2019-03-28T19:05:42.523Z,1553799942.523 [Supervisor](DEBUG): Initializing supervisor.
2019-03-28T19:05:42.527Z,1553799942.527 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-03-28T19:05:42.527Z,1553799942.527 [SyncHandler](INFO): Protected caller Thread ID is 2640
2019-03-28T19:05:42.528Z,1553799942.528 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-03-28T19:05:42.529Z,1553799942.529 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-03-28T19:05:42.530Z,1553799942.530 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2641
2019-03-28T19:05:42.533Z,1553799942.533 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-03-28T19:05:42.546Z,1553799942.546 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-03-28T19:05:42.547Z,1553799942.547 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-03-28T19:05:42.548Z,1553799942.548 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2642
2019-03-28T19:05:42.549Z,1553799942.549 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-03-28T19:05:42.550Z,1553799942.550 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-03-28T19:05:42.550Z,1553799942.550 [logger ThreadHandler](INFO): Protected caller Thread ID is 2643
2019-03-28T19:05:42.552Z,1553799942.552 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-03-28T19:05:42.552Z,1553799942.552 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-03-28T19:05:42.554Z,1553799942.554 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-03-28T19:05:43.003Z,1553799943.003 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-03-28T19:05:43.004Z,1553799943.004 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-03-28T19:05:43.103Z,1553799943.103 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-03-28T19:05:43.103Z,1553799943.103 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-03-28T19:05:43.450Z,1553799943.450 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-03-28T19:05:43.451Z,1553799943.451 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-03-28T19:05:43.597Z,1553799943.597 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-03-28T19:05:43.598Z,1553799943.598 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-03-28T19:05:43.799Z,1553799943.799 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-03-28T19:05:43.800Z,1553799943.800 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-03-28T19:05:44.281Z,1553799944.281 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-03-28T19:05:44.282Z,1553799944.282 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-03-28T19:05:44.502Z,1553799944.502 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-03-28T19:05:44.502Z,1553799944.502 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-03-28T19:05:44.653Z,1553799944.653 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-03-28T19:05:44.654Z,1553799944.654 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-03-28T19:05:44.862Z,1553799944.862 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-03-28T19:05:44.862Z,1553799944.862 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-03-28T19:05:44.959Z,1553799944.959 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-03-28T19:05:44.960Z,1553799944.960 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-03-28T19:05:45.299Z,1553799945.299 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-03-28T19:05:45.300Z,1553799945.300 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-03-28T19:05:45.380Z,1553799945.380 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-03-28T19:05:45.485Z,1553799945.485 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-03-28T19:05:45.486Z,1553799945.486 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-03-28T19:05:46.015Z,1553799946.015 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-03-28T19:05:46.016Z,1553799946.016 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-03-28T19:05:46.431Z,1553799946.431 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-03-28T19:05:46.433Z,1553799946.433 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-03-28T19:05:46.434Z,1553799946.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-03-28T19:05:46.706Z,1553799946.706 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-03-28T19:05:46.949Z,1553799946.949 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-03-28T19:05:47.146Z,1553799947.146 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-03-28T19:05:47.447Z,1553799947.447 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-03-28T19:05:47.447Z,1553799947.447 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-03-28T19:05:47.533Z,1553799947.533 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-03-28T19:05:47.628Z,1553799947.628 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-03-28T19:05:47.727Z,1553799947.727 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-03-28T19:05:47.810Z,1553799947.810 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-03-28T19:05:47.923Z,1553799947.923 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-03-28T19:05:48.116Z,1553799948.116 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-03-28T19:05:48.252Z,1553799948.252 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-03-28T19:05:48.253Z,1553799948.253 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-03-28T19:05:48.259Z,1553799948.259 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-03-28T19:05:48.647Z,1553799948.647 [AHRS_M2] Loaded
2019-03-28T19:05:48.648Z,1553799948.648 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-03-28T19:05:48.723Z,1553799948.723 [DataOverHttps] Loaded
2019-03-28T19:05:48.723Z,1553799948.723 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-03-28T19:05:48.724Z,1553799948.724 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4075B4E0
2019-03-28T19:05:48.725Z,1553799948.725 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2722
2019-03-28T19:05:48.739Z,1553799948.739 [Depth_Keller] Loaded
2019-03-28T19:05:48.739Z,1553799948.739 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-03-28T19:05:48.744Z,1553799948.744 [DropWeight] Loaded
2019-03-28T19:05:48.745Z,1553799948.745 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-03-28T19:05:48.801Z,1553799948.801 [DUSBL_Hydroid] Loaded
2019-03-28T19:05:48.801Z,1553799948.801 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-03-28T19:05:48.843Z,1553799948.843 [Micromodem] Loaded
2019-03-28T19:05:48.843Z,1553799948.843 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-03-28T19:05:48.946Z,1553799948.946 [NAL9602] Loaded
2019-03-28T19:05:48.946Z,1553799948.946 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-03-28T19:05:48.963Z,1553799948.963 [Onboard] Loaded
2019-03-28T19:05:48.963Z,1553799948.963 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-03-28T19:05:48.970Z,1553799948.970 [PowerOnly] Loaded
2019-03-28T19:05:48.970Z,1553799948.970 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-03-28T19:05:48.977Z,1553799948.977 [Radio_Surface] Loaded
2019-03-28T19:05:48.977Z,1553799948.977 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-03-28T19:05:48.978Z,1553799948.978 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4078B4E0
2019-03-28T19:05:48.978Z,1553799948.978 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2723
2019-03-28T19:05:49.042Z,1553799949.042 [RDI_Pathfinder] Loaded
2019-03-28T19:05:49.042Z,1553799949.042 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-03-28T19:05:50.588Z,1553799950.588 [BPC1] Loaded
2019-03-28T19:05:50.588Z,1553799950.588 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-03-28T19:05:50.588Z,1553799950.588 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-03-28T19:05:50.589Z,1553799950.589 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-03-28T19:05:50.602Z,1553799950.602 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-03-28T19:05:50.603Z,1553799950.603 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-03-28T19:05:50.714Z,1553799950.714 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-03-28T19:05:50.714Z,1553799950.714 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-03-28T19:05:50.777Z,1553799950.777 [DeadReckonUsingSpeedCalculator] Loaded
2019-03-28T19:05:50.777Z,1553799950.777 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.
2019-03-28T19:05:50.840Z,1553799950.840 [DeadReckonWithRespectToSeafloor] Loaded
2019-03-28T19:05:50.841Z,1553799950.841 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.
2019-03-28T19:05:50.862Z,1553799950.862 [NavChart] Loaded
2019-03-28T19:05:50.863Z,1553799950.863 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-03-28T19:05:50.867Z,1553799950.867 [UniversalFixResidualReporter] Loaded
2019-03-28T19:05:50.867Z,1553799950.867 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-03-28T19:05:50.867Z,1553799950.867 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-03-28T19:05:50.868Z,1553799950.868 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-03-28T19:05:50.973Z,1553799950.973 [BuoyancyServo] Loaded
2019-03-28T19:05:50.973Z,1553799950.973 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-03-28T19:05:50.989Z,1553799950.989 [ElevatorServo] Loaded
2019-03-28T19:05:50.990Z,1553799950.990 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-03-28T19:05:51.005Z,1553799951.005 [MassServo] Loaded
2019-03-28T19:05:51.006Z,1553799951.006 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-03-28T19:05:51.022Z,1553799951.022 [RudderServo] Loaded
2019-03-28T19:05:51.022Z,1553799951.022 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-03-28T19:05:51.037Z,1553799951.037 [ThrusterServo] Loaded
2019-03-28T19:05:51.038Z,1553799951.038 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-03-28T19:05:51.038Z,1553799951.038 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-03-28T19:05:51.039Z,1553799951.039 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-03-28T19:05:51.296Z,1553799951.296 [CTD_NeilBrown] Loaded
2019-03-28T19:05:51.296Z,1553799951.296 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-03-28T19:05:51.298Z,1553799951.298 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408D04E0
2019-03-28T19:05:51.298Z,1553799951.298 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2724
2019-03-28T19:05:51.346Z,1553799951.346 [WetLabsSeaOWL_UV_A] Loaded
2019-03-28T19:05:51.346Z,1553799951.346 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-03-28T19:05:51.348Z,1553799951.348 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409004E0
2019-03-28T19:05:51.348Z,1553799951.348 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 2725
2019-03-28T19:05:51.349Z,1553799951.349 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-03-28T19:05:51.349Z,1553799951.349 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-03-28T19:05:51.632Z,1553799951.632 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-03-28T19:05:51.633Z,1553799951.633 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-03-28T19:05:51.676Z,1553799951.676 [DepthRateCalculator] Loaded
2019-03-28T19:05:51.676Z,1553799951.676 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-03-28T19:05:51.682Z,1553799951.682 [PitchRateCalculator] Loaded
2019-03-28T19:05:51.682Z,1553799951.682 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-03-28T19:05:51.695Z,1553799951.695 [SpeedCalculator] Loaded
2019-03-28T19:05:51.696Z,1553799951.696 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-03-28T19:05:51.746Z,1553799951.746 [TempGradientCalculator] Loaded
2019-03-28T19:05:51.747Z,1553799951.747 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-03-28T19:05:51.753Z,1553799951.753 [YawRateCalculator] Loaded
2019-03-28T19:05:51.753Z,1553799951.753 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-03-28T19:05:51.972Z,1553799951.972 [ElevatorOffsetCalculator] Loaded
2019-03-28T19:05:51.972Z,1553799951.972 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-03-28T19:05:51.972Z,1553799951.972 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-03-28T19:05:51.973Z,1553799951.973 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-03-28T19:05:52.111Z,1553799952.111 [SBIT](DEBUG): Construct Startup Built In Test.
2019-03-28T19:05:52.135Z,1553799952.135 [SBIT] Loaded
2019-03-28T19:05:52.135Z,1553799952.135 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-03-28T19:05:52.136Z,1553799952.136 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-03-28T19:05:52.148Z,1553799952.148 [IBIT] Loaded
2019-03-28T19:05:52.148Z,1553799952.148 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-03-28T19:05:52.152Z,1553799952.152 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-03-28T19:05:52.299Z,1553799952.299 [CBIT] Loaded
2019-03-28T19:05:52.300Z,1553799952.300 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-03-28T19:05:52.300Z,1553799952.300 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-03-28T19:05:52.301Z,1553799952.301 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-03-28T19:05:52.372Z,1553799952.372 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-03-28T19:05:52.373Z,1553799952.373 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-03-28T19:05:52.473Z,1553799952.473 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-03-28T19:05:52.474Z,1553799952.474 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-03-28T19:05:52.543Z,1553799952.543 [VerticalControl](DEBUG): Construct VerticalControl.
2019-03-28T19:05:52.632Z,1553799952.632 [VerticalControl] Loaded
2019-03-28T19:05:52.633Z,1553799952.633 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-03-28T19:05:52.633Z,1553799952.633 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-03-28T19:05:52.694Z,1553799952.694 [HorizontalControl] Loaded
2019-03-28T19:05:52.695Z,1553799952.695 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-03-28T19:05:52.696Z,1553799952.696 [SpeedControl](DEBUG): Construct SpeedControl.
2019-03-28T19:05:52.697Z,1553799952.697 [SpeedControl] Loaded
2019-03-28T19:05:52.698Z,1553799952.698 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-03-28T19:05:52.698Z,1553799952.698 [LoopControl](DEBUG): Construct LoopControl.
2019-03-28T19:05:52.699Z,1553799952.699 [LoopControl] Loaded
2019-03-28T19:05:52.699Z,1553799952.699 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-03-28T19:05:52.700Z,1553799952.700 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-03-28T19:05:52.700Z,1553799952.700 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-03-28T19:05:52.728Z,1553799952.728 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-03-28T19:05:52.732Z,1553799952.732 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-03-28T19:05:52.733Z,1553799952.733 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-03-28T19:05:52.740Z,1553799952.740 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-03-28T19:05:52.741Z,1553799952.741 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40ACF4E0
2019-03-28T19:05:52.741Z,1553799952.741 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2726
2019-03-28T19:05:52.746Z,1553799952.746 [Supervisor](INFO): Main Thread ID is 2523
2019-03-28T19:05:52.746Z,1553799952.746 [Supervisor](DEBUG): Running supervisor.
2019-03-28T19:05:52.747Z,1553799952.747 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2727
2019-03-28T19:05:52.749Z,1553799952.749 [controlThread ThreadHandler](INFO): Handler Thread ID is 2728
2019-03-28T19:05:52.750Z,1553799952.750 [controlThread](DEBUG): Initializing ControlThread
2019-03-28T19:05:52.757Z,1553799952.757 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-28T19:05:52.758Z,1553799952.758 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-03-28T19:05:52.758Z,1553799952.758 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-03-28T19:05:52.759Z,1553799952.759 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-03-28T19:05:52.760Z,1553799952.760 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-03-28T19:05:52.760Z,1553799952.760 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-03-28T19:05:52.760Z,1553799952.760 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-03-28T19:05:52.761Z,1553799952.761 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-03-28T19:05:52.761Z,1553799952.761 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-03-28T19:05:52.762Z,1553799952.762 [SBIT](INFO): Initialize SBIT Component.
2019-03-28T19:05:52.762Z,1553799952.762 [SBIT](IMPORTANT): git: 2019-03-18-26-gc8399b8
2019-03-28T19:05:52.762Z,1553799952.762 [SBIT](INFO): git hash: c8399b8e53db2b8366337064c7df5542bc2caf88
2019-03-28T19:05:52.770Z,1553799952.770 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-03-28T19:05:52.776Z,1553799952.776 [SBIT](IMPORTANT): Kernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018
2019-03-28T19:05:52.777Z,1553799952.777 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-03-28T19:05:52.778Z,1553799952.778 [IBIT](INFO): Initialize IBIT Component.
2019-03-28T19:05:52.779Z,1553799952.779 [CBIT](DEBUG): Initialize CBIT Component.
2019-03-28T19:05:52.780Z,1553799952.780 [logger ThreadHandler](INFO): Handler Thread ID is 2729
2019-03-28T19:05:52.790Z,1553799952.790 [CBIT](DEBUG): Initialized mux pins.
2019-03-28T19:05:52.790Z,1553799952.790 [CBIT](DEBUG): Initializing the watchdog timer.
2019-03-28T19:05:52.798Z,1553799952.798 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2730
2019-03-28T19:05:52.799Z,1553799952.799 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-03-28T19:05:52.814Z,1553799952.814 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-03-28T19:05:52.814Z,1553799952.814 [CBIT](DEBUG): Initializing heartbeat.
2019-03-28T19:05:52.814Z,1553799952.814 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2731
2019-03-28T19:05:52.826Z,1553799952.826 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2732
2019-03-28T19:05:52.827Z,1553799952.827 [CTD_NeilBrown](INFO): Powering down
2019-03-28T19:05:52.858Z,1553799952.858 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 2733
2019-03-28T19:05:52.859Z,1553799952.859 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-03-28T19:05:52.886Z,1553799952.886 [CBIT](DEBUG): Deactivating GF circuits.
2019-03-28T19:05:52.886Z,1553799952.886 [CBIT](DEBUG): Deactivating emergency mode.
