943 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T18:56:07.943Z,1553799367.943 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T18:56:07.944Z,1553799367.944 [Default:A.Wait] Running Loop=1
2019-03-28T18:56:07.944Z,1553799367.944 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T18:56:07.983Z,1553799367.983 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T18:56:12.357Z,1553799372.357 [NAL9602](INFO): SBD MO Status=2, MOMSN=2490, MT Status=2, MTMSN=0
2019-03-28T18:56:12.357Z,1553799372.357 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T18:56:21.316Z,1553799381.316 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T18:56:21.316Z,1553799381.316 [Default:A.Wait] Stopped
2019-03-28T18:56:21.316Z,1553799381.316 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T18:56:21.698Z,1553799381.698 [Default:CheckIn] Running Loop=1
2019-03-28T18:56:21.699Z,1553799381.699 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T18:56:21.699Z,1553799381.699 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T18:57:14.780Z,1553799434.780 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T184953
2019-03-28T18:57:20.235Z,1553799440.235 [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" 4b5ka 1 3
2019-03-28T18:57:20.325Z,1553799440.325 [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" 4b5ka 1 3.000000
2019-03-28T18:57:20.326Z,1553799440.326 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b5ka
2019-03-28T18:57:20.327Z,1553799440.327 [CommandLine](IMPORTANT): Scheduled #6 (#1 of 3 with id='4b5ka'): "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
2019-03-28T18:57:21.040Z,1553799441.040 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T184959
2019-03-28T18:57:26.885Z,1553799446.885 [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" 4b5ka 2 3
2019-03-28T18:57:26.939Z,1553799446.939 [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" 4b5ka 2 3.000000
2019-03-28T18:57:26.939Z,1553799446.939 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b5ka
2019-03-28T18:57:26.940Z,1553799446.940 [CommandLine](IMPORTANT): Scheduled #7 (#2 of 3 with id='4b5ka'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T18:57:27.691Z,1553799447.691 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T185006
2019-03-28T18:57:33.365Z,1553799453.365 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b5ka 3 3
2019-03-28T18:57:33.460Z,1553799453.460 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b5ka 3 3.000000
2019-03-28T18:57:33.460Z,1553799453.460 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b5ka
2019-03-28T18:57:33.461Z,1553799453.461 [CommandLine](IMPORTANT): Scheduled #8 (#3 of 3 with id='4b5ka'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T18:57:33.728Z,1553799453.728 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T18:57:33.734Z,1553799453.734 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T18:57:33.911Z,1553799453.911 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T18:57:33.913Z,1553799453.913 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T18:57:33.915Z,1553799453.915 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T18:57:33.918Z,1553799453.918 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T18:57:33.920Z,1553799453.920 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T18:57:33.922Z,1553799453.922 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T18:57:33.924Z,1553799453.924 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T18:57:33.926Z,1553799453.926 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T18:57:33.928Z,1553799453.928 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T18:57:33.931Z,1553799453.931 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T18:57:33.933Z,1553799453.933 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T18:57:33.935Z,1553799453.935 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T18:57:33.937Z,1553799453.937 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T18:57:33.940Z,1553799453.940 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T18:57:34.001Z,1553799454.001 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T18:57:34.015Z,1553799454.015 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T18:57:34.017Z,1553799454.017 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T18:57:34.024Z,1553799454.024 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T18:57:34.038Z,1553799454.038 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T18:57:34.055Z,1553799454.055 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T18:57:34.057Z,1553799454.057 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T18:57:34.059Z,1553799454.059 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T18:57:34.061Z,1553799454.061 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T18:57:34.072Z,1553799454.072 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T18:57:34.078Z,1553799454.078 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T18:57:34.080Z,1553799454.080 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T18:57:34.087Z,1553799454.087 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T18:57:34.089Z,1553799454.089 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T18:57:34.093Z,1553799454.093 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T18:57:34.103Z,1553799454.103 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T18:57:34.104Z,1553799454.104 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T18:57:34.163Z,1553799454.163 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T18:57:34.174Z,1553799454.174 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T18:57:34.176Z,1553799454.176 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T18:57:34.177Z,1553799454.177 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T18:57:34.198Z,1553799454.198 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T18:57:34.213Z,1553799454.213 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T18:57:34.221Z,1553799454.221 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T18:57:34.339Z,1553799454.339 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T18:57:34.341Z,1553799454.341 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T18:57:34.343Z,1553799454.343 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T18:57:34.345Z,1553799454.345 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T18:57:34.400Z,1553799454.400 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T18:57:34.414Z,1553799454.414 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T18:57:34.416Z,1553799454.416 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T18:57:34.439Z,1553799454.439 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T18:57:34.469Z,1553799454.469 [Reporter](INFO): HorizontalControl.headingCmd 3.080993 rad
2019-03-28T18:57:34.543Z,1553799454.543 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T18:57:34.545Z,1553799454.545 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T18:57:34.577Z,1553799454.577 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T18:57:34.588Z,1553799454.588 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T18:57:34.612Z,1553799454.612 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T18:57:34.619Z,1553799454.619 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T18:57:34.650Z,1553799454.650 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T18:57:34.666Z,1553799454.666 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-03-28T18:57:34.692Z,1553799454.692 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T18:57:34.696Z,1553799454.696 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T18:57:34.709Z,1553799454.709 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T18:57:34.724Z,1553799454.724 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T18:57:34.824Z,1553799454.824 [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/> -->

            <Timeout Duration="TerminalGuidanceTimeout"/>
            
 <!--           <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="DockRange"/></Lt>
            </Break>
-->
            <When>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Gt><Arg Name="DockRange"/></Gt>
            </When>

            <Syslog Severity="Important">Setting Heading: <Estimation:TrackAcousticContact.heading_to_contact/><Units:radian/>.</Syslog>
            <!-- DEBUG -->
            
            <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>


2019-03-28T18:57:34.825Z,1553799454.825 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T18:57:41.656Z,1553799461.656 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T18:57:41.656Z,1553799461.656 [RDI_Pathfinder](ERROR): Failed to parse:
:TS1585373,35.0, -0.1,   0.0,1448.9,  0
2019-03-28T18:57:41.678Z,1553799461.678 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T18:57:41.678Z,1553799461.678 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T18:57:41.746Z,1553799461.746 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T18:57:42.089Z,1553799462.089 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T18:57:42.089Z,1553799462.089 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T18:57:44.166Z,1553799464.166 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T18:57:44.166Z,1553799464.166 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T18:57:44.167Z,1553799464.167 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T18:57:44.168Z,1553799464.168 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T18:57:55.143Z,1553799475.143 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T18:57:55.143Z,1553799475.143 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T18:57:55.144Z,1553799475.144 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T18:57:55.149Z,1553799475.149 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T18:57:58.835Z,1553799478.835 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T18:57:58.835Z,1553799478.835 [CommandLine](IMPORTANT): got command run 
2019-03-28T18:57:58.837Z,1553799478.837 [CommandLine](IMPORTANT): Running 
2019-03-28T18:57:59.037Z,1553799479.037 [Default] Stopped
2019-03-28T18:57:59.037Z,1553799479.037 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T18:57:59.037Z,1553799479.037 [Default:B.GoToSurface] Stopped
2019-03-28T18:57:59.037Z,1553799479.037 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T18:57:59.037Z,1553799479.037 [Default:CheckIn] Stopped
2019-03-28T18:57:59.037Z,1553799479.037 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T18:57:59.037Z,1553799479.037 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T18:57:59.037Z,1553799479.037 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T18:57:59.062Z,1553799479.062 [lineCaptureHoming] Running Loop=1