2019-03-28T19:05:52.887Z,1553799952.887 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2734
2019-03-28T19:05:52.890Z,1553799952.890 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-03-28T19:05:52.890Z,1553799952.890 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-03-28T19:05:52.890Z,1553799952.890 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-03-28T19:05:52.890Z,1553799952.890 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-03-28T19:05:52.890Z,1553799952.890 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-03-28T19:05:52.891Z,1553799952.891 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-03-28T19:05:52.891Z,1553799952.891 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-03-28T19:05:52.891Z,1553799952.891 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-03-28T19:05:52.891Z,1553799952.891 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-03-28T19:05:52.891Z,1553799952.891 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-03-28T19:05:52.892Z,1553799952.892 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-03-28T19:05:52.892Z,1553799952.892 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-03-28T19:05:52.892Z,1553799952.892 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-03-28T19:05:52.892Z,1553799952.892 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-03-28T19:05:52.892Z,1553799952.892 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-03-28T19:05:52.892Z,1553799952.892 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-03-28T19:05:52.922Z,1553799952.922 [CBIT](DEBUG): Backplane powered.
2019-03-28T19:05:52.923Z,1553799952.923 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-03-28T19:05:52.924Z,1553799952.924 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-03-28T19:05:52.925Z,1553799952.925 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-03-28T19:05:52.925Z,1553799952.925 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-03-28T19:05:52.927Z,1553799952.927 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-03-28T19:05:52.938Z,1553799952.938 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:05:52.956Z,1553799952.956 [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>


2019-03-28T19:05:52.957Z,1553799952.957 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-03-28T19:05:53.029Z,1553799953.029 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-03-28T19:05:53.038Z,1553799953.038 [Default:A.Wait](DEBUG): Construct Wait.
2019-03-28T19:05:53.040Z,1553799953.040 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:05:53.066Z,1553799953.066 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-03-28T19:05:53.069Z,1553799953.069 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-03-28T19:05:53.090Z,1553799953.090 [Default:E.Execute](DEBUG): Construct Execute.
2019-03-28T19:05:53.124Z,1553799953.124 [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>


2019-03-28T19:05:53.129Z,1553799953.129 [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,
2019-03-28T19:05:53.140Z,1553799953.140 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-03-28T19:05:53.180Z,1553799953.180 [DUSBL_Hydroid](INFO): Powering up
2019-03-28T19:05:53.181Z,1553799953.181 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-03-28T19:05:53.218Z,1553799953.218 [Radio_Surface](INFO): Powering up
2019-03-28T19:05:53.276Z,1553799953.276 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-03-28T19:05:53.283Z,1553799953.283 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-03-28T19:05:53.284Z,1553799953.284 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-03-28T19:05:53.294Z,1553799953.294 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-03-28T19:05:53.295Z,1553799953.295 [MassServo](DEBUG): Initializing EZServoServo.
2019-03-28T19:05:53.306Z,1553799953.306 [MassServo](DEBUG): Initializing MassServo.
2019-03-28T19:05:53.307Z,1553799953.307 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-28T19:05:53.314Z,1553799953.314 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-28T19:05:53.315Z,1553799953.315 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-03-28T19:05:53.322Z,1553799953.322 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-03-28T19:05:53.566Z,1553799953.566 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2019-03-28T19:05:53.568Z,1553799953.568 [Micromodem](INFO): Powering up
2019-03-28T19:05:53.569Z,1553799953.569 [Micromodem](DEBUG): Initializing Micromodem.
2019-03-28T19:05:54.282Z,1553799954.282 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-03-28T19:05:54.282Z,1553799954.282 [RudderServo](FAULT): Rudder failed to initialize
2019-03-28T19:05:54.282Z,1553799954.282 [RudderServo] Communications Fault, FailCount= 1
2019-03-28T19:05:54.282Z,1553799954.282 [RudderServo](ERROR): Communications Fault
2019-03-28T19:05:54.393Z,1553799954.393 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-03-28T19:05:54.575Z,1553799954.575 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-03-28T19:05:54.575Z,1553799954.575 [RudderServo](INFO): Powering down
2019-03-28T19:05:55.239Z,1553799955.239 [RudderServo](DEBUG): Initializing EZServoServo.
2019-03-28T19:05:55.359Z,1553799955.359 [RudderServo](DEBUG): Initializing RudderServo.
2019-03-28T19:05:55.363Z,1553799955.363 [CBIT](INFO): Clearing failed state for component RudderServo
2019-03-28T19:05:55.363Z,1553799955.363 [RudderServo] No Fault, FailCount= 1
2019-03-28T19:05:58.480Z,1553799958.480 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-03-28T19:06:06.551Z,1553799966.551 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-03-28T19:06:09.756Z,1553799969.756 [Micromodem](ERROR): Nmea resend: $CCCFG,ALL,0*33

2019-03-28T19:06:11.371Z,1553799971.371 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-03-28T19:06:19.048Z,1553799979.048 [NAL9602](INFO): Powering up NAL9602
2019-03-28T19:06:19.856Z,1553799979.856 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-03-28T19:06:20.910Z,1553799980.910 [CommandLine](IMPORTANT): got command failComponent
2019-03-28T19:06:20.911Z,1553799980.911 [CommandLine](IMPORTANT): Failed components:
2019-03-28T19:06:20.911Z,1553799980.911 [CommandLine](IMPORTANT): No failed Components.
2019-03-28T19:06:21.559Z,1553799981.559 [SBIT](IMPORTANT): Beginning Startup BIT
2019-03-28T19:06:21.564Z,1553799981.564 [CBIT](IMPORTANT): Beginning ground fault scan
2019-03-28T19:06:24.342Z,1553799984.342 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:06:24.343Z,1553799984.343 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -18,   -16,   +5,A
2019-03-28T19:06:29.956Z,1553799989.956 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-03-28T19:06:29.956Z,1553799989.956 [NAL9602](INFO): NAL9602 initialized
2019-03-28T19:06:30.778Z,1553799990.778 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:06:32.491Z,1553799992.491 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.008686
CHAN A1 (24V): -0.026866
CHAN A2 (12V): -0.007285
CHAN A3 (5V): -0.002204
CHAN B0 (3.3V): 0.000229
CHAN B1 (3.15aV): -0.000020
CHAN B2 (3.15bV): -0.000034
CHAN B3 (GND): 0.001891
OPEN: 0.007348
Full Scale Calc: 4.765 mA, -1.589 mA
2019-03-28T19:06:34.888Z,1553799994.888 [SBIT](FAULT): Mass: EXPECTED:0.008600 ACTUAL:0.004866
2019-03-28T19:06:39.652Z,1553799999.652 [Micromodem](INFO): Nmea out: $CCCFG,BND,1*3B

2019-03-28T19:06:49.752Z,1553800009.752 [Micromodem](INFO): Nmea out: $CCTMS,2019-03-28T19:06:50Z,0*7C

2019-03-28T19:07:15.383Z,1553800035.383 [SBIT](CRITICAL): SBIT FAILED
2019-03-28T19:07:15.400Z,1553800035.400 [CommandLine](FAULT): Scheduling is paused
2019-03-28T19:07:15.401Z,1553800035.401 [CBIT](INFO): Critical error at 20190328T190715
2019-03-28T19:07:15.401Z,1553800035.401 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-03-28T19:07:15.446Z,1553800035.446 [CommandLine](IMPORTANT): got command configSet list
2019-03-28T19:07:15.446Z,1553800035.446 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-03-28T19:07:15.447Z,1553800035.447 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=20 count;

2019-03-28T19:07:15.447Z,1553800035.447 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.range 2.000000 meter;

2019-03-28T19:07:15.448Z,1553800035.448 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 angular_degree;

2019-03-28T19:07:15.448Z,1553800035.448 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-03-28T19:07:15.748Z,1553800035.748 [MissionManager](IMPORTANT): Started mission Startup
2019-03-28T19:07:15.749Z,1553800035.749 [Startup] Running Loop=1
2019-03-28T19:07:15.749Z,1553800035.749 [Startup](DEBUG): Aggregate::initialize Startup
2019-03-28T19:07:15.749Z,1553800035.749 [Startup:A.GoToSurface] Running Loop=1
2019-03-28T19:07:15.749Z,1553800035.749 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:07:15.750Z,1553800035.750 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T19:07:15.750Z,1553800035.750 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T19:07:15.751Z,1553800035.751 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T19:07:15.751Z,1553800035.751 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:07:15.751Z,1553800035.751 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:07:15.753Z,1553800035.753 [Startup:StartupSatComms] Running Loop=1
2019-03-28T19:07:15.753Z,1553800035.753 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-03-28T19:07:15.753Z,1553800035.753 [Startup:StartupSatComms:A] Running Loop=1
2019-03-28T19:07:16.152Z,1553800036.152 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-03-28T19:07:34.339Z,1553800054.339 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-28T19:07:34.339Z,1553800054.339 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +54,   +15,   BE,   +54,   +15,   +13,A
2019-03-28T19:08:15.957Z,1553800095.957 [Startup:StartupSatComms:A](INFO): Timed out from 2019-03-28T19:07:15.8Z
2019-03-28T19:08:15.957Z,1553800095.957 [Startup:StartupSatComms:A] Stopped
2019-03-28T19:08:15.957Z,1553800095.957 [Startup:StartupSatComms:B] Running Loop=1
2019-03-28T19:08:16.398Z,1553800096.398 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:08:19.180Z,1553800099.180 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004982
2019-03-28T19:08:24.909Z,1553800104.909 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T184636/Courier0033.lzma
2019-03-28T19:08:25.715Z,1553800105.715 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Courier0033.lzma.bak
2019-03-28T19:08:25.716Z,1553800105.716 [DataOverHttps](INFO): SBD MOMSN=10271206
2019-03-28T19:08:37.389Z,1553800117.389 [DataOverHttps](INFO): Sending 96 bytes from file Logs/20190328T190446/Courier0000.lzma
2019-03-28T19:08:38.195Z,1553800118.195 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190446/Courier0000.lzma.bak
2019-03-28T19:08:38.195Z,1553800118.195 [DataOverHttps](INFO): SBD MOMSN=10271208
2019-03-28T19:08:38.680Z,1553800118.680 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +27,   +22,   +15,-32768,A
2019-03-28T19:08:49.869Z,1553800129.869 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20190328T190542/Courier0000.lzma
2019-03-28T19:08:51.359Z,1553800131.359 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0000.lzma.bak
2019-03-28T19:08:51.359Z,1553800131.359 [DataOverHttps](INFO): SBD MOMSN=10271212
2019-03-28T19:08:52.822Z,1553800132.822 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-03-28T19:08:52.822Z,1553800132.822 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-03-28T19:08:52.823Z,1553800132.823 [DeadReckonUsingSpeedCalculator] Software Fault, FailCount= 1
2019-03-28T19:08:52.823Z,1553800132.823 [DeadReckonUsingSpeedCalculator](ERROR): Software Fault
2019-03-28T19:08:52.824Z,1553800132.824 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:08:52.824Z,1553800132.824 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:08:52.835Z,1553800132.835 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-03-28T19:08:52.835Z,1553800132.835 [CBIT](ERROR): Software Fault in component: DeadReckonUsingSpeedCalculator
2019-03-28T19:08:52.835Z,1553800132.835 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:08:53.234Z,1553800133.234 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-03-28T19:08:53.235Z,1553800133.235 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-03-28T19:08:53.235Z,1553800133.235 [CBIT](INFO): Clearing failed state for component DeadReckonUsingSpeedCalculator
2019-03-28T19:08:53.235Z,1553800133.235 [DeadReckonUsingSpeedCalculator] No Fault, FailCount= 1
2019-03-28T19:08:53.236Z,1553800133.236 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:08:53.236Z,1553800133.236 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:08:53.641Z,1553800133.641 [DeadReckonUsingSpeedCalculator](DEBUG): Initializing DeadReckonUsingSpeedCalculator component.
2019-03-28T19:08:56.433Z,1553800136.433 [NAL9602](INFO): SBD MO Status=0, MOMSN=2490, MT Status=0, MTMSN=0
2019-03-28T19:08:56.433Z,1553800136.433 [NAL9602](INFO): No messages in MT queue
2019-03-28T19:08:57.258Z,1553800137.258 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:00.082Z,1553800140.082 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:02.910Z,1553800142.910 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:03.397Z,1553800143.397 [DataOverHttps](INFO): Sending 23 bytes from file Logs/20190328T184636/Express0008.lzma
2019-03-28T19:09:04.203Z,1553800144.203 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0008.lzma.bak
2019-03-28T19:09:04.203Z,1553800144.203 [DataOverHttps](INFO): SBD MOMSN=10271216
2019-03-28T19:09:04.534Z,1553800144.534 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T19:09:04.535Z,1553800144.535 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032812101578,35.0, -0.1,  0.00
2019-03-28T19:09:05.738Z,1553800145.738 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:08.970Z,1553800148.970 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:11.805Z,1553800151.805 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:15.034Z,1553800155.034 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:16.269Z,1553800156.269 [Startup:StartupSatComms:B](INFO): Timed out from 2019-03-28T19:08:15.0Z
2019-03-28T19:09:16.269Z,1553800156.269 [Startup:StartupSatComms:B] Stopped
2019-03-28T19:09:16.269Z,1553800156.269 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-03-28T19:09:16.269Z,1553800156.269 [Startup:StartupSatComms] Stopped
2019-03-28T19:09:16.269Z,1553800156.269 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-03-28T19:09:16.304Z,1553800156.304 [Startup](INFO): Completed Startup
2019-03-28T19:09:16.305Z,1553800156.305 [MissionManager](INFO): Startup is completed.