2019-03-28T18:57:59.062Z,1553799479.062 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T18:57:59.062Z,1553799479.062 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T18:57:59.062Z,1553799479.062 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T18:57:59.062Z,1553799479.062 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T18:57:59.062Z,1553799479.062 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T18:57:59.063Z,1553799479.063 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T18:57:59.063Z,1553799479.063 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T18:57:59.063Z,1553799479.063 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T18:57:59.063Z,1553799479.063 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T18:57:59.063Z,1553799479.063 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T18:57:59.063Z,1553799479.063 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:L] Running Loop=1
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:M] Running Loop=1
2019-03-28T18:57:59.064Z,1553799479.064 [lineCaptureHoming:B] Running Loop=1
2019-03-28T18:57:59.065Z,1553799479.065 [lineCaptureHoming:M] Running Loop=1
2019-03-28T18:57:59.074Z,1553799479.074 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T18:57:59.074Z,1553799479.074 [lineCaptureHoming:L] Running Loop=1
2019-03-28T18:57:59.075Z,1553799479.075 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T18:57:59.075Z,1553799479.075 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T18:57:59.075Z,1553799479.075 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T18:57:59.075Z,1553799479.075 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T18:57:59.076Z,1553799479.076 [lineCaptureHoming:B] Stopped
2019-03-28T18:57:59.076Z,1553799479.076 [lineCaptureHoming:C] Running Loop=1
2019-03-28T18:57:59.076Z,1553799479.076 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T18:57:59.076Z,1553799479.076 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T18:57:59.076Z,1553799479.076 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T18:57:59.077Z,1553799479.077 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T18:57:59.450Z,1553799479.450 [lineCaptureHoming:C] Stopped
2019-03-28T18:57:59.450Z,1553799479.450 [lineCaptureHoming:D] Running Loop=1
2019-03-28T18:57:59.850Z,1553799479.850 [lineCaptureHoming:D] Stopped
2019-03-28T18:57:59.851Z,1553799479.851 [lineCaptureHoming:F] Running Loop=1
2019-03-28T18:58:00.256Z,1553799480.256 [lineCaptureHoming:F] Stopped
2019-03-28T18:58:00.256Z,1553799480.256 [lineCaptureHoming:G] Running Loop=1
2019-03-28T18:58:00.666Z,1553799480.666 [lineCaptureHoming:G] Stopped
2019-03-28T18:58:00.666Z,1553799480.666 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T18:58:00.666Z,1553799480.666 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T18:58:01.074Z,1553799481.074 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T18:58:01.074Z,1553799481.074 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T18:58:01.074Z,1553799481.074 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T18:58:01.074Z,1553799481.074 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T18:58:01.075Z,1553799481.075 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T18:58:01.075Z,1553799481.075 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T18:58:01.493Z,1553799481.493 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T18:58:01.494Z,1553799481.494 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T18:58:01.494Z,1553799481.494 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T18:58:01.494Z,1553799481.494 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T18:58:01.494Z,1553799481.494 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T18:58:01.495Z,1553799481.495 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T18:58:01.495Z,1553799481.495 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T18:58:01.496Z,1553799481.496 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T18:58:01.496Z,1553799481.496 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T18:58:01.496Z,1553799481.496 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T18:58:01.497Z,1553799481.497 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553799296.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T18:58:01.497Z,1553799481.497 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T18:58:01.887Z,1553799481.887 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T18:58:02.301Z,1553799482.301 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,   -32,   +34,   +13,A
2019-03-28T18:58:02.350Z,1553799482.350 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T18:58:33.308Z,1553799513.308 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553799424.000000 second
2019-03-28T18:58:33.389Z,1553799513.389 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T18:58:33.390Z,1553799513.390 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T18:58:33.786Z,1553799513.786 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T18:58:35.772Z,1553799515.772 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T18:58:40.146Z,1553799520.146 [DataOverHttps](INFO): Sending 219 bytes from file Logs/20190328T184636/Courier0022.lzma
2019-03-28T18:58:40.951Z,1553799520.951 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0022.lzma.bak
2019-03-28T18:58:40.951Z,1553799520.951 [DataOverHttps](INFO): SBD MOMSN=10271160
2019-03-28T18:58:44.307Z,1553799524.307 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-03-28T18:58:44.307Z,1553799524.307 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +13,  BE,   +13,   -14,    -5,A
2019-03-28T18:58:53.421Z,1553799533.421 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T184636/Courier0025.lzma
2019-03-28T18:58:54.228Z,1553799534.228 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0025.lzma.bak
2019-03-28T18:58:54.228Z,1553799534.228 [DataOverHttps](INFO): SBD MOMSN=10271163
2019-03-28T18:59:03.665Z,1553799543.665 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T18:59:03.665Z,1553799543.665 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032812000, -0.1,   0.0,1448.9,  0
2019-03-28T18:59:06.476Z,1553799546.476 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T18:59:06.933Z,1553799546.933 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0026.lzma
2019-03-28T18:59:07.739Z,1553799547.739 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0026.lzma.bak
2019-03-28T18:59:07.739Z,1553799547.739 [DataOverHttps](INFO): SBD MOMSN=10271165
2019-03-28T18:59:22.205Z,1553799562.205 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Courier0031.lzma
2019-03-28T18:59:23.011Z,1553799563.011 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0031.lzma.bak
2019-03-28T18:59:23.012Z,1553799563.012 [DataOverHttps](INFO): SBD MOMSN=10271167
2019-03-28T18:59:23.968Z,1553799563.968 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553799552.000000 second
2019-03-28T18:59:24.683Z,1553799564.683 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,   +71,   -65,   -26,A
2019-03-28T18:59:35.887Z,1553799575.887 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T18:59:36.014Z,1553799576.014 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T18:59:36.014Z,1553799576.014 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T18:59:36.438Z,1553799576.438 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T18:59:37.610Z,1553799577.610 [NAL9602](DEBUG): Fix Requested
2019-03-28T18:59:37.893Z,1553799577.893 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20190328T184636/Express0006.lzma
2019-03-28T18:59:37.998Z,1553799577.998 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,185216.00,A,3648.17072,N,12147.28087,W,0.156,25.85,280319,,,A*42
2019-03-28T18:59:37.000Z,1553799578.000 [NAL9602](INFO): GPS fix at 20190328T185216: (36.802845, -121.788015)
2019-03-28T18:59:38.063Z,1553799578.063 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T18:59:38.063Z,1553799578.063 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T18:59:38.063Z,1553799578.063 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T18:59:38.064Z,1553799578.064 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T18:59:38.064Z,1553799578.064 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T18:59:38.064Z,1553799578.064 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T18:59:38.483Z,1553799578.483 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T18:59:38.483Z,1553799578.483 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T18:59:38.483Z,1553799578.483 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T18:59:38.484Z,1553799578.484 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T18:59:38.699Z,1553799578.699 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0006.lzma.bak
2019-03-28T18:59:38.699Z,1553799578.699 [DataOverHttps](INFO): SBD MOMSN=10271169
2019-03-28T18:59:38.842Z,1553799578.842 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T18:59:38.843Z,1553799578.843 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T18:59:39.274Z,1553799579.274 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T18:59:39.275Z,1553799579.275 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T18:59:39.275Z,1553799579.275 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T18:59:39.275Z,1553799579.275 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T18:59:39.649Z,1553799579.649 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T18:59:39.649Z,1553799579.649 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T18:59:39.649Z,1553799579.649 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T18:59:39.650Z,1553799579.650 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T18:59:39.651Z,1553799579.651 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T18:59:39.651Z,1553799579.651 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T18:59:39.651Z,1553799579.651 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T18:59:39.651Z,1553799579.651 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T18:59:40.050Z,1553799580.050 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:40.050Z,1553799580.050 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.050Z,1553799580.050 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:40.050Z,1553799580.050 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:40.051Z,1553799580.051 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:40.051Z,1553799580.051 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:40.052Z,1553799580.052 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:40.052Z,1553799580.052 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:40.052Z,1553799580.052 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.052Z,1553799580.052 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:40.052Z,1553799580.052 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.052Z,1553799580.052 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:40.053Z,1553799580.053 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T18:59:40.053Z,1553799580.053 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T18:59:40.053Z,1553799580.053 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T18:59:40.053Z,1553799580.053 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T18:59:40.053Z,1553799580.053 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T18:59:40.053Z,1553799580.053 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T18:59:40.058Z,1553799580.058 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T18:59:40.059Z,1553799580.059 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T18:59:40.059Z,1553799580.059 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T18:59:40.059Z,1553799580.059 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T18:59:40.060Z,1553799580.060 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T18:59:40.061Z,1553799580.061 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:59:40.066Z,1553799580.066 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T18:59:40.066Z,1553799580.066 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T18:59:40.066Z,1553799580.066 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T18:59:40.066Z,1553799580.066 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T18:59:40.066Z,1553799580.066 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T18:59:40.067Z,1553799580.067 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T18:59:40.068Z,1553799580.068 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T18:59:40.068Z,1553799580.068 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T18:59:40.068Z,1553799580.068 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T18:59:40.095Z,1553799580.095 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T18:59:40.096Z,1553799580.096 [Reporter](INFO): HorizontalControl.headingCmd 3.465712 rad
2019-03-28T18:59:40.430Z,1553799580.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:59:40.431Z,1553799580.431 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:59:40.542Z,1553799580.542 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:40.542Z,1553799580.542 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.542Z,1553799580.542 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:40.542Z,1553799580.542 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:40.543Z,1553799580.543 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T18:59:40.544Z,1553799580.544 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T18:59:40.545Z,1553799580.545 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T18:59:40.545Z,1553799580.545 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-03-28T18:59:40.545Z,1553799580.545 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-03-28T18:59:40.545Z,1553799580.545 [lineCaptureHoming:Lap:Dock:UpdateNav] Running Loop=1
2019-03-28T18:59:40.545Z,1553799580.545 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T18:59:40.550Z,1553799580.550 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-03-28T18:59:40.550Z,1553799580.550 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-03-28T18:59:40.552Z,1553799580.552 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T18:59:40.552Z,1553799580.552 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T18:59:40.553Z,1553799580.553 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T18:59:40.553Z,1553799580.553 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T18:59:40.553Z,1553799580.553 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T18:59:40.553Z,1553799580.553 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T18:59:40.553Z,1553799580.553 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T18:59:40.842Z,1553799580.842 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T18:59:40.915Z,1553799580.915 [lineCaptureHoming:Lap:Dock:UpdateNav] Stopped
2019-03-28T18:59:40.915Z,1553799580.915 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T18:59:40.915Z,1553799580.915 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Stopped
2019-03-28T18:59:40.915Z,1553799580.915 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:Dock:B.Wait] Running Loop=1
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:40.916Z,1553799580.916 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:40.922Z,1553799580.922 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:40.922Z,1553799580.922 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:40.922Z,1553799580.922 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.922Z,1553799580.922 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:40.922Z,1553799580.922 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:40.922Z,1553799580.922 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:40.923Z,1553799580.923 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T18:59:40.924Z,1553799580.924 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T18:59:40.925Z,1553799580.925 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T18:59:40.925Z,1553799580.925 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T18:59:41.328Z,1553799581.328 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:41.328Z,1553799581.328 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:41.328Z,1553799581.328 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:41.328Z,1553799581.328 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:41.329Z,1553799581.329 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:41.346Z,1553799581.346 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:41.346Z,1553799581.346 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:41.346Z,1553799581.346 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:41.346Z,1553799581.346 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:41.346Z,1553799581.346 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:41.346Z,1553799581.346 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:41.703Z,1553799581.703 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:41.703Z,1553799581.703 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:41.703Z,1553799581.703 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:41.703Z,1553799581.703 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:41.703Z,1553799581.703 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:41.704Z,1553799581.704 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:41.705Z,1553799581.705 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:41.705Z,1553799581.705 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:41.705Z,1553799581.705 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:41.705Z,1553799581.705 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:41.705Z,1553799581.705 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:42.070Z,1553799582.070 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:42.070Z,1553799582.070 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.071Z,1553799582.071 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:42.071Z,1553799582.071 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:42.071Z,1553799582.071 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:42.072Z,1553799582.072 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:42.072Z,1553799582.072 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:42.072Z,1553799582.072 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.072Z,1553799582.072 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:42.072Z,1553799582.072 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.072Z,1553799582.072 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:42.495Z,1553799582.495 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:42.495Z,1553799582.495 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.495Z,1553799582.495 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:42.495Z,1553799582.495 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:42.495Z,1553799582.495 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:42.496Z,1553799582.496 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:42.496Z,1553799582.496 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:42.496Z,1553799582.496 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.496Z,1553799582.496 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:42.497Z,1553799582.497 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.497Z,1553799582.497 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:42.878Z,1553799582.878 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:42.878Z,1553799582.878 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.878Z,1553799582.878 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:42.879Z,1553799582.879 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:42.879Z,1553799582.879 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:42.880Z,1553799582.880 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:42.880Z,1553799582.880 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:42.880Z,1553799582.880 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.880Z,1553799582.880 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:42.880Z,1553799582.880 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:42.880Z,1553799582.880 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:43.314Z,1553799583.314 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:43.315Z,1553799583.315 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:43.315Z,1553799583.315 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:43.315Z,1553799583.315 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:43.315Z,1553799583.315 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:43.316Z,1553799583.316 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:43.316Z,1553799583.316 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:43.316Z,1553799583.316 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:43.316Z,1553799583.316 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:43.316Z,1553799583.316 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:43.316Z,1553799583.316 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:43.712Z,1553799583.712 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:43.712Z,1553799583.712 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:43.712Z,1553799583.712 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:43.712Z,1553799583.712 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:43.712Z,1553799583.712 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:43.713Z,1553799583.713 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:43.713Z,1553799583.713 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:43.713Z,1553799583.713 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:43.718Z,1553799583.718 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:43.718Z,1553799583.718 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:43.718Z,1553799583.718 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:44.104Z,1553799584.104 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:44.104Z,1553799584.104 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.105Z,1553799584.105 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:44.105Z,1553799584.105 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:44.105Z,1553799584.105 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:44.110Z,1553799584.110 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:44.110Z,1553799584.110 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:44.110Z,1553799584.110 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.110Z,1553799584.110 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:44.111Z,1553799584.111 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.111Z,1553799584.111 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:44.459Z,1553799584.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:59:44.460Z,1553799584.460 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:59:44.612Z,1553799584.612 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:44.613Z,1553799584.613 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.613Z,1553799584.613 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:44.613Z,1553799584.613 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:44.613Z,1553799584.613 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:44.623Z,1553799584.623 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:44.623Z,1553799584.623 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:44.624Z,1553799584.624 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.624Z,1553799584.624 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:44.624Z,1553799584.624 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.624Z,1553799584.624 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:44.907Z,1553799584.907 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:44.907Z,1553799584.907 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.907Z,1553799584.907 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:44.908Z,1553799584.908 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:44.908Z,1553799584.908 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:44.909Z,1553799584.909 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.465712 rad .