2019-03-28T19:09:16.311Z,1553800156.311 [MissionManager](INFO): Uninitializing Mission Startup
2019-03-28T19:09:16.312Z,1553800156.312 [Startup] Stopped
2019-03-28T19:09:16.312Z,1553800156.312 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-03-28T19:09:16.312Z,1553800156.312 [Startup:A.GoToSurface] Stopped
2019-03-28T19:09:16.313Z,1553800156.313 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:09:16.343Z,1553800156.343 [DataOverHttps](INFO): Sending 314 bytes from file Logs/20190328T184636/Express0010.lzma
2019-03-28T19:09:16.668Z,1553800156.668 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T19:09:16.668Z,1553800156.668 [Default] Running Loop=1
2019-03-28T19:09:16.668Z,1553800156.668 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T19:09:16.669Z,1553800156.669 [Default:B.GoToSurface] Running Loop=1
2019-03-28T19:09:16.669Z,1553800156.669 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:09:16.669Z,1553800156.669 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T19:09:16.669Z,1553800156.669 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T19:09:16.670Z,1553800156.670 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T19:09:16.671Z,1553800156.671 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:09:16.671Z,1553800156.671 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:09:16.671Z,1553800156.671 [Default:A.Wait] Running Loop=1
2019-03-28T19:09:16.671Z,1553800156.671 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:09:17.143Z,1553800157.143 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0010.lzma.bak
2019-03-28T19:09:17.143Z,1553800157.143 [DataOverHttps](INFO): SBD MOMSN=10271218
2019-03-28T19:09:17.858Z,1553800157.858 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:21.090Z,1553800161.090 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:23.918Z,1553800163.918 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:27.150Z,1553800167.150 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:29.978Z,1553800169.978 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:30.024Z,1553800170.024 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T19:09:30.025Z,1553800170.025 [Default:A.Wait] Stopped
2019-03-28T19:09:30.026Z,1553800170.026 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:09:30.437Z,1553800170.437 [Default:CheckIn] Running Loop=1
2019-03-28T19:09:30.437Z,1553800170.437 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T19:09:30.438Z,1553800170.438 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T19:09:30.836Z,1553800170.836 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:09:33.210Z,1553800173.210 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:36.038Z,1553800176.038 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:38.870Z,1553800178.870 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:42.105Z,1553800182.105 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:44.930Z,1553800184.930 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:48.162Z,1553800188.162 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:50.998Z,1553800190.998 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:53.822Z,1553800193.822 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:09:54.205Z,1553800194.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190232.00,A,3648.15783,N,12147.27841,W,0.156,0.00,280319,,,A*7C
2019-03-28T19:09:54.209Z,1553800194.209 [NAL9602](INFO): GPS fix at 20190328T190232: (36.802630, -121.787974)
2019-03-28T19:09:54.267Z,1553800194.267 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T19:09:54.267Z,1553800194.267 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T19:09:54.709Z,1553800194.709 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:10:00.682Z,1553800200.682 [DataOverHttps](INFO): Sending 211 bytes from file Logs/20190328T190542/Courier0004.lzma
2019-03-28T19:10:01.491Z,1553800201.491 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0004.lzma.bak
2019-03-28T19:10:01.491Z,1553800201.491 [DataOverHttps](INFO): SBD MOMSN=10271224
2019-03-28T19:10:16.554Z,1553800216.554 [DataOverHttps](INFO): Sending 294 bytes from file Logs/20190328T184636/Express0014.lzma
2019-03-28T19:10:17.360Z,1553800217.360 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0014.lzma.bak
2019-03-28T19:10:17.361Z,1553800217.361 [DataOverHttps](IMPORTANT): SBD MOMSN=10271228, MTMSN=20190328T190256
2019-03-28T19:10:24.222Z,1553800224.222 [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" 4b66f 1 3
2019-03-28T19:10:24.261Z,1553800224.261 [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" 4b66f 1 3.000000
2019-03-28T19:10:24.262Z,1553800224.262 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b66f
2019-03-28T19:10:24.263Z,1553800224.263 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 3 with id='4b66f'): "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
2019-03-28T19:10:25.028Z,1553800225.028 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T190303
2019-03-28T19:10:26.724Z,1553800226.724 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:10:31.050Z,1553800231.050 [DataOverHttps](INFO): Sending 300 bytes from file Logs/20190328T184636/Express0017.lzma
2019-03-28T19:10:31.053Z,1553800231.053 [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" 4b66f 2 3
2019-03-28T19:10:31.069Z,1553800231.069 [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" 4b66f 2 3.000000
2019-03-28T19:10:31.069Z,1553800231.069 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b66f
2019-03-28T19:10:31.070Z,1553800231.070 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 3 with id='4b66f'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T19:10:31.856Z,1553800231.856 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0017.lzma.bak
2019-03-28T19:10:31.856Z,1553800231.856 [DataOverHttps](IMPORTANT): SBD MOMSN=10271237, MTMSN=20190328T190310
2019-03-28T19:10:37.905Z,1553800237.905 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b66f 3 3
2019-03-28T19:10:37.983Z,1553800237.983 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b66f 3 3.000000
2019-03-28T19:10:37.983Z,1553800237.983 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b66f
2019-03-28T19:10:37.984Z,1553800237.984 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 3 with id='4b66f'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T19:10:38.182Z,1553800238.182 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:10:38.182Z,1553800238.182 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:10:38.590Z,1553800238.590 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T19:10:38.593Z,1553800238.593 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T19:10:38.604Z,1553800238.604 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T19:10:38.626Z,1553800238.626 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T19:10:38.629Z,1553800238.629 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T19:10:38.640Z,1553800238.640 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T19:10:38.647Z,1553800238.647 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T19:10:38.662Z,1553800238.662 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T19:10:38.674Z,1553800238.674 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T19:10:38.677Z,1553800238.677 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T19:10:38.704Z,1553800238.704 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T19:10:38.711Z,1553800238.711 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T19:10:38.727Z,1553800238.727 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T19:10:38.739Z,1553800238.739 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T19:10:38.750Z,1553800238.750 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T19:10:38.753Z,1553800238.753 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T19:10:38.764Z,1553800238.764 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T19:10:38.772Z,1553800238.772 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T19:10:38.807Z,1553800238.807 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T19:10:38.810Z,1553800238.810 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T19:10:38.813Z,1553800238.813 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T19:10:38.825Z,1553800238.825 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T190317
2019-03-28T19:10:38.849Z,1553800238.849 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T19:10:38.852Z,1553800238.852 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T19:10:38.884Z,1553800238.884 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T19:10:38.892Z,1553800238.892 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T19:10:38.907Z,1553800238.907 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T19:10:38.919Z,1553800238.919 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T19:10:38.938Z,1553800238.938 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T19:10:38.941Z,1553800238.941 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T19:10:38.949Z,1553800238.949 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T19:10:38.958Z,1553800238.958 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T19:10:38.000Z,1553800239.000 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T19:10:39.015Z,1553800239.015 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T19:10:39.022Z,1553800239.022 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T19:10:39.024Z,1553800239.024 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T19:10:39.050Z,1553800239.050 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T19:10:39.065Z,1553800239.065 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T19:10:39.104Z,1553800239.104 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T19:10:39.192Z,1553800239.192 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T19:10:39.196Z,1553800239.196 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T19:10:39.199Z,1553800239.199 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T19:10:39.213Z,1553800239.213 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T19:10:39.216Z,1553800239.216 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T19:10:39.219Z,1553800239.219 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T19:10:39.282Z,1553800239.282 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T19:10:39.325Z,1553800239.325 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:10:39.587Z,1553800239.587 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T19:10:39.591Z,1553800239.591 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T19:10:39.621Z,1553800239.621 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T19:10:39.624Z,1553800239.624 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T19:10:39.718Z,1553800239.718 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T19:10:39.734Z,1553800239.734 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T19:10:39.777Z,1553800239.777 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:10:39.806Z,1553800239.806 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-03-28T19:10:39.842Z,1553800239.842 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T19:10:39.886Z,1553800239.886 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T19:10:39.903Z,1553800239.903 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:10:39.920Z,1553800239.920 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T19:10:39.986Z,1553800239.986 [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>
-->
            <While>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Gt><Arg Name="DockRange"/></Gt>
            </While>

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


2019-03-28T19:10:39.986Z,1553800239.986 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:10:49.613Z,1553800249.613 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0007.lzma
2019-03-28T19:10:49.616Z,1553800249.616 [DataOverHttps](INFO): Received command:sched asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;report m HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" 4b673 1 2
2019-03-28T19:10:56.099Z,1553800256.099 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T19:10:56.101Z,1553800256.101 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T19:10:56.101Z,1553800256.101 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T19:10:56.102Z,1553800256.102 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T19:10:56.119Z,1553800256.119 [CommandLine](IMPORTANT): got command schedule asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;report m HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" 4b673 1 2.000000
2019-03-28T19:10:56.130Z,1553800256.130 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=4b673
2019-03-28T19:10:56.131Z,1553800256.131 [CommandLine](IMPORTANT): Scheduled #4 (#1 of 2 with id='4b673'): "report t acoustic_contact_range;report m SpeedControl.speedCmd;report m HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" ASAP
2019-03-28T19:10:56.670Z,1553800256.670 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0007.lzma.bak
2019-03-28T19:10:56.670Z,1553800256.670 [DataOverHttps](IMPORTANT): SBD MOMSN=10271248, MTMSN=20190328T190329
2019-03-28T19:11:08.450Z,1553800268.450 [DataOverHttps](INFO): Received command:sched asap "maintain sensor Depth_Keller.depth 0 m;report t TrackAcousticContact.heading_to_contact" 4b673 2 2
2019-03-28T19:11:13.879Z,1553800273.879 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T19:11:13.879Z,1553800273.879 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T19:11:13.880Z,1553800273.880 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T19:11:13.881Z,1553800273.881 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T19:11:13.891Z,1553800273.891 [CommandLine](IMPORTANT): got command schedule asap "maintain sensor Depth_Keller.depth 0 m;report t TrackAcousticContact.heading_to_contact" 4b673 2 2.000000
2019-03-28T19:11:13.898Z,1553800273.898 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=4b673
2019-03-28T19:11:13.899Z,1553800273.899 [CommandLine](IMPORTANT): Scheduled #5 (#2 of 2 with id='4b673'): "maintain sensor Depth_Keller.depth 0 m;report t TrackAcousticContact.heading_to_contact" ASAP
2019-03-28T19:11:21.462Z,1553800281.462 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T19:11:21.463Z,1553800281.463 [CommandLine](IMPORTANT): got command run 
2019-03-28T19:11:21.478Z,1553800281.478 [CommandLine](IMPORTANT): Running 
2019-03-28T19:11:21.745Z,1553800281.745 [Default] Stopped
2019-03-28T19:11:21.745Z,1553800281.745 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T19:11:21.745Z,1553800281.745 [Default:B.GoToSurface] Stopped
2019-03-28T19:11:21.745Z,1553800281.745 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:11:21.745Z,1553800281.745 [Default:CheckIn] Stopped
2019-03-28T19:11:21.745Z,1553800281.745 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T19:11:21.745Z,1553800281.745 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T19:11:21.745Z,1553800281.745 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T19:11:21.774Z,1553800281.774 [lineCaptureHoming] Running Loop=1
2019-03-28T19:11:21.774Z,1553800281.774 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T19:11:21.774Z,1553800281.774 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:11:21.774Z,1553800281.774 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:11:21.774Z,1553800281.774 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:11:21.774Z,1553800281.774 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:11:21.775Z,1553800281.775 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T19:11:21.776Z,1553800281.776 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:11:21.776Z,1553800281.776 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T19:11:21.776Z,1553800281.776 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:11:21.776Z,1553800281.776 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:11:21.776Z,1553800281.776 [lineCaptureHoming:B] Running Loop=1
2019-03-28T19:11:21.777Z,1553800281.777 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:11:21.794Z,1553800281.794 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T19:11:21.794Z,1553800281.794 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:11:21.795Z,1553800281.795 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T19:11:21.795Z,1553800281.795 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:11:21.795Z,1553800281.795 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:11:21.795Z,1553800281.795 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:11:21.796Z,1553800281.796 [lineCaptureHoming:B] Stopped
2019-03-28T19:11:21.796Z,1553800281.796 [lineCaptureHoming:C] Running Loop=1
2019-03-28T19:11:21.796Z,1553800281.796 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:11:21.796Z,1553800281.796 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:11:21.797Z,1553800281.797 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:11:21.810Z,1553800281.810 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:11:22.131Z,1553800282.131 [lineCaptureHoming:C] Stopped
2019-03-28T19:11:22.131Z,1553800282.131 [lineCaptureHoming:D] Running Loop=1
2019-03-28T19:11:22.572Z,1553800282.572 [lineCaptureHoming:D] Stopped
2019-03-28T19:11:22.572Z,1553800282.572 [lineCaptureHoming:F] Running Loop=1
2019-03-28T19:11:22.919Z,1553800282.919 [lineCaptureHoming:F] Stopped
2019-03-28T19:11:22.919Z,1553800282.919 [lineCaptureHoming:G] Running Loop=1
2019-03-28T19:11:23.390Z,1553800283.390 [lineCaptureHoming:G] Stopped
2019-03-28T19:11:23.391Z,1553800283.391 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T19:11:23.391Z,1553800283.391 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T19:11:23.709Z,1553800283.709 [RDI_Pathfinder](ERROR): only read 1 of 5 data items
2019-03-28T19:11:23.709Z,1553800283.709 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +23   +11,   -39,A
2019-03-28T19:11:23.749Z,1553800283.749 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T19:11:23.749Z,1553800283.749 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T19:11:23.758Z,1553800283.758 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T19:11:23.758Z,1553800283.758 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T19:11:23.758Z,1553800283.758 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T19:11:23.759Z,1553800283.759 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:11:24.164Z,1553800284.164 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T19:11:24.165Z,1553800284.165 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T19:11:24.165Z,1553800284.165 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T19:11:24.165Z,1553800284.165 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:11:24.165Z,1553800284.165 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T19:11:24.170Z,1553800284.170 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T19:11:24.170Z,1553800284.170 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T19:11:24.170Z,1553800284.170 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:11:24.171Z,1553800284.171 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:11:24.171Z,1553800284.171 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T19:11:24.173Z,1553800284.173 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553799752.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T19:11:24.178Z,1553800284.178 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T19:11:24.369Z,1553800284.369 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0010.lzma
2019-03-28T19:11:24.587Z,1553800284.587 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T19:11:24.951Z,1553800284.951 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:11:25.175Z,1553800285.175 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0010.lzma.bak
2019-03-28T19:11:25.175Z,1553800285.175 [DataOverHttps](INFO): SBD MOMSN=10271282
2019-03-28T19:11:26.126Z,1553800286.126 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:11:26.517Z,1553800286.517 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190404.00,A,3648.17063,N,12147.27945,W,0.156,0.00,280319,,,A*71
2019-03-28T19:11:26.520Z,1553800286.520 [NAL9602](INFO): GPS fix at 20190328T190404: (36.802844, -121.787991)
2019-03-28T19:11:26.582Z,1553800286.582 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T19:11:26.583Z,1553800286.583 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T19:11:26.999Z,1553800286.999 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:11:34.352Z,1553800294.352 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-03-28T19:11:34.353Z,1553800294.353 [CommandLine](IMPORTANT): got command report mod SpeedControl.speedCmd
2019-03-28T19:11:34.354Z,1553800294.354 [CommandLine](IMPORTANT): got command report mod HorizontalControl.headingCmd
2019-03-28T19:11:34.355Z,1553800294.355 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 2.500000 centimeter
2019-03-28T19:11:34.356Z,1553800294.356 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2019-03-28T19:11:34.357Z,1553800294.357 [CommandLine](IMPORTANT): got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter
2019-03-28T19:11:34.371Z,1553800294.371 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.
2019-03-28T19:11:34.568Z,1553800294.568 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T19:11:34.568Z,1553800294.568 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T19:11:34.574Z,1553800294.574 [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,Maintain_VerticalControl.massPositionAction,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-28T19:11:38.291Z,1553800298.291 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 0.000000 meter
2019-03-28T19:11:38.292Z,1553800298.292 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-03-28T19:11:38.293Z,1553800298.293 [CommandLine](IMPORTANT): got command report touch TrackAcousticContact.heading_to_contact
2019-03-28T19:11:38.669Z,1553800298.669 [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.massPositionAction,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-03-28T19:11:43.293Z,1553800303.293 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0013.lzma
2019-03-28T19:11:44.099Z,1553800304.099 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0013.lzma.bak
2019-03-28T19:11:44.100Z,1553800304.100 [DataOverHttps](INFO): SBD MOMSN=10271284
2019-03-28T19:11:57.153Z,1553800317.153 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0016.lzma
2019-03-28T19:11:57.959Z,1553800317.959 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0016.lzma.bak
2019-03-28T19:11:57.960Z,1553800317.960 [DataOverHttps](INFO): SBD MOMSN=10271288
2019-03-28T19:12:06.414Z,1553800326.414 [NAL9602](INFO): SBD MO Status=2, MOMSN=2491, MT Status=2, MTMSN=0
2019-03-28T19:12:06.414Z,1553800326.414 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T19:12:12.809Z,1553800332.809 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0019.lzma
2019-03-28T19:12:13.615Z,1553800333.615 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0019.lzma.bak
2019-03-28T19:12:13.615Z,1553800333.615 [DataOverHttps](INFO): SBD MOMSN=10271290
2019-03-28T19:12:16.917Z,1553800336.917 [NAL9602](INFO): SBD MO Status=0, MOMSN=2491, MT Status=0, MTMSN=0
2019-03-28T19:12:16.917Z,1553800336.917 [NAL9602](INFO): No messages in MT queue
2019-03-28T19:12:18.435Z,1553800338.435 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553800320.000000 second
2019-03-28T19:12:21.395Z,1553800341.395 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-03-28T19:12:21.398Z,1553800341.398 [BPC1](INFO): Received data from all battery sticks.