2019-03-28T18:59:44.909Z,1553799584.909 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:44.909Z,1553799584.909 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.909Z,1553799584.909 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:44.914Z,1553799584.914 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:44.914Z,1553799584.914 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:45.103Z,1553799585.103 [Reporter](INFO): acoustic_contact_range 37.620003 m
2019-03-28T18:59:45.104Z,1553799585.104 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.150240 rad
2019-03-28T18:59:45.373Z,1553799585.373 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:45.382Z,1553799585.382 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:45.382Z,1553799585.382 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:45.382Z,1553799585.382 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:45.382Z,1553799585.382 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:45.383Z,1553799585.383 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:45.383Z,1553799585.383 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:45.384Z,1553799585.384 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:45.384Z,1553799585.384 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:45.384Z,1553799585.384 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:45.384Z,1553799585.384 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:45.452Z,1553799585.452 [Reporter](INFO): HorizontalControl.headingCmd 3.150240 rad
2019-03-28T18:59:45.707Z,1553799585.707 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:45.707Z,1553799585.707 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:45.707Z,1553799585.707 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:45.707Z,1553799585.707 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:45.707Z,1553799585.707 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:45.708Z,1553799585.708 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:45.708Z,1553799585.708 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:45.709Z,1553799585.709 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:45.709Z,1553799585.709 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:45.709Z,1553799585.709 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:45.709Z,1553799585.709 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:46.126Z,1553799586.126 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:46.126Z,1553799586.126 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.126Z,1553799586.126 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:46.127Z,1553799586.127 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:46.127Z,1553799586.127 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:46.128Z,1553799586.128 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:46.128Z,1553799586.128 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:46.128Z,1553799586.128 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.128Z,1553799586.128 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:46.128Z,1553799586.128 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.128Z,1553799586.128 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:46.525Z,1553799586.525 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:46.525Z,1553799586.525 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.525Z,1553799586.525 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:46.525Z,1553799586.525 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:46.525Z,1553799586.525 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:46.526Z,1553799586.526 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:46.526Z,1553799586.526 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:46.527Z,1553799586.527 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.527Z,1553799586.527 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:46.527Z,1553799586.527 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.527Z,1553799586.527 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:46.928Z,1553799586.928 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:46.928Z,1553799586.928 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.928Z,1553799586.928 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:46.928Z,1553799586.928 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:46.928Z,1553799586.928 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:46.930Z,1553799586.930 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:46.930Z,1553799586.930 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:46.930Z,1553799586.930 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.930Z,1553799586.930 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:46.930Z,1553799586.930 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:46.930Z,1553799586.930 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:47.351Z,1553799587.351 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:47.351Z,1553799587.351 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:47.351Z,1553799587.351 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:47.352Z,1553799587.352 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:47.352Z,1553799587.352 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:47.353Z,1553799587.353 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:47.353Z,1553799587.353 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:47.353Z,1553799587.353 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:47.353Z,1553799587.353 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:47.353Z,1553799587.353 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:47.353Z,1553799587.353 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:47.726Z,1553799587.726 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:47.726Z,1553799587.726 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:47.726Z,1553799587.726 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:47.726Z,1553799587.726 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:47.727Z,1553799587.727 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:47.728Z,1553799587.728 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:47.728Z,1553799587.728 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:47.728Z,1553799587.728 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:47.728Z,1553799587.728 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:47.728Z,1553799587.728 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:47.728Z,1553799587.728 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:48.130Z,1553799588.130 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:48.130Z,1553799588.130 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.130Z,1553799588.130 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:48.130Z,1553799588.130 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:48.130Z,1553799588.130 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:48.132Z,1553799588.132 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:48.132Z,1553799588.132 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:48.132Z,1553799588.132 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.132Z,1553799588.132 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:48.132Z,1553799588.132 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.132Z,1553799588.132 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:48.500Z,1553799588.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:59:48.505Z,1553799588.505 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:59:48.597Z,1553799588.597 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:48.614Z,1553799588.614 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.614Z,1553799588.614 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:48.614Z,1553799588.614 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:48.614Z,1553799588.614 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:48.615Z,1553799588.615 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:48.615Z,1553799588.615 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:48.616Z,1553799588.616 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.616Z,1553799588.616 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:48.616Z,1553799588.616 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.616Z,1553799588.616 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:48.942Z,1553799588.942 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:48.942Z,1553799588.942 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.942Z,1553799588.942 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:48.942Z,1553799588.942 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:48.942Z,1553799588.942 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:48.943Z,1553799588.943 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:48.943Z,1553799588.943 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:48.943Z,1553799588.943 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:48.943Z,1553799588.943 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:48.943Z,1553799588.943 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:48.944Z,1553799588.944 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-28T18:59:48.944Z,1553799588.944 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:48.944Z,1553799588.944 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:48.945Z,1553799588.945 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:48.945Z,1553799588.945 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.150240 rad .
2019-03-28T18:59:48.945Z,1553799588.945 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:48.946Z,1553799588.946 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:49.023Z,1553799589.023 [Reporter](INFO): acoustic_contact_range 14.159999 m
2019-03-28T18:59:49.024Z,1553799589.024 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.136685 rad
2019-03-28T18:59:49.358Z,1553799589.358 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:49.358Z,1553799589.358 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:49.358Z,1553799589.358 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:49.358Z,1553799589.358 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:49.359Z,1553799589.359 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:49.359Z,1553799589.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:49.359Z,1553799589.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:49.359Z,1553799589.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:49.359Z,1553799589.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:49.360Z,1553799589.360 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:49.360Z,1553799589.360 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:49.360Z,1553799589.360 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:49.361Z,1553799589.361 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:49.362Z,1553799589.362 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:49.362Z,1553799589.362 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:49.515Z,1553799589.515 [Reporter](INFO): HorizontalControl.headingCmd 3.136685 rad
2019-03-28T18:59:49.749Z,1553799589.749 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:49.749Z,1553799589.749 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:49.749Z,1553799589.749 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:49.749Z,1553799589.749 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:49.749Z,1553799589.749 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:49.750Z,1553799589.750 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:49.750Z,1553799589.750 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:49.750Z,1553799589.750 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:49.750Z,1553799589.750 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:49.751Z,1553799589.751 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:49.751Z,1553799589.751 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:49.751Z,1553799589.751 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:49.752Z,1553799589.752 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:49.753Z,1553799589.753 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:49.753Z,1553799589.753 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:49.753Z,1553799589.753 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:50.159Z,1553799590.159 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:50.159Z,1553799590.159 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.159Z,1553799590.159 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:50.159Z,1553799590.159 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:50.159Z,1553799590.159 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:50.159Z,1553799590.159 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:50.160Z,1553799590.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:50.160Z,1553799590.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:50.160Z,1553799590.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:50.160Z,1553799590.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:50.160Z,1553799590.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:50.160Z,1553799590.160 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:50.161Z,1553799590.161 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:50.161Z,1553799590.161 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:50.166Z,1553799590.166 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:50.566Z,1553799590.566 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:50.566Z,1553799590.566 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.566Z,1553799590.566 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:50.566Z,1553799590.566 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:50.567Z,1553799590.567 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:50.567Z,1553799590.567 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:50.567Z,1553799590.567 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:50.567Z,1553799590.567 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:50.567Z,1553799590.567 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:50.568Z,1553799590.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:50.568Z,1553799590.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:50.568Z,1553799590.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:50.569Z,1553799590.569 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:50.570Z,1553799590.570 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:50.570Z,1553799590.570 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:50.570Z,1553799590.570 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:50.965Z,1553799590.965 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:50.965Z,1553799590.965 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.965Z,1553799590.965 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:50.965Z,1553799590.965 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:50.966Z,1553799590.966 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:50.966Z,1553799590.966 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:50.966Z,1553799590.966 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:50.966Z,1553799590.966 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:50.966Z,1553799590.966 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:50.967Z,1553799590.967 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:50.967Z,1553799590.967 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:50.967Z,1553799590.967 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:50.968Z,1553799590.968 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:50.968Z,1553799590.968 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:50.968Z,1553799590.968 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.968Z,1553799590.968 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:50.968Z,1553799590.968 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:50.969Z,1553799590.969 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:50.969Z,1553799590.969 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:50.969Z,1553799590.969 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:50.969Z,1553799590.969 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:50.969Z,1553799590.969 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:51.380Z,1553799591.380 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:51.380Z,1553799591.380 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:51.381Z,1553799591.381 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:51.381Z,1553799591.381 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:51.381Z,1553799591.381 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:51.381Z,1553799591.381 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:51.381Z,1553799591.381 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:51.381Z,1553799591.381 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:51.386Z,1553799591.386 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:51.388Z,1553799591.388 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:51.389Z,1553799591.389 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:51.389Z,1553799591.389 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:51.394Z,1553799591.394 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:51.394Z,1553799591.394 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:51.395Z,1553799591.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:51.762Z,1553799591.762 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:51.762Z,1553799591.762 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:51.762Z,1553799591.762 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:51.762Z,1553799591.762 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:51.763Z,1553799591.763 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:51.763Z,1553799591.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:51.763Z,1553799591.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:51.763Z,1553799591.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:51.763Z,1553799591.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:51.764Z,1553799591.764 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:51.764Z,1553799591.764 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:51.764Z,1553799591.764 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:51.765Z,1553799591.765 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:51.766Z,1553799591.766 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:52.170Z,1553799592.170 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:52.170Z,1553799592.170 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.170Z,1553799592.170 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:52.170Z,1553799592.170 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:52.171Z,1553799592.171 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:52.171Z,1553799592.171 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:52.171Z,1553799592.171 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:52.171Z,1553799592.171 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:52.171Z,1553799592.171 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:52.172Z,1553799592.172 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:52.172Z,1553799592.172 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:52.172Z,1553799592.172 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:52.173Z,1553799592.173 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:52.174Z,1553799592.174 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:52.174Z,1553799592.174 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:52.174Z,1553799592.174 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:52.540Z,1553799592.540 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:59:52.544Z,1553799592.544 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:59:52.648Z,1553799592.648 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:52.648Z,1553799592.648 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.648Z,1553799592.648 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:52.648Z,1553799592.648 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:52.648Z,1553799592.648 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:52.649Z,1553799592.649 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:52.649Z,1553799592.649 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:52.649Z,1553799592.649 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:52.649Z,1553799592.649 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:52.654Z,1553799592.654 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.159999 m .
2019-03-28T18:59:52.654Z,1553799592.654 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:52.654Z,1553799592.654 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:52.655Z,1553799592.655 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:52.656Z,1553799592.656 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:52.656Z,1553799592.656 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:52.983Z,1553799592.983 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:52.984Z,1553799592.984 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.984Z,1553799592.984 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:52.984Z,1553799592.984 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:52.985Z,1553799592.985 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:52.987Z,1553799592.987 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:52.987Z,1553799592.987 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:52.987Z,1553799592.987 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:52.988Z,1553799592.988 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:52.988Z,1553799592.988 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:52.988Z,1553799592.988 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:52.988Z,1553799592.988 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:52.989Z,1553799592.989 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.136685 rad .