2019-03-28T19:12:26.421Z,1553800346.421 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20190328T190542/Courier0022.lzma
2019-03-28T19:12:27.227Z,1553800347.227 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0022.lzma.bak
2019-03-28T19:12:27.227Z,1553800347.227 [DataOverHttps](INFO): SBD MOMSN=10271292
2019-03-28T19:12:40.234Z,1553800360.234 [DataOverHttps](INFO): Sending 526 bytes from file Logs/20190328T184636/Express0020.lzma
2019-03-28T19:12:41.039Z,1553800361.039 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0020.lzma.bak
2019-03-28T19:12:41.040Z,1553800361.040 [DataOverHttps](INFO): SBD MOMSN=10271295
2019-03-28T19:12:47.628Z,1553800367.628 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:12:54.354Z,1553800374.354 [DataOverHttps](INFO): Sending 336 bytes from file Logs/20190328T184636/Express0023.lzma
2019-03-28T19:12:55.159Z,1553800375.159 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0023.lzma.bak
2019-03-28T19:12:55.160Z,1553800375.160 [DataOverHttps](INFO): SBD MOMSN=10271310
2019-03-28T19:13:08.254Z,1553800388.254 [DataOverHttps](INFO): Sending 1559 bytes from file Logs/20190328T184636/Express0027.lzma
2019-03-28T19:13:09.016Z,1553800389.016 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0027.lzma.bak
2019-03-28T19:13:09.016Z,1553800389.016 [DataOverHttps](INFO): SBD MOMSN=10271320
2019-03-28T19:13:29.631Z,1553800409.631 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T19:13:29.756Z,1553800409.756 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T19:13:29.757Z,1553800409.757 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T19:13:30.131Z,1553800410.131 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:13:30.725Z,1553800410.725 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20190328T184636/Express0028.lzma
2019-03-28T19:13:31.330Z,1553800411.330 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:13:31.531Z,1553800411.531 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0028.lzma.bak
2019-03-28T19:13:31.531Z,1553800411.531 [DataOverHttps](INFO): SBD MOMSN=10271388
2019-03-28T19:13:31.706Z,1553800411.706 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190609.00,A,3648.16808,N,12147.28349,W,0.622,0.00,280319,,,A*77
2019-03-28T19:13:31.708Z,1553800411.708 [NAL9602](INFO): GPS fix at 20190328T190609: (36.802801, -121.788058)
2019-03-28T19:13:31.741Z,1553800411.741 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T19:13:31.742Z,1553800411.742 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T19:13:31.742Z,1553800411.742 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T19:13:31.742Z,1553800411.742 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T19:13:31.742Z,1553800411.742 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T19:13:31.742Z,1553800411.742 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:13:32.172Z,1553800412.172 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T19:13:32.172Z,1553800412.172 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T19:13:32.172Z,1553800412.172 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:13:32.172Z,1553800412.172 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T19:13:32.582Z,1553800412.582 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T19:13:32.582Z,1553800412.582 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T19:13:33.043Z,1553800413.043 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T19:13:33.043Z,1553800413.043 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T19:13:33.043Z,1553800413.043 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T19:13:33.043Z,1553800413.043 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T19:13:33.465Z,1553800413.465 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T19:13:33.465Z,1553800413.465 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T19:13:33.465Z,1553800413.465 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T19:13:33.465Z,1553800413.465 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T19:13:33.465Z,1553800413.465 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T19:13:33.465Z,1553800413.465 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:13:33.481Z,1553800413.481 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T19:13:33.481Z,1553800413.481 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T19:13:33.481Z,1553800413.481 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:13:33.481Z,1553800413.481 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:13:33.481Z,1553800413.481 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:13:33.481Z,1553800413.481 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T19:13:33.494Z,1553800413.494 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:13:33.494Z,1553800413.494 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:33.494Z,1553800413.494 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:33.494Z,1553800413.494 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:33.494Z,1553800413.494 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:33.495Z,1553800413.495 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:33.495Z,1553800413.495 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T19:13:33.782Z,1553800413.782 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:13:33.782Z,1553800413.782 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T19:13:33.783Z,1553800413.783 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:13:33.784Z,1553800413.784 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:13:33.784Z,1553800413.784 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:13:33.784Z,1553800413.784 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T19:13:33.784Z,1553800413.784 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T19:13:33.784Z,1553800413.784 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:13:33.784Z,1553800413.784 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:13:33.785Z,1553800413.785 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:13:33.785Z,1553800413.785 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:13:33.785Z,1553800413.785 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:13:33.785Z,1553800413.785 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:13:33.794Z,1553800413.794 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T19:13:33.795Z,1553800413.795 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T19:13:33.795Z,1553800413.795 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T19:13:33.795Z,1553800413.795 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T19:13:33.795Z,1553800413.795 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:13:33.795Z,1553800413.795 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:13:33.795Z,1553800413.795 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T19:13:33.796Z,1553800413.796 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:13:33.796Z,1553800413.796 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:13:33.796Z,1553800413.796 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T19:13:33.796Z,1553800413.796 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T19:13:33.796Z,1553800413.796 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T19:13:33.796Z,1553800413.796 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:13:33.797Z,1553800413.797 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:13:33.822Z,1553800413.822 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:13:33.822Z,1553800413.822 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:13:33.822Z,1553800413.822 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:13:33.822Z,1553800413.822 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:13:33.823Z,1553800413.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:13:33.823Z,1553800413.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:13:33.823Z,1553800413.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:13:33.823Z,1553800413.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:13:33.823Z,1553800413.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:13:33.823Z,1553800413.823 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:13:33.824Z,1553800413.824 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T19:13:33.824Z,1553800413.824 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T19:13:33.824Z,1553800413.824 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:13:33.868Z,1553800413.868 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T19:13:34.128Z,1553800414.128 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:34.138Z,1553800414.138 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:34.233Z,1553800414.233 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T19:13:34.242Z,1553800414.242 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:13:34.242Z,1553800414.242 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T19:13:34.242Z,1553800414.242 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:13:34.242Z,1553800414.242 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T19:13:34.242Z,1553800414.242 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:13:34.243Z,1553800414.243 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:13:34.691Z,1553800414.691 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:13:34.691Z,1553800414.691 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:13:34.692Z,1553800414.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:13:34.693Z,1553800414.693 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:13:34.693Z,1553800414.693 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:13:34.702Z,1553800414.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:13:38.179Z,1553800418.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:38.183Z,1553800418.183 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:38.855Z,1553800418.855 [Reporter](INFO): acoustic_contact_range 8.520000 m
2019-03-28T19:13:38.856Z,1553800418.856 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.128031 rad
2019-03-28T19:13:39.031Z,1553800419.031 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:39.040Z,1553800419.040 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:39.040Z,1553800419.040 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:39.040Z,1553800419.040 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:39.040Z,1553800419.040 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:39.041Z,1553800419.041 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:39.041Z,1553800419.041 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:39.041Z,1553800419.041 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:39.041Z,1553800419.041 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:39.041Z,1553800419.041 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:39.054Z,1553800419.054 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-28T19:13:39.063Z,1553800419.063 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:39.063Z,1553800419.063 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:39.063Z,1553800419.063 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T19:13:39.063Z,1553800419.063 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-03-28T19:13:39.064Z,1553800419.064 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-03-28T19:13:39.065Z,1553800419.065 [lineCaptureHoming:Lap:Dock:UpdateNav] Running Loop=1
2019-03-28T19:13:39.065Z,1553800419.065 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T19:13:39.065Z,1553800419.065 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-03-28T19:13:39.065Z,1553800419.065 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-03-28T19:13:39.212Z,1553800419.212 [Reporter](INFO): HorizontalControl.headingCmd 3.128031 rad
2019-03-28T19:13:39.417Z,1553800419.417 [PowerOnly](INFO): Powering up
2019-03-28T19:13:39.539Z,1553800419.539 [lineCaptureHoming:Lap:Dock:UpdateNav] Stopped
2019-03-28T19:13:39.539Z,1553800419.539 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T19:13:39.539Z,1553800419.539 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Stopped
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:Dock:B.Wait] Running Loop=1
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:39.540Z,1553800419.540 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:39.541Z,1553800419.541 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:39.541Z,1553800419.541 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:39.541Z,1553800419.541 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:39.541Z,1553800419.541 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:39.562Z,1553800419.562 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:39.562Z,1553800419.562 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:39.562Z,1553800419.562 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:39.563Z,1553800419.563 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:39.563Z,1553800419.563 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:39.863Z,1553800419.863 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:39.863Z,1553800419.863 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:39.863Z,1553800419.863 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:39.863Z,1553800419.863 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:39.863Z,1553800419.863 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:39.863Z,1553800419.863 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:39.864Z,1553800419.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:39.864Z,1553800419.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:39.864Z,1553800419.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:39.884Z,1553800419.884 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:39.884Z,1553800419.884 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:39.885Z,1553800419.885 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:39.885Z,1553800419.885 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:39.885Z,1553800419.885 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:40.254Z,1553800420.254 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:40.255Z,1553800420.255 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:40.256Z,1553800420.256 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:40.275Z,1553800420.275 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:40.275Z,1553800420.275 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:40.276Z,1553800420.276 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:40.276Z,1553800420.276 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:40.276Z,1553800420.276 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:40.705Z,1553800420.705 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:40.705Z,1553800420.705 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:40.705Z,1553800420.705 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:40.705Z,1553800420.705 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:40.718Z,1553800420.718 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:40.718Z,1553800420.718 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:40.718Z,1553800420.718 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:40.718Z,1553800420.718 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:40.719Z,1553800420.719 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:40.728Z,1553800420.728 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:40.728Z,1553800420.728 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:40.728Z,1553800420.728 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:40.728Z,1553800420.728 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:40.729Z,1553800420.729 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:41.076Z,1553800421.076 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:41.076Z,1553800421.076 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:41.076Z,1553800421.076 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:41.076Z,1553800421.076 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:41.077Z,1553800421.077 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:41.077Z,1553800421.077 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:41.077Z,1553800421.077 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:41.077Z,1553800421.077 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:41.077Z,1553800421.077 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:41.116Z,1553800421.116 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:41.116Z,1553800421.116 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:41.116Z,1553800421.116 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:41.116Z,1553800421.116 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:41.117Z,1553800421.117 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:41.504Z,1553800421.504 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:41.504Z,1553800421.504 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:41.504Z,1553800421.504 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:41.504Z,1553800421.504 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:41.504Z,1553800421.504 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:41.504Z,1553800421.504 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:41.505Z,1553800421.505 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:41.505Z,1553800421.505 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:41.505Z,1553800421.505 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:41.512Z,1553800421.512 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:41.512Z,1553800421.512 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:41.513Z,1553800421.513 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:41.513Z,1553800421.513 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:41.513Z,1553800421.513 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:41.885Z,1553800421.885 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:41.885Z,1553800421.885 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:41.885Z,1553800421.885 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:41.885Z,1553800421.885 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:41.902Z,1553800421.902 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:41.902Z,1553800421.902 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:41.902Z,1553800421.902 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:41.902Z,1553800421.902 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:41.902Z,1553800421.902 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:41.918Z,1553800421.918 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:41.918Z,1553800421.918 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:41.919Z,1553800421.919 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:41.919Z,1553800421.919 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:41.919Z,1553800421.919 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:42.207Z,1553800422.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:42.213Z,1553800422.213 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:42.370Z,1553800422.370 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:42.370Z,1553800422.370 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:42.371Z,1553800422.371 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:42.371Z,1553800422.371 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:42.371Z,1553800422.371 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:42.371Z,1553800422.371 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:42.372Z,1553800422.372 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:42.372Z,1553800422.372 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:42.372Z,1553800422.372 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:42.391Z,1553800422.391 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.520000 m .
2019-03-28T19:13:42.391Z,1553800422.391 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:42.392Z,1553800422.392 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:42.392Z,1553800422.392 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:42.392Z,1553800422.392 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:42.728Z,1553800422.728 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:42.728Z,1553800422.728 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:42.728Z,1553800422.728 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:42.728Z,1553800422.728 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:42.729Z,1553800422.729 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:42.729Z,1553800422.729 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:42.729Z,1553800422.729 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:42.743Z,1553800422.743 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:42.819Z,1553800422.819 [Reporter](INFO): acoustic_contact_range 48.419998 m
2019-03-28T19:13:42.820Z,1553800422.820 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.721828 rad
2019-03-28T19:13:43.070Z,1553800423.070 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:43.070Z,1553800423.070 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:43.070Z,1553800423.070 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:43.070Z,1553800423.070 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:43.070Z,1553800423.070 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:43.071Z,1553800423.071 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:43.071Z,1553800423.071 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:43.071Z,1553800423.071 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:43.231Z,1553800423.231 [Reporter](INFO): HorizontalControl.headingCmd 2.721828 rad
2019-03-28T19:13:43.560Z,1553800423.560 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:43.561Z,1553800423.561 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:43.561Z,1553800423.561 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:43.561Z,1553800423.561 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:43.561Z,1553800423.561 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:43.575Z,1553800423.575 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:43.575Z,1553800423.575 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:43.575Z,1553800423.575 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:43.899Z,1553800423.899 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:43.899Z,1553800423.899 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:43.899Z,1553800423.899 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:43.899Z,1553800423.899 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:43.899Z,1553800423.899 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:43.900Z,1553800423.900 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:43.900Z,1553800423.900 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:43.900Z,1553800423.900 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:44.352Z,1553800424.352 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:44.352Z,1553800424.352 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:44.352Z,1553800424.352 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:44.353Z,1553800424.353 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:44.353Z,1553800424.353 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:44.353Z,1553800424.353 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:44.366Z,1553800424.366 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:44.366Z,1553800424.366 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:44.696Z,1553800424.696 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:44.696Z,1553800424.696 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:44.696Z,1553800424.696 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:44.696Z,1553800424.696 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:44.696Z,1553800424.696 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:44.697Z,1553800424.697 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:44.697Z,1553800424.697 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:44.697Z,1553800424.697 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:45.096Z,1553800425.096 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:45.096Z,1553800425.096 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:45.096Z,1553800425.096 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:45.096Z,1553800425.096 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:45.096Z,1553800425.096 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:45.097Z,1553800425.097 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:45.097Z,1553800425.097 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:45.097Z,1553800425.097 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:45.486Z,1553800425.486 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:45.487Z,1553800425.487 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:45.487Z,1553800425.487 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:45.487Z,1553800425.487 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:45.487Z,1553800425.487 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:45.488Z,1553800425.488 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:45.488Z,1553800425.488 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:45.488Z,1553800425.488 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:45.878Z,1553800425.878 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:45.878Z,1553800425.878 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:45.879Z,1553800425.879 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:45.879Z,1553800425.879 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:45.879Z,1553800425.879 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:45.879Z,1553800425.879 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:45.880Z,1553800425.880 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:45.880Z,1553800425.880 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:46.256Z,1553800426.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:46.278Z,1553800426.278 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:46.399Z,1553800426.399 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:46.399Z,1553800426.399 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:46.399Z,1553800426.399 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:46.399Z,1553800426.399 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:46.400Z,1553800426.400 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:46.401Z,1553800426.401 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:46.401Z,1553800426.401 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:46.401Z,1553800426.401 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:46.690Z,1553800426.690 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:46.690Z,1553800426.690 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:46.691Z,1553800426.691 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:46.691Z,1553800426.691 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:46.691Z,1553800426.691 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:46.691Z,1553800426.691 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:46.692Z,1553800426.692 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:46.692Z,1553800426.692 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:46.775Z,1553800426.775 [Reporter](INFO): acoustic_contact_range 152.939987 m
2019-03-28T19:13:46.776Z,1553800426.776 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.721919 rad
2019-03-28T19:13:47.094Z,1553800427.094 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:47.094Z,1553800427.094 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:47.095Z,1553800427.095 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:47.095Z,1553800427.095 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:47.095Z,1553800427.095 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:47.095Z,1553800427.095 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:47.096Z,1553800427.096 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:47.096Z,1553800427.096 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:47.199Z,1553800427.199 [Reporter](INFO): HorizontalControl.headingCmd 3.721919 rad
2019-03-28T19:13:47.478Z,1553800427.478 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-03-28T19:13:47.495Z,1553800427.495 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:13:47.495Z,1553800427.495 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:13:47.498Z,1553800427.498 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:47.498Z,1553800427.498 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:47.498Z,1553800427.498 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:47.498Z,1553800427.498 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:47.499Z,1553800427.499 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:47.499Z,1553800427.499 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:47.499Z,1553800427.499 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:47.499Z,1553800427.499 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:47.566Z,1553800427.566 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:13:47.904Z,1553800427.904 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:47.904Z,1553800427.904 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:47.904Z,1553800427.904 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:47.904Z,1553800427.904 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:47.905Z,1553800427.905 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:47.905Z,1553800427.905 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:47.905Z,1553800427.905 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:47.906Z,1553800427.906 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:47.974Z,1553800427.974 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:13:47.974Z,1553800427.974 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:13:48.337Z,1553800428.337 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:48.337Z,1553800428.337 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:48.338Z,1553800428.338 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:48.338Z,1553800428.338 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:48.338Z,1553800428.338 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:48.339Z,1553800428.339 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:48.339Z,1553800428.339 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:48.339Z,1553800428.339 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:48.707Z,1553800428.707 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:48.707Z,1553800428.707 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:48.707Z,1553800428.707 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:48.707Z,1553800428.707 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:48.707Z,1553800428.707 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:48.708Z,1553800428.708 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:48.708Z,1553800428.708 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:48.708Z,1553800428.708 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:49.106Z,1553800429.106 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:49.106Z,1553800429.106 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:49.107Z,1553800429.107 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:49.107Z,1553800429.107 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:49.107Z,1553800429.107 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:49.107Z,1553800429.107 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:49.108Z,1553800429.108 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:49.108Z,1553800429.108 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:49.514Z,1553800429.514 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:49.515Z,1553800429.515 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:49.515Z,1553800429.515 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:49.515Z,1553800429.515 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:49.515Z,1553800429.515 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:49.516Z,1553800429.516 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:49.516Z,1553800429.516 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:49.516Z,1553800429.516 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:49.926Z,1553800429.926 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:49.927Z,1553800429.927 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:49.927Z,1553800429.927 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:49.927Z,1553800429.927 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:49.927Z,1553800429.927 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:49.928Z,1553800429.928 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:49.928Z,1553800429.928 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:49.928Z,1553800429.928 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:50.298Z,1553800430.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:50.303Z,1553800430.303 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:50.377Z,1553800430.377 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:50.377Z,1553800430.377 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:50.377Z,1553800430.377 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:50.377Z,1553800430.377 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:50.377Z,1553800430.377 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:50.378Z,1553800430.378 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:50.378Z,1553800430.378 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:50.379Z,1553800430.379 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:50.738Z,1553800430.738 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:50.738Z,1553800430.738 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:50.739Z,1553800430.739 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:52.143Z,1553800432.143 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:52.143Z,1553800432.143 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:52.144Z,1553800432.144 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:52.144Z,1553800432.144 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:52.144Z,1553800432.144 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:52.391Z,1553800432.391 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-28T19:13:52.392Z,1553800432.392 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.115560 rad
2019-03-28T19:13:52.512Z,1553800432.512 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:52.512Z,1553800432.512 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:52.512Z,1553800432.512 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:52.512Z,1553800432.512 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:52.512Z,1553800432.512 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:52.513Z,1553800432.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:52.513Z,1553800432.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:52.513Z,1553800432.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:52.513Z,1553800432.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:52.520Z,1553800432.520 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:52.520Z,1553800432.520 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:52.521Z,1553800432.521 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:52.521Z,1553800432.521 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:52.521Z,1553800432.521 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:52.599Z,1553800432.599 [Reporter](INFO): HorizontalControl.headingCmd 3.115560 rad
2019-03-28T19:13:52.847Z,1553800432.847 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:52.847Z,1553800432.847 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:52.847Z,1553800432.847 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:52.847Z,1553800432.847 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:52.847Z,1553800432.847 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:52.848Z,1553800432.848 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:52.848Z,1553800432.848 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:52.848Z,1553800432.848 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:52.848Z,1553800432.848 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:52.859Z,1553800432.859 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:52.859Z,1553800432.859 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:52.860Z,1553800432.860 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:52.860Z,1553800432.860 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:52.860Z,1553800432.860 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:53.251Z,1553800433.251 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:53.251Z,1553800433.251 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:53.252Z,1553800433.252 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:53.258Z,1553800433.258 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:53.258Z,1553800433.258 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:53.259Z,1553800433.259 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:53.259Z,1553800433.259 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:53.259Z,1553800433.259 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:53.668Z,1553800433.668 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:53.668Z,1553800433.668 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:53.669Z,1553800433.669 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:53.675Z,1553800433.675 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:53.675Z,1553800433.675 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:53.678Z,1553800433.678 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:53.678Z,1553800433.678 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:53.678Z,1553800433.678 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:54.079Z,1553800434.079 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:54.079Z,1553800434.079 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:54.079Z,1553800434.079 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:54.079Z,1553800434.079 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:54.079Z,1553800434.079 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:54.080Z,1553800434.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:54.080Z,1553800434.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:54.080Z,1553800434.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:54.080Z,1553800434.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:54.081Z,1553800434.081 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:54.086Z,1553800434.086 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:54.086Z,1553800434.086 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:54.086Z,1553800434.086 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:54.087Z,1553800434.087 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:54.435Z,1553800434.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:54.440Z,1553800434.440 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:54.512Z,1553800434.512 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:54.512Z,1553800434.512 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:54.512Z,1553800434.512 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:54.512Z,1553800434.512 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:54.512Z,1553800434.512 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:54.512Z,1553800434.512 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:54.513Z,1553800434.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:54.513Z,1553800434.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:54.513Z,1553800434.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:54.520Z,1553800434.520 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:54.521Z,1553800434.521 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:54.521Z,1553800434.521 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:54.521Z,1553800434.521 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:54.521Z,1553800434.521 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:54.831Z,1553800434.831 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:13:54.902Z,1553800434.902 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:54.903Z,1553800434.903 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:54.904Z,1553800434.904 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:54.911Z,1553800434.911 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:54.911Z,1553800434.911 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:54.911Z,1553800434.911 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:54.911Z,1553800434.911 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:54.912Z,1553800434.912 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:55.281Z,1553800435.281 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:55.281Z,1553800435.281 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:55.281Z,1553800435.281 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:55.282Z,1553800435.282 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:55.282Z,1553800435.282 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:55.283Z,1553800435.283 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:55.284Z,1553800435.284 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:55.284Z,1553800435.284 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:55.284Z,1553800435.284 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:55.293Z,1553800435.293 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:55.293Z,1553800435.293 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:55.294Z,1553800435.294 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:55.294Z,1553800435.294 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:55.294Z,1553800435.294 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:55.699Z,1553800435.699 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:55.700Z,1553800435.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:55.701Z,1553800435.701 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:55.713Z,1553800435.713 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:55.713Z,1553800435.713 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:55.713Z,1553800435.713 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:55.713Z,1553800435.713 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:55.718Z,1553800435.718 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:56.079Z,1553800436.079 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:56.079Z,1553800436.079 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:56.079Z,1553800436.079 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:56.079Z,1553800436.079 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:56.080Z,1553800436.080 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:56.080Z,1553800436.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:56.080Z,1553800436.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:56.080Z,1553800436.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:56.080Z,1553800436.080 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:56.088Z,1553800436.088 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:56.088Z,1553800436.088 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:56.088Z,1553800436.088 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:56.088Z,1553800436.088 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:56.089Z,1553800436.089 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:56.485Z,1553800436.485 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:56.486Z,1553800436.486 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:56.486Z,1553800436.486 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:56.486Z,1553800436.486 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:56.486Z,1553800436.486 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:56.486Z,1553800436.486 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:56.487Z,1553800436.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:56.487Z,1553800436.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:56.487Z,1553800436.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:56.494Z,1553800436.494 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:56.494Z,1553800436.494 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:56.495Z,1553800436.495 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:56.495Z,1553800436.495 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:56.495Z,1553800436.495 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:56.851Z,1553800436.851 [CommandLine](IMPORTANT): got command report
2019-03-28T19:13:56.851Z,1553800436.851 [Reporter](INFO): acoustic_contact_range reporting when touched
2019-03-28T19:13:56.851Z,1553800436.851 [Reporter](INFO): SpeedControl.speedCmd reporting changes
2019-03-28T19:13:56.851Z,1553800436.851 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2019-03-28T19:13:56.851Z,1553800436.851 [Reporter](INFO): TrackAcousticContact.heading_to_contact reporting when touched
2019-03-28T19:13:56.891Z,1553800436.891 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:56.891Z,1553800436.891 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:56.891Z,1553800436.891 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:56.891Z,1553800436.891 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:56.891Z,1553800436.891 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:56.892Z,1553800436.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:56.892Z,1553800436.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:56.892Z,1553800436.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:56.892Z,1553800436.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:56.899Z,1553800436.899 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:56.899Z,1553800436.899 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:56.900Z,1553800436.900 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:56.900Z,1553800436.900 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:56.900Z,1553800436.900 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:57.298Z,1553800437.298 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:57.299Z,1553800437.299 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:57.299Z,1553800437.299 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:57.299Z,1553800437.299 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:57.300Z,1553800437.300 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:57.301Z,1553800437.301 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:57.301Z,1553800437.301 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:57.301Z,1553800437.301 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:57.302Z,1553800437.302 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:57.324Z,1553800437.324 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:57.324Z,1553800437.324 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:57.330Z,1553800437.330 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:57.331Z,1553800437.331 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:57.331Z,1553800437.331 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:57.705Z,1553800437.705 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:57.705Z,1553800437.705 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:57.705Z,1553800437.705 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:57.705Z,1553800437.705 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:57.705Z,1553800437.705 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:57.707Z,1553800437.707 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:57.707Z,1553800437.707 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:57.707Z,1553800437.707 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:57.707Z,1553800437.707 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:57.718Z,1553800437.718 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:57.718Z,1553800437.718 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:57.719Z,1553800437.719 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:57.719Z,1553800437.719 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:57.719Z,1553800437.719 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:58.111Z,1553800438.111 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:58.111Z,1553800438.111 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:58.111Z,1553800438.111 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:58.111Z,1553800438.111 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:58.111Z,1553800438.111 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:58.112Z,1553800438.112 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:58.112Z,1553800438.112 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:58.112Z,1553800438.112 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:58.112Z,1553800438.112 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:58.113Z,1553800438.113 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:58.113Z,1553800438.113 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:58.118Z,1553800438.118 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:58.118Z,1553800438.118 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:58.118Z,1553800438.118 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:58.468Z,1553800438.468 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:13:58.472Z,1553800438.472 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:13:58.564Z,1553800438.564 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:58.564Z,1553800438.564 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:58.565Z,1553800438.565 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:58.565Z,1553800438.565 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:58.565Z,1553800438.565 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:58.565Z,1553800438.565 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:58.565Z,1553800438.565 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:58.565Z,1553800438.565 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:58.570Z,1553800438.570 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:58.571Z,1553800438.571 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:58.571Z,1553800438.571 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:58.572Z,1553800438.572 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:58.572Z,1553800438.572 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:58.572Z,1553800438.572 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:58.871Z,1553800438.871 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,16,FF
2019-03-28T19:13:58.937Z,1553800438.937 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:58.937Z,1553800438.937 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:58.937Z,1553800438.937 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:58.937Z,1553800438.937 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:58.937Z,1553800438.937 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:58.937Z,1553800438.937 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:58.942Z,1553800438.942 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:58.942Z,1553800438.942 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:58.942Z,1553800438.942 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:58.944Z,1553800438.944 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:58.944Z,1553800438.944 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:58.944Z,1553800438.944 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:58.944Z,1553800438.944 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:58.944Z,1553800438.944 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:59.358Z,1553800439.358 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:59.358Z,1553800439.358 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:59.359Z,1553800439.359 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:59.361Z,1553800439.361 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:59.361Z,1553800439.361 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:59.361Z,1553800439.361 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:59.366Z,1553800439.366 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:59.366Z,1553800439.366 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:59.756Z,1553800439.756 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:13:59.756Z,1553800439.756 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:13:59.756Z,1553800439.756 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:13:59.756Z,1553800439.756 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:13:59.757Z,1553800439.757 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:13:59.757Z,1553800439.757 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:13:59.757Z,1553800439.757 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:13:59.757Z,1553800439.757 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:13:59.757Z,1553800439.757 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:13:59.763Z,1553800439.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:13:59.763Z,1553800439.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:13:59.763Z,1553800439.763 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:13:59.763Z,1553800439.763 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:13:59.764Z,1553800439.764 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:00.150Z,1553800440.150 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:00.150Z,1553800440.150 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:00.150Z,1553800440.150 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:00.150Z,1553800440.150 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:00.778Z,1553800440.778 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:00.778Z,1553800440.778 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:00.779Z,1553800440.779 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:00.779Z,1553800440.779 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:00.779Z,1553800440.779 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:01.500Z,1553800441.500 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:01.501Z,1553800441.501 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:01.501Z,1553800441.501 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:01.501Z,1553800441.501 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:01.501Z,1553800441.501 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:01.811Z,1553800441.811 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:01.811Z,1553800441.811 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:01.811Z,1553800441.811 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:01.811Z,1553800441.811 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:01.812Z,1553800441.812 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:01.812Z,1553800441.812 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:01.812Z,1553800441.812 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:01.812Z,1553800441.812 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:01.812Z,1553800441.812 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:01.814Z,1553800441.814 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:01.814Z,1553800441.814 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:01.814Z,1553800441.814 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:01.814Z,1553800441.814 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:01.815Z,1553800441.815 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:02.126Z,1553800442.126 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:02.127Z,1553800442.127 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:02.129Z,1553800442.129 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:02.129Z,1553800442.129 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:02.146Z,1553800442.146 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:02.146Z,1553800442.146 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:02.146Z,1553800442.146 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:02.500Z,1553800442.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:02.504Z,1553800442.504 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:02.623Z,1553800442.623 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:02.623Z,1553800442.623 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:02.624Z,1553800442.624 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:02.624Z,1553800442.624 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:02.624Z,1553800442.624 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:02.624Z,1553800442.624 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:02.625Z,1553800442.625 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:02.625Z,1553800442.625 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:02.625Z,1553800442.625 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:02.646Z,1553800442.646 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:02.647Z,1553800442.647 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:02.647Z,1553800442.647 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:02.648Z,1553800442.648 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:02.648Z,1553800442.648 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:02.903Z,1553800442.903 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-28T19:14:02.951Z,1553800442.951 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:02.951Z,1553800442.951 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:02.951Z,1553800442.951 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:02.951Z,1553800442.951 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:02.951Z,1553800442.951 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:02.951Z,1553800442.951 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:02.952Z,1553800442.952 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:02.952Z,1553800442.952 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:02.952Z,1553800442.952 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:02.984Z,1553800442.984 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:02.985Z,1553800442.985 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:02.985Z,1553800442.985 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:02.985Z,1553800442.985 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:02.985Z,1553800442.985 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:03.391Z,1553800443.391 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:03.391Z,1553800443.391 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:03.391Z,1553800443.391 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:03.391Z,1553800443.391 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:03.392Z,1553800443.392 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:03.392Z,1553800443.392 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:03.392Z,1553800443.392 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:03.392Z,1553800443.392 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:03.392Z,1553800443.392 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:03.400Z,1553800443.400 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:03.400Z,1553800443.400 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:03.401Z,1553800443.401 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:03.401Z,1553800443.401 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:03.401Z,1553800443.401 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:03.763Z,1553800443.763 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:03.763Z,1553800443.763 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:03.763Z,1553800443.763 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:03.763Z,1553800443.763 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:03.763Z,1553800443.763 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:03.763Z,1553800443.763 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:03.764Z,1553800443.764 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:03.764Z,1553800443.764 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:03.764Z,1553800443.764 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:03.772Z,1553800443.772 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:03.772Z,1553800443.772 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:03.772Z,1553800443.772 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:03.772Z,1553800443.772 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:03.773Z,1553800443.773 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:03.831Z,1553800443.831 [Reporter](INFO): acoustic_contact_range 6.240000 m