2019-03-28T18:59:52.989Z,1553799592.989 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:52.989Z,1553799592.989 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.989Z,1553799592.989 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:52.990Z,1553799592.990 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:52.990Z,1553799592.990 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:52.990Z,1553799592.990 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:52.990Z,1553799592.990 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:52.990Z,1553799592.990 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:52.990Z,1553799592.990 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:53.039Z,1553799593.039 [Reporter](INFO): acoustic_contact_range 21.540003 m
2019-03-28T18:59:53.040Z,1553799593.040 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.168968 rad
2019-03-28T18:59:53.392Z,1553799593.392 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:53.392Z,1553799593.392 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:53.392Z,1553799593.392 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:53.392Z,1553799593.392 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:53.393Z,1553799593.393 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:53.393Z,1553799593.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:53.393Z,1553799593.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:53.393Z,1553799593.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:53.393Z,1553799593.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:53.394Z,1553799593.394 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:53.394Z,1553799593.394 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:53.394Z,1553799593.394 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:53.395Z,1553799593.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:53.396Z,1553799593.396 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:53.396Z,1553799593.396 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:53.396Z,1553799593.396 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:53.439Z,1553799593.439 [Reporter](INFO): HorizontalControl.headingCmd 3.168968 rad
2019-03-28T18:59:53.784Z,1553799593.784 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:53.785Z,1553799593.785 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:53.785Z,1553799593.785 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:53.785Z,1553799593.785 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:53.786Z,1553799593.786 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:53.787Z,1553799593.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:53.787Z,1553799593.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:53.787Z,1553799593.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:53.787Z,1553799593.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:53.788Z,1553799593.788 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:53.788Z,1553799593.788 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:53.788Z,1553799593.788 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:53.789Z,1553799593.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:54.207Z,1553799594.207 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:54.207Z,1553799594.207 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:54.207Z,1553799594.207 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:54.207Z,1553799594.207 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:54.207Z,1553799594.207 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:54.207Z,1553799594.207 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:54.208Z,1553799594.208 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:54.208Z,1553799594.208 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:54.208Z,1553799594.208 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:54.208Z,1553799594.208 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:54.208Z,1553799594.208 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:54.209Z,1553799594.209 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:54.209Z,1553799594.209 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:54.209Z,1553799594.209 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:54.214Z,1553799594.214 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:54.613Z,1553799594.613 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:54.613Z,1553799594.613 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:54.613Z,1553799594.613 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:54.613Z,1553799594.613 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:54.614Z,1553799594.614 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:54.614Z,1553799594.614 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:54.614Z,1553799594.614 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:54.614Z,1553799594.614 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:54.615Z,1553799594.615 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:54.615Z,1553799594.615 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:54.615Z,1553799594.615 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:54.615Z,1553799594.615 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:54.616Z,1553799594.616 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:54.616Z,1553799594.616 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:54.616Z,1553799594.616 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:54.616Z,1553799594.616 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:54.616Z,1553799594.616 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:54.617Z,1553799594.617 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:54.617Z,1553799594.617 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:54.617Z,1553799594.617 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:54.617Z,1553799594.617 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:54.617Z,1553799594.617 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:55.030Z,1553799595.030 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:55.030Z,1553799595.030 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:55.031Z,1553799595.031 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:55.032Z,1553799595.032 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:55.032Z,1553799595.032 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:55.032Z,1553799595.032 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:55.033Z,1553799595.033 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:55.033Z,1553799595.033 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:55.033Z,1553799595.033 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.033Z,1553799595.033 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:55.033Z,1553799595.033 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.042Z,1553799595.042 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:55.042Z,1553799595.042 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:55.042Z,1553799595.042 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:55.042Z,1553799595.042 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:55.042Z,1553799595.042 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:55.443Z,1553799595.443 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:55.443Z,1553799595.443 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.443Z,1553799595.443 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:55.443Z,1553799595.443 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:55.443Z,1553799595.443 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:55.444Z,1553799595.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:55.444Z,1553799595.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:55.444Z,1553799595.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:55.444Z,1553799595.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:55.445Z,1553799595.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:55.445Z,1553799595.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:55.445Z,1553799595.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:55.450Z,1553799595.450 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:55.450Z,1553799595.450 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:55.450Z,1553799595.450 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.450Z,1553799595.450 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:55.451Z,1553799595.451 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.451Z,1553799595.451 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:55.451Z,1553799595.451 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:55.452Z,1553799595.452 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:55.452Z,1553799595.452 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:55.452Z,1553799595.452 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:55.859Z,1553799595.859 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:55.859Z,1553799595.859 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.859Z,1553799595.859 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:55.859Z,1553799595.859 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:55.861Z,1553799595.861 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:55.861Z,1553799595.861 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:55.861Z,1553799595.861 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:55.861Z,1553799595.861 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:55.861Z,1553799595.861 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:55.890Z,1553799595.890 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:55.890Z,1553799595.890 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:55.890Z,1553799595.890 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:55.891Z,1553799595.891 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:55.891Z,1553799595.891 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:55.891Z,1553799595.891 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:55.892Z,1553799595.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:56.267Z,1553799596.267 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:56.268Z,1553799596.268 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:56.268Z,1553799596.268 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:56.268Z,1553799596.268 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:56.269Z,1553799596.269 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:56.278Z,1553799596.278 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:56.279Z,1553799596.279 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:56.279Z,1553799596.279 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:56.279Z,1553799596.279 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:56.281Z,1553799596.281 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:56.281Z,1553799596.281 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:56.281Z,1553799596.281 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:56.292Z,1553799596.292 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:56.292Z,1553799596.292 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:56.292Z,1553799596.292 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:56.293Z,1553799596.293 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:56.293Z,1553799596.293 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:56.293Z,1553799596.293 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:56.293Z,1553799596.293 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:56.301Z,1553799596.301 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:56.301Z,1553799596.301 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:56.301Z,1553799596.301 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:56.585Z,1553799596.585 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T18:59:56.589Z,1553799596.589 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T18:59:56.709Z,1553799596.709 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:56.714Z,1553799596.714 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:56.714Z,1553799596.714 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:56.714Z,1553799596.714 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:56.714Z,1553799596.714 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:56.715Z,1553799596.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T18:59:56.715Z,1553799596.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:56.715Z,1553799596.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T18:59:56.715Z,1553799596.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T18:59:56.715Z,1553799596.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 21.540003 m .
2019-03-28T18:59:56.716Z,1553799596.716 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T18:59:56.716Z,1553799596.716 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T18:59:56.716Z,1553799596.716 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T18:59:56.717Z,1553799596.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T18:59:57.050Z,1553799597.050 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:57.050Z,1553799597.050 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.050Z,1553799597.050 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:57.050Z,1553799597.050 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:57.051Z,1553799597.051 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:57.052Z,1553799597.052 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.168968 rad .