2019-03-28T19:14:03.832Z,1553800443.832 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.127371 rad
2019-03-28T19:14:04.163Z,1553800444.163 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:04.163Z,1553800444.163 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:04.163Z,1553800444.163 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:04.163Z,1553800444.163 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:04.164Z,1553800444.164 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:04.164Z,1553800444.164 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:04.164Z,1553800444.164 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:04.164Z,1553800444.164 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:04.164Z,1553800444.164 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:04.172Z,1553800444.172 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:04.172Z,1553800444.172 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:04.172Z,1553800444.172 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:04.172Z,1553800444.172 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:04.172Z,1553800444.172 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:04.223Z,1553800444.223 [Reporter](INFO): HorizontalControl.headingCmd 3.127371 rad
2019-03-28T19:14:04.567Z,1553800444.567 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:04.567Z,1553800444.567 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:04.567Z,1553800444.567 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:04.567Z,1553800444.567 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:04.568Z,1553800444.568 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:04.568Z,1553800444.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:04.568Z,1553800444.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:04.568Z,1553800444.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:04.568Z,1553800444.568 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:04.576Z,1553800444.576 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:04.576Z,1553800444.576 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:04.577Z,1553800444.577 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:04.577Z,1553800444.577 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:04.577Z,1553800444.577 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:04.963Z,1553800444.963 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:04.963Z,1553800444.963 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:04.963Z,1553800444.963 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:04.963Z,1553800444.963 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:04.963Z,1553800444.963 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:04.963Z,1553800444.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:04.964Z,1553800444.964 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:04.964Z,1553800444.964 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:04.964Z,1553800444.964 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:04.972Z,1553800444.972 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:04.972Z,1553800444.972 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:04.972Z,1553800444.972 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:04.972Z,1553800444.972 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:04.972Z,1553800444.972 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:05.396Z,1553800445.396 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:05.396Z,1553800445.396 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:05.397Z,1553800445.397 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:05.405Z,1553800445.405 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:05.405Z,1553800445.405 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:05.406Z,1553800445.406 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:05.406Z,1553800445.406 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:05.406Z,1553800445.406 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:05.786Z,1553800445.786 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:05.786Z,1553800445.786 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:05.786Z,1553800445.786 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:05.787Z,1553800445.787 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:05.787Z,1553800445.787 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:05.787Z,1553800445.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:05.787Z,1553800445.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:05.787Z,1553800445.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:05.787Z,1553800445.787 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:05.795Z,1553800445.795 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:05.796Z,1553800445.796 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:05.796Z,1553800445.796 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:05.796Z,1553800445.796 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:05.796Z,1553800445.796 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:06.166Z,1553800446.166 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:06.166Z,1553800446.166 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:06.166Z,1553800446.166 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:06.166Z,1553800446.166 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:06.167Z,1553800446.167 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:06.167Z,1553800446.167 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:06.167Z,1553800446.167 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:06.167Z,1553800446.167 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:06.167Z,1553800446.167 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:06.176Z,1553800446.176 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:06.176Z,1553800446.176 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:06.176Z,1553800446.176 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:06.176Z,1553800446.176 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:06.176Z,1553800446.176 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:06.539Z,1553800446.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:06.541Z,1553800446.541 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:06.681Z,1553800446.681 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:06.681Z,1553800446.681 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:06.681Z,1553800446.681 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:06.681Z,1553800446.681 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:06.686Z,1553800446.686 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:06.686Z,1553800446.686 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:06.687Z,1553800446.687 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:06.687Z,1553800446.687 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:06.687Z,1553800446.687 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:06.706Z,1553800446.706 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:06.707Z,1553800446.707 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:06.708Z,1553800446.708 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:06.708Z,1553800446.708 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:06.708Z,1553800446.708 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:06.978Z,1553800446.978 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:06.978Z,1553800446.978 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:06.978Z,1553800446.978 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:06.978Z,1553800446.978 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:06.979Z,1553800446.979 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:06.979Z,1553800446.979 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:06.979Z,1553800446.979 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:06.979Z,1553800446.979 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:06.979Z,1553800446.979 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:06.988Z,1553800446.988 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:06.988Z,1553800446.988 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:06.988Z,1553800446.988 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:06.989Z,1553800446.989 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:06.989Z,1553800446.989 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:07.394Z,1553800447.394 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:07.395Z,1553800447.395 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:07.396Z,1553800447.396 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:07.403Z,1553800447.403 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:07.403Z,1553800447.403 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:07.404Z,1553800447.404 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:07.404Z,1553800447.404 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:07.404Z,1553800447.404 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:07.788Z,1553800447.788 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:07.788Z,1553800447.788 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:07.788Z,1553800447.788 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:07.788Z,1553800447.788 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:07.789Z,1553800447.789 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:07.789Z,1553800447.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:07.789Z,1553800447.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:07.789Z,1553800447.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:07.789Z,1553800447.789 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:07.797Z,1553800447.797 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:07.797Z,1553800447.797 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:07.798Z,1553800447.798 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:07.798Z,1553800447.798 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:07.798Z,1553800447.798 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:08.225Z,1553800448.225 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:08.230Z,1553800448.230 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:08.230Z,1553800448.230 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:08.230Z,1553800448.230 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:08.231Z,1553800448.231 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:08.231Z,1553800448.231 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:08.231Z,1553800448.231 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:08.231Z,1553800448.231 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:08.231Z,1553800448.231 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:08.246Z,1553800448.246 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:08.246Z,1553800448.246 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:08.247Z,1553800448.247 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:08.247Z,1553800448.247 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:08.247Z,1553800448.247 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:08.655Z,1553800448.655 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:08.655Z,1553800448.655 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:08.655Z,1553800448.655 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:08.655Z,1553800448.655 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:08.656Z,1553800448.656 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:08.656Z,1553800448.656 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:08.656Z,1553800448.656 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:08.656Z,1553800448.656 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:08.656Z,1553800448.656 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:08.664Z,1553800448.664 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:08.664Z,1553800448.664 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:08.664Z,1553800448.664 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:08.664Z,1553800448.664 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:08.665Z,1553800448.665 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:09.038Z,1553800449.038 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:09.039Z,1553800449.039 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:09.055Z,1553800449.055 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:09.056Z,1553800449.056 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:09.056Z,1553800449.056 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:09.056Z,1553800449.056 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:09.057Z,1553800449.057 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:09.459Z,1553800449.459 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:09.459Z,1553800449.459 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:09.459Z,1553800449.459 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:09.459Z,1553800449.459 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:09.459Z,1553800449.459 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:09.459Z,1553800449.459 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:09.460Z,1553800449.460 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:09.460Z,1553800449.460 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:09.460Z,1553800449.460 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:09.471Z,1553800449.471 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:09.472Z,1553800449.472 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:09.472Z,1553800449.472 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:09.472Z,1553800449.472 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:09.472Z,1553800449.472 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:09.820Z,1553800449.820 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:09.820Z,1553800449.820 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:09.820Z,1553800449.820 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:09.820Z,1553800449.820 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:09.820Z,1553800449.820 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:09.821Z,1553800449.821 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:09.821Z,1553800449.821 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:09.821Z,1553800449.821 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:09.821Z,1553800449.821 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:09.829Z,1553800449.829 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:09.829Z,1553800449.829 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:09.854Z,1553800449.854 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:09.854Z,1553800449.854 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:09.854Z,1553800449.854 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:10.217Z,1553800450.217 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:10.217Z,1553800450.217 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:10.217Z,1553800450.217 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:10.222Z,1553800450.222 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:10.222Z,1553800450.222 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:10.222Z,1553800450.222 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:10.222Z,1553800450.222 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:10.222Z,1553800450.222 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:10.223Z,1553800450.223 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:10.262Z,1553800450.262 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:10.262Z,1553800450.262 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:10.262Z,1553800450.262 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:10.263Z,1553800450.263 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:10.263Z,1553800450.263 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:10.580Z,1553800450.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:10.583Z,1553800450.583 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:10.711Z,1553800450.711 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:10.711Z,1553800450.711 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:10.711Z,1553800450.711 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:10.711Z,1553800450.711 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:10.711Z,1553800450.711 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:10.712Z,1553800450.712 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:10.712Z,1553800450.712 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:10.712Z,1553800450.712 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:10.712Z,1553800450.712 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:10.729Z,1553800450.729 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.240000 m .
2019-03-28T19:14:10.729Z,1553800450.729 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:10.738Z,1553800450.738 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:10.738Z,1553800450.738 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:10.739Z,1553800450.739 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:11.043Z,1553800451.043 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:11.043Z,1553800451.043 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:11.043Z,1553800451.043 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:11.043Z,1553800451.043 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:11.043Z,1553800451.043 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:11.044Z,1553800451.044 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:11.044Z,1553800451.044 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:11.044Z,1553800451.044 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:11.163Z,1553800451.163 [Reporter](INFO): acoustic_contact_range 89.519997 m
2019-03-28T19:14:11.165Z,1553800451.165 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.122905 rad
2019-03-28T19:14:11.463Z,1553800451.463 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:11.463Z,1553800451.463 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:11.463Z,1553800451.463 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:11.463Z,1553800451.463 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:11.463Z,1553800451.463 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:11.464Z,1553800451.464 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:11.464Z,1553800451.464 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:11.464Z,1553800451.464 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:11.543Z,1553800451.543 [Reporter](INFO): HorizontalControl.headingCmd 3.122905 rad
2019-03-28T19:14:11.846Z,1553800451.846 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:11.846Z,1553800451.846 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:11.846Z,1553800451.846 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:11.846Z,1553800451.846 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:11.847Z,1553800451.847 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:11.847Z,1553800451.847 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:11.847Z,1553800451.847 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:11.848Z,1553800451.848 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:12.246Z,1553800452.246 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:12.246Z,1553800452.246 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:12.246Z,1553800452.246 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:12.247Z,1553800452.247 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:12.247Z,1553800452.247 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:12.247Z,1553800452.247 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:12.248Z,1553800452.248 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:12.248Z,1553800452.248 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:12.675Z,1553800452.675 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:12.675Z,1553800452.675 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:12.675Z,1553800452.675 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:12.675Z,1553800452.675 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:12.675Z,1553800452.675 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:12.676Z,1553800452.676 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:12.676Z,1553800452.676 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:12.676Z,1553800452.676 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:13.090Z,1553800453.090 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:13.091Z,1553800453.091 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:13.091Z,1553800453.091 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:13.091Z,1553800453.091 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:13.091Z,1553800453.091 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:13.092Z,1553800453.092 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:13.092Z,1553800453.092 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:13.092Z,1553800453.092 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:13.500Z,1553800453.500 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:13.500Z,1553800453.500 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:13.500Z,1553800453.500 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:13.500Z,1553800453.500 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:13.501Z,1553800453.501 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:13.501Z,1553800453.501 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:13.501Z,1553800453.501 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:13.501Z,1553800453.501 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:13.848Z,1553800453.848 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:13.848Z,1553800453.848 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:13.849Z,1553800453.849 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:13.849Z,1553800453.849 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:13.849Z,1553800453.849 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:13.849Z,1553800453.849 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:13.850Z,1553800453.850 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:13.850Z,1553800453.850 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:14.254Z,1553800454.254 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:14.254Z,1553800454.254 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:14.254Z,1553800454.254 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:14.255Z,1553800454.255 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:14.255Z,1553800454.255 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:14.255Z,1553800454.255 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:14.256Z,1553800454.256 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:14.256Z,1553800454.256 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:14.626Z,1553800454.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:14.630Z,1553800454.630 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:14.700Z,1553800454.700 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:14.700Z,1553800454.700 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:14.700Z,1553800454.700 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:14.700Z,1553800454.700 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:14.701Z,1553800454.701 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:14.701Z,1553800454.701 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:14.701Z,1553800454.701 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:14.702Z,1553800454.702 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:15.075Z,1553800455.075 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:15.076Z,1553800455.076 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:15.076Z,1553800455.076 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:15.088Z,1553800455.088 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:15.088Z,1553800455.088 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:15.089Z,1553800455.089 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:15.089Z,1553800455.089 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:15.089Z,1553800455.089 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:15.211Z,1553800455.211 [Reporter](INFO): acoustic_contact_range 8.400000 m
2019-03-28T19:14:15.213Z,1553800455.213 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.085495 rad
2019-03-28T19:14:15.475Z,1553800455.475 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:15.475Z,1553800455.475 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:15.475Z,1553800455.475 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:15.475Z,1553800455.475 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:15.475Z,1553800455.475 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:15.476Z,1553800455.476 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:15.476Z,1553800455.476 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:15.476Z,1553800455.476 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:15.476Z,1553800455.476 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:15.482Z,1553800455.482 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:15.483Z,1553800455.483 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:15.483Z,1553800455.483 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:15.483Z,1553800455.483 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:15.483Z,1553800455.483 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:15.567Z,1553800455.567 [Reporter](INFO): HorizontalControl.headingCmd 3.085495 rad
2019-03-28T19:14:15.882Z,1553800455.882 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:15.882Z,1553800455.882 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:15.882Z,1553800455.882 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:15.882Z,1553800455.882 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:15.882Z,1553800455.882 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:15.883Z,1553800455.883 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:15.883Z,1553800455.883 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:15.883Z,1553800455.883 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:15.883Z,1553800455.883 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:15.884Z,1553800455.884 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:15.884Z,1553800455.884 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:15.885Z,1553800455.885 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:15.885Z,1553800455.885 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:15.885Z,1553800455.885 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:16.266Z,1553800456.266 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:16.267Z,1553800456.267 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:16.269Z,1553800456.269 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:16.269Z,1553800456.269 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:16.270Z,1553800456.270 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:16.270Z,1553800456.270 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:16.270Z,1553800456.270 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:16.708Z,1553800456.708 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:16.708Z,1553800456.708 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:16.709Z,1553800456.709 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:16.715Z,1553800456.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:16.715Z,1553800456.715 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:16.716Z,1553800456.716 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:16.716Z,1553800456.716 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:16.716Z,1553800456.716 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:17.086Z,1553800457.086 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:17.086Z,1553800457.086 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:17.086Z,1553800457.086 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:17.086Z,1553800457.086 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:17.087Z,1553800457.087 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:17.087Z,1553800457.087 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:17.087Z,1553800457.087 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:17.087Z,1553800457.087 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:17.087Z,1553800457.087 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:17.089Z,1553800457.089 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:17.089Z,1553800457.089 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:17.089Z,1553800457.089 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:17.089Z,1553800457.089 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:17.090Z,1553800457.090 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:17.486Z,1553800457.486 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:17.486Z,1553800457.486 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:17.486Z,1553800457.486 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:17.486Z,1553800457.486 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:17.487Z,1553800457.487 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:17.487Z,1553800457.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:17.487Z,1553800457.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:17.487Z,1553800457.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:17.487Z,1553800457.487 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:17.489Z,1553800457.489 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:17.489Z,1553800457.489 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:17.489Z,1553800457.489 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:17.489Z,1553800457.489 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:17.506Z,1553800457.506 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:17.877Z,1553800457.877 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:17.877Z,1553800457.877 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:17.877Z,1553800457.877 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:17.877Z,1553800457.877 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:17.877Z,1553800457.877 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:17.878Z,1553800457.878 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:17.878Z,1553800457.878 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:17.878Z,1553800457.878 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:17.878Z,1553800457.878 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:24.957Z,1553800464.957 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:24.958Z,1553800464.958 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:24.958Z,1553800464.958 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:24.958Z,1553800464.958 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:24.958Z,1553800464.958 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.039Z,1553800465.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:25.058Z,1553800465.058 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:25.267Z,1553800465.267 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:25.268Z,1553800465.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:25.269Z,1553800465.269 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:25.270Z,1553800465.270 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.400000 m .
2019-03-28T19:14:25.270Z,1553800465.270 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:25.271Z,1553800465.271 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:25.271Z,1553800465.271 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:25.271Z,1553800465.271 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.497Z,1553800465.497 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:25.497Z,1553800465.497 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.498Z,1553800465.498 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:25.498Z,1553800465.498 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:25.498Z,1553800465.498 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:25.498Z,1553800465.498 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:25.498Z,1553800465.498 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:25.499Z,1553800465.499 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:25.499Z,1553800465.499 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:25.500Z,1553800465.500 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:25.500Z,1553800465.500 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:25.501Z,1553800465.501 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:25.501Z,1553800465.501 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:25.501Z,1553800465.501 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.571Z,1553800465.571 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-28T19:14:25.572Z,1553800465.572 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.087975 rad
2019-03-28T19:14:25.888Z,1553800465.888 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:25.888Z,1553800465.888 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.888Z,1553800465.888 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:25.888Z,1553800465.888 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:25.888Z,1553800465.888 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:25.889Z,1553800465.889 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:25.889Z,1553800465.889 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:25.889Z,1553800465.889 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:25.889Z,1553800465.889 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:25.891Z,1553800465.891 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:25.891Z,1553800465.891 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:25.892Z,1553800465.892 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:25.892Z,1553800465.892 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:25.892Z,1553800465.892 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:25.935Z,1553800465.935 [Reporter](INFO): HorizontalControl.headingCmd 3.087975 rad
2019-03-28T19:14:26.277Z,1553800466.277 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:26.279Z,1553800466.279 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:26.279Z,1553800466.279 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:26.279Z,1553800466.279 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:26.279Z,1553800466.279 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:26.279Z,1553800466.279 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:26.279Z,1553800466.279 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:26.280Z,1553800466.280 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:26.280Z,1553800466.280 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:26.287Z,1553800466.287 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:26.288Z,1553800466.288 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:26.288Z,1553800466.288 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:26.288Z,1553800466.288 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:26.288Z,1553800466.288 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:26.683Z,1553800466.683 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:26.683Z,1553800466.683 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:26.683Z,1553800466.683 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:26.683Z,1553800466.683 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:26.683Z,1553800466.683 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:26.683Z,1553800466.683 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:26.684Z,1553800466.684 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:26.684Z,1553800466.684 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:26.684Z,1553800466.684 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:26.692Z,1553800466.692 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:26.692Z,1553800466.692 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:26.692Z,1553800466.692 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:26.692Z,1553800466.692 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:26.692Z,1553800466.692 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:27.078Z,1553800467.078 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:27.079Z,1553800467.079 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:27.088Z,1553800467.088 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:27.088Z,1553800467.088 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:27.088Z,1553800467.088 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:27.088Z,1553800467.088 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:27.088Z,1553800467.088 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:27.507Z,1553800467.507 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:27.507Z,1553800467.507 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:27.507Z,1553800467.507 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:27.508Z,1553800467.508 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:27.508Z,1553800467.508 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:27.508Z,1553800467.508 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:27.508Z,1553800467.508 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:27.508Z,1553800467.508 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:27.508Z,1553800467.508 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:27.516Z,1553800467.516 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:27.516Z,1553800467.516 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:27.516Z,1553800467.516 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:27.516Z,1553800467.516 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:27.517Z,1553800467.517 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:27.899Z,1553800467.899 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:27.899Z,1553800467.899 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:27.899Z,1553800467.899 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:27.899Z,1553800467.899 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:27.899Z,1553800467.899 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:27.900Z,1553800467.900 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:27.900Z,1553800467.900 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:27.900Z,1553800467.900 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:27.900Z,1553800467.900 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:27.907Z,1553800467.907 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:27.908Z,1553800467.908 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:27.908Z,1553800467.908 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:27.908Z,1553800467.908 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:27.908Z,1553800467.908 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:28.289Z,1553800468.289 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:28.290Z,1553800468.290 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:28.290Z,1553800468.290 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:28.290Z,1553800468.290 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:28.290Z,1553800468.290 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:28.290Z,1553800468.290 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:28.291Z,1553800468.291 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:28.291Z,1553800468.291 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:28.291Z,1553800468.291 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:28.304Z,1553800468.304 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:28.305Z,1553800468.305 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:28.306Z,1553800468.306 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:28.307Z,1553800468.307 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:28.307Z,1553800468.307 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:28.694Z,1553800468.694 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:28.694Z,1553800468.694 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:28.694Z,1553800468.694 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:28.694Z,1553800468.694 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:28.695Z,1553800468.695 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:28.695Z,1553800468.695 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:28.695Z,1553800468.695 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:28.695Z,1553800468.695 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:28.695Z,1553800468.695 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:28.703Z,1553800468.703 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:28.703Z,1553800468.703 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:28.704Z,1553800468.704 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:28.704Z,1553800468.704 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:28.704Z,1553800468.704 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.060Z,1553800469.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:29.064Z,1553800469.064 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:29.123Z,1553800469.123 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:29.124Z,1553800469.124 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.124Z,1553800469.124 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:29.124Z,1553800469.124 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:29.124Z,1553800469.124 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:29.125Z,1553800469.125 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:29.125Z,1553800469.125 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:29.125Z,1553800469.125 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:29.125Z,1553800469.125 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:29.137Z,1553800469.137 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 6.119999 m .
2019-03-28T19:14:29.137Z,1553800469.137 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:29.138Z,1553800469.138 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:29.138Z,1553800469.138 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:29.138Z,1553800469.138 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.523Z,1553800469.523 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:29.524Z,1553800469.524 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:29.525Z,1553800469.525 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:29.532Z,1553800469.532 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:29.532Z,1553800469.532 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:29.533Z,1553800469.533 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:29.533Z,1553800469.533 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:29.533Z,1553800469.533 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.583Z,1553800469.583 [Reporter](INFO): acoustic_contact_range 20.580000 m
2019-03-28T19:14:29.584Z,1553800469.584 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.988285 rad
2019-03-28T19:14:29.919Z,1553800469.919 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:29.919Z,1553800469.919 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.919Z,1553800469.919 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:29.919Z,1553800469.919 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:29.919Z,1553800469.919 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:29.920Z,1553800469.920 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:29.920Z,1553800469.920 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:29.920Z,1553800469.920 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:29.920Z,1553800469.920 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:29.928Z,1553800469.928 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:29.928Z,1553800469.928 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:29.928Z,1553800469.928 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:29.928Z,1553800469.928 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:29.929Z,1553800469.929 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:29.971Z,1553800469.971 [Reporter](INFO): HorizontalControl.headingCmd 2.988285 rad
2019-03-28T19:14:30.344Z,1553800470.344 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:30.344Z,1553800470.344 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:30.344Z,1553800470.344 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:30.344Z,1553800470.344 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:30.345Z,1553800470.345 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:30.345Z,1553800470.345 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:30.345Z,1553800470.345 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:30.345Z,1553800470.345 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:30.345Z,1553800470.345 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:30.353Z,1553800470.353 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:30.354Z,1553800470.354 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:30.354Z,1553800470.354 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:30.354Z,1553800470.354 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:30.354Z,1553800470.354 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:30.732Z,1553800470.732 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:30.732Z,1553800470.732 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:30.732Z,1553800470.732 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:30.732Z,1553800470.732 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:30.733Z,1553800470.733 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:30.733Z,1553800470.733 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:30.733Z,1553800470.733 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:30.733Z,1553800470.733 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:30.733Z,1553800470.733 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:30.741Z,1553800470.741 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:30.741Z,1553800470.741 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:30.746Z,1553800470.746 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:30.746Z,1553800470.746 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:30.746Z,1553800470.746 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:31.115Z,1553800471.115 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:31.115Z,1553800471.115 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:31.115Z,1553800471.115 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:31.115Z,1553800471.115 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:31.115Z,1553800471.115 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:31.116Z,1553800471.116 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:31.116Z,1553800471.116 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:31.116Z,1553800471.116 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:31.116Z,1553800471.116 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:31.139Z,1553800471.139 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:31.142Z,1553800471.142 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:31.142Z,1553800471.142 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:31.142Z,1553800471.142 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:31.143Z,1553800471.143 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:31.526Z,1553800471.526 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:31.527Z,1553800471.527 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:31.536Z,1553800471.536 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:31.536Z,1553800471.536 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:31.536Z,1553800471.536 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:31.537Z,1553800471.537 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:31.537Z,1553800471.537 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:31.912Z,1553800471.912 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:31.912Z,1553800471.912 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:31.912Z,1553800471.912 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:31.913Z,1553800471.913 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:31.913Z,1553800471.913 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:31.913Z,1553800471.913 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:31.913Z,1553800471.913 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:31.913Z,1553800471.913 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:31.913Z,1553800471.913 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:31.921Z,1553800471.921 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:31.921Z,1553800471.921 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:31.921Z,1553800471.921 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:31.922Z,1553800471.922 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:31.922Z,1553800471.922 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:32.349Z,1553800472.349 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:32.349Z,1553800472.349 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:32.349Z,1553800472.349 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:32.349Z,1553800472.349 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:32.349Z,1553800472.349 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:32.349Z,1553800472.349 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:32.350Z,1553800472.350 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:32.350Z,1553800472.350 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:32.350Z,1553800472.350 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:32.358Z,1553800472.358 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:32.358Z,1553800472.358 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:32.358Z,1553800472.358 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:32.358Z,1553800472.358 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:32.359Z,1553800472.359 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:32.714Z,1553800472.714 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T19:14:32.714Z,1553800472.714 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032812154478,35.0, -0.11448.9,  0
2019-03-28T19:14:32.727Z,1553800472.727 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:32.727Z,1553800472.727 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:32.728Z,1553800472.728 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:32.736Z,1553800472.736 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:32.736Z,1553800472.736 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:32.737Z,1553800472.737 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:32.737Z,1553800472.737 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:32.737Z,1553800472.737 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:33.104Z,1553800473.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:33.108Z,1553800473.108 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:33.166Z,1553800473.166 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:33.166Z,1553800473.166 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:33.166Z,1553800473.166 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:33.167Z,1553800473.167 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:33.167Z,1553800473.167 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:33.167Z,1553800473.167 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:33.168Z,1553800473.168 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:33.168Z,1553800473.168 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:33.168Z,1553800473.168 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:33.181Z,1553800473.181 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.580000 m .
2019-03-28T19:14:33.181Z,1553800473.181 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:33.181Z,1553800473.181 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:33.181Z,1553800473.181 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:33.181Z,1553800473.181 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:33.560Z,1553800473.560 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:33.560Z,1553800473.560 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:33.560Z,1553800473.560 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:33.560Z,1553800473.560 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:33.560Z,1553800473.560 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:33.561Z,1553800473.561 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:33.561Z,1553800473.561 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:33.561Z,1553800473.561 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:33.561Z,1553800473.561 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:33.569Z,1553800473.569 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:33.569Z,1553800473.569 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:33.570Z,1553800473.570 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:33.570Z,1553800473.570 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:33.570Z,1553800473.570 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:33.615Z,1553800473.615 [Reporter](INFO): acoustic_contact_range 10.380001 m
2019-03-28T19:14:33.616Z,1553800473.616 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.113212 rad
2019-03-28T19:14:33.955Z,1553800473.955 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:33.955Z,1553800473.955 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:33.955Z,1553800473.955 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:33.955Z,1553800473.955 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:33.955Z,1553800473.955 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:33.956Z,1553800473.956 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:33.956Z,1553800473.956 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:33.956Z,1553800473.956 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:33.956Z,1553800473.956 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:33.965Z,1553800473.965 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:33.965Z,1553800473.965 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:33.965Z,1553800473.965 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:33.966Z,1553800473.966 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:33.966Z,1553800473.966 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:34.071Z,1553800474.071 [Reporter](INFO): HorizontalControl.headingCmd 3.113212 rad
2019-03-28T19:14:34.392Z,1553800474.392 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:34.392Z,1553800474.392 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:34.392Z,1553800474.392 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:34.392Z,1553800474.392 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:34.393Z,1553800474.393 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:34.393Z,1553800474.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:34.393Z,1553800474.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:34.393Z,1553800474.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:34.393Z,1553800474.393 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:34.401Z,1553800474.401 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:34.401Z,1553800474.401 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:34.401Z,1553800474.401 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:34.402Z,1553800474.402 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:34.402Z,1553800474.402 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:34.775Z,1553800474.775 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:34.775Z,1553800474.775 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:34.775Z,1553800474.775 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:34.775Z,1553800474.775 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:34.776Z,1553800474.776 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:34.776Z,1553800474.776 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:34.776Z,1553800474.776 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:34.776Z,1553800474.776 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:34.776Z,1553800474.776 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:34.785Z,1553800474.785 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:34.785Z,1553800474.785 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:34.785Z,1553800474.785 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:34.785Z,1553800474.785 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:34.785Z,1553800474.785 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:35.177Z,1553800475.177 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:35.177Z,1553800475.177 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:35.177Z,1553800475.177 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:35.177Z,1553800475.177 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:35.177Z,1553800475.177 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:35.178Z,1553800475.178 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:35.178Z,1553800475.178 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:35.178Z,1553800475.178 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:35.178Z,1553800475.178 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:35.180Z,1553800475.180 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:35.180Z,1553800475.180 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:35.180Z,1553800475.180 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:35.180Z,1553800475.180 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:35.181Z,1553800475.181 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:35.562Z,1553800475.562 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:35.562Z,1553800475.562 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:35.562Z,1553800475.562 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:35.562Z,1553800475.562 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:35.562Z,1553800475.562 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:35.563Z,1553800475.563 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:35.563Z,1553800475.563 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:35.563Z,1553800475.563 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:35.563Z,1553800475.563 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:35.564Z,1553800475.564 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:35.565Z,1553800475.565 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:35.565Z,1553800475.565 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:35.565Z,1553800475.565 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:35.565Z,1553800475.565 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:35.962Z,1553800475.962 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:35.962Z,1553800475.962 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:35.962Z,1553800475.962 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:35.962Z,1553800475.962 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:35.963Z,1553800475.963 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:35.963Z,1553800475.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:35.963Z,1553800475.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:35.963Z,1553800475.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:35.963Z,1553800475.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:35.965Z,1553800475.965 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:35.965Z,1553800475.965 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:35.965Z,1553800475.965 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:35.966Z,1553800475.966 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:35.966Z,1553800475.966 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:36.384Z,1553800476.384 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:36.384Z,1553800476.384 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:36.384Z,1553800476.384 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:36.384Z,1553800476.384 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:36.384Z,1553800476.384 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:36.385Z,1553800476.385 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:36.385Z,1553800476.385 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:36.385Z,1553800476.385 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:36.385Z,1553800476.385 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:36.387Z,1553800476.387 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:36.387Z,1553800476.387 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:36.387Z,1553800476.387 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:36.387Z,1553800476.387 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:36.388Z,1553800476.388 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:36.766Z,1553800476.766 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:36.766Z,1553800476.766 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:36.766Z,1553800476.766 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:36.766Z,1553800476.766 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:36.767Z,1553800476.767 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:36.767Z,1553800476.767 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:36.767Z,1553800476.767 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:36.767Z,1553800476.767 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:36.767Z,1553800476.767 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:36.769Z,1553800476.769 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:36.769Z,1553800476.769 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:36.769Z,1553800476.769 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:36.769Z,1553800476.769 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:36.770Z,1553800476.770 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:37.137Z,1553800477.137 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:37.143Z,1553800477.143 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:37.200Z,1553800477.200 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:37.200Z,1553800477.200 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:37.201Z,1553800477.201 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:37.201Z,1553800477.201 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:37.201Z,1553800477.201 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:37.201Z,1553800477.201 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:37.202Z,1553800477.202 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:37.202Z,1553800477.202 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:37.202Z,1553800477.202 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:37.205Z,1553800477.205 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 10.380001 m .