2019-03-28T18:59:57.052Z,1553799597.052 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:57.052Z,1553799597.052 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.052Z,1553799597.052 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:57.052Z,1553799597.052 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.052Z,1553799597.052 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:57.123Z,1553799597.123 [Reporter](INFO): acoustic_contact_range 55.560005 m
2019-03-28T18:59:57.124Z,1553799597.124 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.179177 rad
2019-03-28T18:59:57.453Z,1553799597.453 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:57.453Z,1553799597.453 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.453Z,1553799597.453 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:57.453Z,1553799597.453 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:57.453Z,1553799597.453 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:57.455Z,1553799597.455 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:57.455Z,1553799597.455 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:57.455Z,1553799597.455 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.455Z,1553799597.455 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:57.455Z,1553799597.455 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.455Z,1553799597.455 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:57.573Z,1553799597.573 [Reporter](INFO): HorizontalControl.headingCmd 3.179177 rad
2019-03-28T18:59:57.823Z,1553799597.823 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:57.823Z,1553799597.823 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.823Z,1553799597.823 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:57.823Z,1553799597.823 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:57.823Z,1553799597.823 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:57.825Z,1553799597.825 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:57.825Z,1553799597.825 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:57.825Z,1553799597.825 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.825Z,1553799597.825 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:57.825Z,1553799597.825 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:57.825Z,1553799597.825 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:58.224Z,1553799598.224 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:58.224Z,1553799598.224 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:58.224Z,1553799598.224 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:58.224Z,1553799598.224 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:58.224Z,1553799598.224 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:58.225Z,1553799598.225 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:58.225Z,1553799598.225 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:58.226Z,1553799598.226 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:58.226Z,1553799598.226 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:58.226Z,1553799598.226 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:58.226Z,1553799598.226 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:58.639Z,1553799598.639 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:58.639Z,1553799598.639 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:58.639Z,1553799598.639 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:58.639Z,1553799598.639 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:58.639Z,1553799598.639 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:58.640Z,1553799598.640 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:58.640Z,1553799598.640 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:58.641Z,1553799598.641 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:58.641Z,1553799598.641 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:58.641Z,1553799598.641 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:58.641Z,1553799598.641 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:59.051Z,1553799599.051 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:59.051Z,1553799599.051 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.051Z,1553799599.051 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:59.051Z,1553799599.051 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:59.052Z,1553799599.052 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:59.053Z,1553799599.053 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:59.053Z,1553799599.053 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:59.053Z,1553799599.053 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.053Z,1553799599.053 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:59.053Z,1553799599.053 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.053Z,1553799599.053 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:59.468Z,1553799599.468 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:59.468Z,1553799599.468 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.468Z,1553799599.468 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:59.468Z,1553799599.468 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:59.468Z,1553799599.468 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:59.469Z,1553799599.469 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:59.469Z,1553799599.469 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:59.469Z,1553799599.469 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.470Z,1553799599.470 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:59.470Z,1553799599.470 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.470Z,1553799599.470 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T18:59:59.875Z,1553799599.875 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T18:59:59.875Z,1553799599.875 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.875Z,1553799599.875 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T18:59:59.875Z,1553799599.875 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T18:59:59.876Z,1553799599.876 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T18:59:59.877Z,1553799599.877 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T18:59:59.877Z,1553799599.877 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T18:59:59.877Z,1553799599.877 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.877Z,1553799599.877 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T18:59:59.877Z,1553799599.877 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T18:59:59.877Z,1553799599.877 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:00.285Z,1553799600.285 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:00.285Z,1553799600.285 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:00.290Z,1553799600.290 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:00.290Z,1553799600.290 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:00.291Z,1553799600.291 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:00.298Z,1553799600.298 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:00.298Z,1553799600.298 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:00.298Z,1553799600.298 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:00.298Z,1553799600.298 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:00.298Z,1553799600.298 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:00.298Z,1553799600.298 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:00.620Z,1553799600.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:00:00.625Z,1553799600.625 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:00:00.736Z,1553799600.736 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:00.737Z,1553799600.737 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:00.737Z,1553799600.737 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:00.737Z,1553799600.737 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:00.737Z,1553799600.737 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:00.738Z,1553799600.738 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:00.738Z,1553799600.738 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:00.738Z,1553799600.738 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:00.738Z,1553799600.738 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:00.739Z,1553799600.739 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:00.739Z,1553799600.739 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:01.024Z,1553799601.024 [DUSBL_Hydroid](ERROR): NEGATIVE RANGE NOT USING
2019-03-28T19:00:01.074Z,1553799601.074 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:01.074Z,1553799601.074 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.074Z,1553799601.074 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:01.074Z,1553799601.074 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:01.074Z,1553799601.074 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:01.075Z,1553799601.075 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:01.075Z,1553799601.075 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:01.076Z,1553799601.076 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.076Z,1553799601.076 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:01.076Z,1553799601.076 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.076Z,1553799601.076 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:01.546Z,1553799601.546 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:01.546Z,1553799601.546 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.546Z,1553799601.546 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:01.546Z,1553799601.546 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:01.547Z,1553799601.547 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:01.548Z,1553799601.548 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:01.548Z,1553799601.548 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:01.548Z,1553799601.548 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.548Z,1553799601.548 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:01.548Z,1553799601.548 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.548Z,1553799601.548 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:01.873Z,1553799601.873 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:01.873Z,1553799601.873 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.873Z,1553799601.873 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:01.873Z,1553799601.873 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:01.874Z,1553799601.874 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:01.875Z,1553799601.875 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:01.875Z,1553799601.875 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:01.875Z,1553799601.875 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.875Z,1553799601.875 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:01.875Z,1553799601.875 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:01.875Z,1553799601.875 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:02.299Z,1553799602.299 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:02.299Z,1553799602.299 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:02.299Z,1553799602.299 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:02.300Z,1553799602.300 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:02.300Z,1553799602.300 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:02.301Z,1553799602.301 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:02.301Z,1553799602.301 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:02.301Z,1553799602.301 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:02.301Z,1553799602.301 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:02.301Z,1553799602.301 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:02.301Z,1553799602.301 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:02.687Z,1553799602.687 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:02.688Z,1553799602.688 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:02.688Z,1553799602.688 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:02.688Z,1553799602.688 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:02.688Z,1553799602.688 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:02.689Z,1553799602.689 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:02.689Z,1553799602.689 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:02.689Z,1553799602.689 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:02.689Z,1553799602.689 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:02.690Z,1553799602.690 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:02.690Z,1553799602.690 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:03.080Z,1553799603.080 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:03.080Z,1553799603.080 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.080Z,1553799603.080 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:03.080Z,1553799603.080 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:03.081Z,1553799603.081 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:03.082Z,1553799603.082 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:03.082Z,1553799603.082 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:03.082Z,1553799603.082 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.082Z,1553799603.082 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:03.083Z,1553799603.083 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.083Z,1553799603.083 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:03.490Z,1553799603.490 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:03.490Z,1553799603.490 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.490Z,1553799603.490 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:03.490Z,1553799603.490 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:03.491Z,1553799603.491 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:03.492Z,1553799603.492 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:03.492Z,1553799603.492 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:03.492Z,1553799603.492 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.492Z,1553799603.492 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:03.492Z,1553799603.492 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.492Z,1553799603.492 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:03.892Z,1553799603.892 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:03.893Z,1553799603.893 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.893Z,1553799603.893 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:03.893Z,1553799603.893 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:03.893Z,1553799603.893 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:03.894Z,1553799603.894 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:03.894Z,1553799603.894 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:03.894Z,1553799603.894 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.895Z,1553799603.895 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:03.895Z,1553799603.895 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:03.895Z,1553799603.895 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:04.341Z,1553799604.341 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:04.346Z,1553799604.346 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:04.346Z,1553799604.346 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:04.346Z,1553799604.346 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:04.346Z,1553799604.346 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:04.347Z,1553799604.347 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:04.347Z,1553799604.347 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:04.347Z,1553799604.347 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:04.347Z,1553799604.347 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:04.348Z,1553799604.348 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:04.348Z,1553799604.348 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:04.660Z,1553799604.660 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:00:04.664Z,1553799604.664 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:00:04.737Z,1553799604.737 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:04.742Z,1553799604.742 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:04.742Z,1553799604.742 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:04.742Z,1553799604.742 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:04.742Z,1553799604.742 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:04.743Z,1553799604.743 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:04.743Z,1553799604.743 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:04.743Z,1553799604.743 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:04.744Z,1553799604.744 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:04.744Z,1553799604.744 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:04.744Z,1553799604.744 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:05.064Z,1553799605.064 [DUSBL_Hydroid](ERROR): NEGATIVE RANGE NOT USING
2019-03-28T19:00:05.122Z,1553799605.122 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:05.122Z,1553799605.122 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.122Z,1553799605.122 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:05.123Z,1553799605.123 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:05.123Z,1553799605.123 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:05.124Z,1553799605.124 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:05.124Z,1553799605.124 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:05.124Z,1553799605.124 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.124Z,1553799605.124 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:05.124Z,1553799605.124 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.124Z,1553799605.124 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:05.509Z,1553799605.509 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:05.509Z,1553799605.509 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.509Z,1553799605.509 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:05.526Z,1553799605.526 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:05.526Z,1553799605.526 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:05.527Z,1553799605.527 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:05.527Z,1553799605.527 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:05.527Z,1553799605.527 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.527Z,1553799605.527 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:05.527Z,1553799605.527 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.528Z,1553799605.528 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:05.898Z,1553799605.898 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:05.899Z,1553799605.899 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.899Z,1553799605.899 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:05.899Z,1553799605.899 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:05.899Z,1553799605.899 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:05.900Z,1553799605.900 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:05.900Z,1553799605.900 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:05.900Z,1553799605.900 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.900Z,1553799605.900 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:05.900Z,1553799605.900 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:05.900Z,1553799605.900 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:06.338Z,1553799606.338 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:06.338Z,1553799606.338 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:06.338Z,1553799606.338 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:06.338Z,1553799606.338 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:06.339Z,1553799606.339 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:06.340Z,1553799606.340 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:06.340Z,1553799606.340 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:06.340Z,1553799606.340 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:06.340Z,1553799606.340 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:06.340Z,1553799606.340 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:06.340Z,1553799606.340 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:06.705Z,1553799606.705 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:06.705Z,1553799606.705 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:06.706Z,1553799606.706 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:06.706Z,1553799606.706 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:06.706Z,1553799606.706 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:06.707Z,1553799606.707 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:06.707Z,1553799606.707 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:06.707Z,1553799606.707 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:06.707Z,1553799606.707 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:06.708Z,1553799606.708 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:06.708Z,1553799606.708 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:07.114Z,1553799607.114 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:07.114Z,1553799607.114 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.114Z,1553799607.114 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:07.114Z,1553799607.114 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:07.115Z,1553799607.115 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:07.116Z,1553799607.116 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:07.116Z,1553799607.116 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:07.116Z,1553799607.116 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.116Z,1553799607.116 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:07.116Z,1553799607.116 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.116Z,1553799607.116 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:07.528Z,1553799607.528 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:07.528Z,1553799607.528 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.528Z,1553799607.528 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:07.528Z,1553799607.528 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:07.528Z,1553799607.528 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:07.529Z,1553799607.529 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:07.530Z,1553799607.530 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:07.530Z,1553799607.530 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.530Z,1553799607.530 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:07.530Z,1553799607.530 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.530Z,1553799607.530 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:07.918Z,1553799607.918 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:07.918Z,1553799607.918 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.918Z,1553799607.918 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:07.918Z,1553799607.918 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:07.918Z,1553799607.918 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:07.919Z,1553799607.919 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:07.919Z,1553799607.919 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:07.920Z,1553799607.920 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.920Z,1553799607.920 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:07.920Z,1553799607.920 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:07.920Z,1553799607.920 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:08.408Z,1553799608.408 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:08.408Z,1553799608.408 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:08.408Z,1553799608.408 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:08.408Z,1553799608.408 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:08.408Z,1553799608.408 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:08.409Z,1553799608.409 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:08.409Z,1553799608.409 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:08.418Z,1553799608.418 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:08.418Z,1553799608.418 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:08.418Z,1553799608.418 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:08.418Z,1553799608.418 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:08.699Z,1553799608.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:00:08.700Z,1553799608.700 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:00:08.704Z,1553799608.704 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T19:00:08.778Z,1553799608.778 [NAL9602](FAULT): received: 
+CSQ:1

OK90, 2, 0, 0, 0

OK
2019-03-28T19:00:08.778Z,1553799608.778 [NAL9602] Data Fault, FailCount= 1
2019-03-28T19:00:08.778Z,1553799608.778 [NAL9602](ERROR): Data Fault
2019-03-28T19:00:08.811Z,1553799608.811 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:00:08.811Z,1553799608.811 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:08.811Z,1553799608.811 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:00:08.811Z,1553799608.811 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:00:08.811Z,1553799608.811 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:00:08.812Z,1553799608.812 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading: 3.179177 rad .
2019-03-28T19:00:08.813Z,1553799608.813 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:00:08.813Z,1553799608.813 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:08.813Z,1553799608.813 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:00:08.813Z,1553799608.813 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:00:08.813Z,1553799608.813 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:00:08.821Z,1553799608.821 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T19:00:08.821Z,1553799608.821 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T19:00:08.821Z,1553799608.821 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T19:00:08.826Z,1553799608.826 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:00:08.827Z,1553799608.827 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T19:00:08.827Z,1553799608.827 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T19:00:08.828Z,1553799608.828 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T19:00:08.828Z,1553799608.828 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:00:08.828Z,1553799608.828 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:00:08.829Z,1553799608.829 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T19:00:08.907Z,1553799608.907 [MissionManager](CRITICAL): SIGSEGV: address not mapped to object
2019-03-28T19:00:08.