2019-03-28T19:14:37.205Z,1553800477.205 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:37.206Z,1553800477.206 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:37.206Z,1553800477.206 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:37.207Z,1553800477.207 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:37.583Z,1553800477.583 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:37.583Z,1553800477.583 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:37.583Z,1553800477.583 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:37.583Z,1553800477.583 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:37.583Z,1553800477.583 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:37.584Z,1553800477.584 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:37.584Z,1553800477.584 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:37.584Z,1553800477.584 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:37.584Z,1553800477.584 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:43.114Z,1553800483.114 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:43.114Z,1553800483.114 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:43.114Z,1553800483.114 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:43.115Z,1553800483.115 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:43.115Z,1553800483.115 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:43.238Z,1553800483.238 [Reporter](INFO): acoustic_contact_range 20.459999 m
2019-03-28T19:14:43.240Z,1553800483.240 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.365554 rad
2019-03-28T19:14:43.382Z,1553800483.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:43.402Z,1553800483.402 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:43.715Z,1553800483.715 [lineCaptureHoming:Lap:Dock:B.Wait](INFO): Done Waiting.
2019-03-28T19:14:43.715Z,1553800483.715 [lineCaptureHoming:Lap:Dock:B.Wait] Stopped
2019-03-28T19:14:43.715Z,1553800483.715 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:14:43.715Z,1553800483.715 [lineCaptureHoming:Lap:Dock:C] Running Loop=1
2019-03-28T19:14:43.716Z,1553800483.716 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:43.716Z,1553800483.716 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:43.716Z,1553800483.716 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:43.716Z,1553800483.716 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:43.716Z,1553800483.716 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:43.716Z,1553800483.716 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:43.717Z,1553800483.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:43.717Z,1553800483.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:43.717Z,1553800483.717 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:43.731Z,1553800483.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:43.731Z,1553800483.731 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:43.731Z,1553800483.731 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:43.731Z,1553800483.731 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:43.731Z,1553800483.731 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:43.904Z,1553800483.904 [Reporter](INFO): HorizontalControl.headingCmd 3.365554 rad
2019-03-28T19:14:43.961Z,1553800483.961 [Micromodem](ERROR): Response from modem unexpected: $CATXF,280*5E

2019-03-28T19:14:43.995Z,1553800483.995 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,191436.52*51

2019-03-28T19:14:44.071Z,1553800484.071 [lineCaptureHoming:Lap:Dock:C] Stopped
2019-03-28T19:14:44.071Z,1553800484.071 [lineCaptureHoming:Lap:Dock:D] Running Loop=1
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:44.072Z,1553800484.072 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:44.073Z,1553800484.073 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:44.073Z,1553800484.073 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:44.095Z,1553800484.095 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:44.095Z,1553800484.095 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:44.095Z,1553800484.095 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:44.095Z,1553800484.095 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:44.095Z,1553800484.095 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:44.515Z,1553800484.515 [lineCaptureHoming:Lap:Dock:D] Stopped
2019-03-28T19:14:44.515Z,1553800484.515 [lineCaptureHoming:Lap:Dock](INFO): Completed lineCaptureHoming:Lap:Dock
2019-03-28T19:14:44.515Z,1553800484.515 [lineCaptureHoming:Lap:Dock] Stopped
2019-03-28T19:14:44.515Z,1553800484.515 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-03-28T19:14:44.515Z,1553800484.515 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-03-28T19:14:44.515Z,1553800484.515 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-03-28T19:14:44.516Z,1553800484.516 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-03-28T19:14:44.516Z,1553800484.516 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-28T19:14:44.516Z,1553800484.516 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-03-28T19:14:44.516Z,1553800484.516 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:14:44.516Z,1553800484.516 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:44.516Z,1553800484.516 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:44.517Z,1553800484.517 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:44.531Z,1553800484.531 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:44.531Z,1553800484.531 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:44.532Z,1553800484.532 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:44.532Z,1553800484.532 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:44.532Z,1553800484.532 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:44.822Z,1553800484.822 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-03-28T19:14:44.822Z,1553800484.822 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-28T19:14:44.822Z,1553800484.822 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-03-28T19:14:44.822Z,1553800484.822 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:44.823Z,1553800484.823 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:44.824Z,1553800484.824 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:44.824Z,1553800484.824 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:44.824Z,1553800484.824 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:44.824Z,1553800484.824 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:44.824Z,1553800484.824 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:44.835Z,1553800484.835 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:44.835Z,1553800484.835 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T19:14:44.836Z,1553800484.836 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:14:45.191Z,1553800485.191 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:45.191Z,1553800485.191 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:45.191Z,1553800485.191 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:45.191Z,1553800485.191 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:45.191Z,1553800485.191 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:45.192Z,1553800485.192 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:45.192Z,1553800485.192 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:45.192Z,1553800485.192 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:45.192Z,1553800485.192 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:45.201Z,1553800485.201 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:45.201Z,1553800485.201 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:45.210Z,1553800485.210 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:45.211Z,1553800485.211 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:45.211Z,1553800485.211 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:45.609Z,1553800485.609 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:45.609Z,1553800485.609 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:45.609Z,1553800485.609 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:45.609Z,1553800485.609 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:45.609Z,1553800485.609 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:45.618Z,1553800485.618 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:45.618Z,1553800485.618 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:45.618Z,1553800485.618 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:45.618Z,1553800485.618 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:45.625Z,1553800485.625 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:45.638Z,1553800485.638 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:45.638Z,1553800485.638 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:45.639Z,1553800485.639 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:45.639Z,1553800485.639 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:45.980Z,1553800485.980 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:45.980Z,1553800485.980 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:45.980Z,1553800485.980 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:45.980Z,1553800485.980 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:45.980Z,1553800485.980 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:45.981Z,1553800485.981 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:45.981Z,1553800485.981 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:45.981Z,1553800485.981 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:45.981Z,1553800485.981 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:45.989Z,1553800485.989 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:45.989Z,1553800485.989 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:45.989Z,1553800485.989 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:45.989Z,1553800485.989 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:45.989Z,1553800485.989 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:46.408Z,1553800486.408 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:46.408Z,1553800486.408 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:46.408Z,1553800486.408 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:46.408Z,1553800486.408 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:46.408Z,1553800486.408 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:46.409Z,1553800486.409 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:46.409Z,1553800486.409 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:46.409Z,1553800486.409 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:46.409Z,1553800486.409 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:46.417Z,1553800486.417 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:46.450Z,1553800486.450 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:46.450Z,1553800486.450 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:46.450Z,1553800486.450 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:46.450Z,1553800486.450 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:46.798Z,1553800486.798 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:46.799Z,1553800486.799 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:46.800Z,1553800486.800 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:46.807Z,1553800486.807 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:46.807Z,1553800486.807 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:46.808Z,1553800486.808 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:46.808Z,1553800486.808 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:46.808Z,1553800486.808 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:47.203Z,1553800487.203 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:47.203Z,1553800487.203 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:47.203Z,1553800487.203 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:47.203Z,1553800487.203 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:47.203Z,1553800487.203 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:47.203Z,1553800487.203 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:47.204Z,1553800487.204 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:47.204Z,1553800487.204 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:47.204Z,1553800487.204 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:47.215Z,1553800487.215 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:47.215Z,1553800487.215 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:47.216Z,1553800487.216 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:47.216Z,1553800487.216 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:47.216Z,1553800487.216 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:47.555Z,1553800487.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:47.556Z,1553800487.556 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:47.685Z,1553800487.685 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:47.685Z,1553800487.685 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:47.706Z,1553800487.706 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:47.706Z,1553800487.706 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:47.707Z,1553800487.707 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:47.707Z,1553800487.707 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:47.708Z,1553800487.708 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:47.708Z,1553800487.708 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:47.708Z,1553800487.708 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:47.719Z,1553800487.719 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:47.719Z,1553800487.719 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:47.720Z,1553800487.720 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:47.720Z,1553800487.720 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:47.721Z,1553800487.721 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:47.959Z,1553800487.959 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0F,FF
2019-03-28T19:14:48.035Z,1553800488.035 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:48.035Z,1553800488.035 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:48.035Z,1553800488.035 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:48.035Z,1553800488.035 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:48.035Z,1553800488.035 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:48.035Z,1553800488.035 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:48.036Z,1553800488.036 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:48.036Z,1553800488.036 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:48.036Z,1553800488.036 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:48.044Z,1553800488.044 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:48.044Z,1553800488.044 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:48.045Z,1553800488.045 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:48.045Z,1553800488.045 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:48.045Z,1553800488.045 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:48.437Z,1553800488.437 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:48.437Z,1553800488.437 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:48.443Z,1553800488.443 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:48.443Z,1553800488.443 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:48.443Z,1553800488.443 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:48.443Z,1553800488.443 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:48.444Z,1553800488.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:48.444Z,1553800488.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:48.444Z,1553800488.444 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:48.452Z,1553800488.452 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:48.452Z,1553800488.452 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:48.453Z,1553800488.453 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:48.453Z,1553800488.453 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:48.453Z,1553800488.453 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:48.804Z,1553800488.804 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:48.804Z,1553800488.804 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:48.804Z,1553800488.804 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:48.804Z,1553800488.804 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:48.805Z,1553800488.805 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:48.805Z,1553800488.805 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:48.805Z,1553800488.805 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:48.805Z,1553800488.805 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:48.805Z,1553800488.805 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:48.822Z,1553800488.822 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:48.823Z,1553800488.823 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:48.823Z,1553800488.823 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:48.823Z,1553800488.823 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:48.823Z,1553800488.823 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:49.208Z,1553800489.208 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:49.208Z,1553800489.208 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:49.208Z,1553800489.208 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:49.208Z,1553800489.208 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:49.209Z,1553800489.209 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:49.209Z,1553800489.209 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:49.209Z,1553800489.209 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:49.209Z,1553800489.209 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:49.209Z,1553800489.209 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:49.221Z,1553800489.221 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:49.221Z,1553800489.221 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:49.226Z,1553800489.226 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:49.226Z,1553800489.226 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:49.226Z,1553800489.226 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:49.628Z,1553800489.628 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:49.628Z,1553800489.628 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:49.628Z,1553800489.628 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:49.629Z,1553800489.629 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:49.629Z,1553800489.629 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:49.629Z,1553800489.629 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:49.629Z,1553800489.629 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:49.629Z,1553800489.629 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:49.629Z,1553800489.629 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:49.646Z,1553800489.646 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:49.646Z,1553800489.646 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:49.646Z,1553800489.646 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:49.647Z,1553800489.647 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:49.647Z,1553800489.647 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:50.034Z,1553800490.034 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:50.035Z,1553800490.035 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:50.035Z,1553800490.035 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:50.035Z,1553800490.035 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:50.035Z,1553800490.035 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:50.035Z,1553800490.035 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:50.035Z,1553800490.035 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:50.036Z,1553800490.036 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:50.036Z,1553800490.036 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:50.047Z,1553800490.047 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:50.048Z,1553800490.048 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:50.048Z,1553800490.048 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:50.048Z,1553800490.048 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:50.049Z,1553800490.049 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:50.446Z,1553800490.446 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:50.446Z,1553800490.446 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:50.446Z,1553800490.446 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:50.447Z,1553800490.447 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:50.447Z,1553800490.447 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:50.447Z,1553800490.447 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:50.447Z,1553800490.447 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:50.447Z,1553800490.447 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:50.447Z,1553800490.447 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:50.463Z,1553800490.463 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:50.463Z,1553800490.463 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:50.463Z,1553800490.463 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:50.463Z,1553800490.463 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:50.463Z,1553800490.463 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:50.837Z,1553800490.837 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:50.837Z,1553800490.837 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:50.837Z,1553800490.837 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:50.837Z,1553800490.837 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:50.837Z,1553800490.837 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:50.837Z,1553800490.837 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:50.838Z,1553800490.838 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:50.838Z,1553800490.838 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:50.838Z,1553800490.838 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:50.846Z,1553800490.846 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:50.846Z,1553800490.846 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:50.846Z,1553800490.846 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:50.847Z,1553800490.847 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:50.847Z,1553800490.847 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:51.247Z,1553800491.247 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:51.247Z,1553800491.247 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:51.247Z,1553800491.247 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:51.247Z,1553800491.247 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:51.248Z,1553800491.248 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:51.248Z,1553800491.248 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:51.248Z,1553800491.248 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:51.248Z,1553800491.248 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:51.248Z,1553800491.248 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:51.256Z,1553800491.256 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:51.256Z,1553800491.256 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:51.256Z,1553800491.256 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:51.256Z,1553800491.256 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:51.257Z,1553800491.257 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:51.596Z,1553800491.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:51.600Z,1553800491.600 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:51.724Z,1553800491.724 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:51.724Z,1553800491.724 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:51.725Z,1553800491.725 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:51.761Z,1553800491.761 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 20.459999 m .
2019-03-28T19:14:51.766Z,1553800491.766 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:51.767Z,1553800491.767 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:51.767Z,1553800491.767 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:51.767Z,1553800491.767 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:52.036Z,1553800492.036 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:52.036Z,1553800492.036 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:52.036Z,1553800492.036 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:52.036Z,1553800492.036 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:52.037Z,1553800492.037 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:52.037Z,1553800492.037 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:52.037Z,1553800492.037 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:52.037Z,1553800492.037 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:52.037Z,1553800492.037 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:52.045Z,1553800492.045 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:52.045Z,1553800492.045 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:52.045Z,1553800492.045 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:52.045Z,1553800492.045 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:52.045Z,1553800492.045 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:52.206Z,1553800492.206 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-28T19:14:52.208Z,1553800492.208 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.125481 rad
2019-03-28T19:14:52.444Z,1553800492.444 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:52.444Z,1553800492.444 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:52.445Z,1553800492.445 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:52.453Z,1553800492.453 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:52.453Z,1553800492.453 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:52.453Z,1553800492.453 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:52.454Z,1553800492.454 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:52.454Z,1553800492.454 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:52.500Z,1553800492.500 [Reporter](INFO): HorizontalControl.headingCmd 3.125481 rad
2019-03-28T19:14:52.846Z,1553800492.846 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:52.846Z,1553800492.846 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:52.846Z,1553800492.846 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:52.846Z,1553800492.846 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:52.847Z,1553800492.847 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:52.847Z,1553800492.847 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:52.847Z,1553800492.847 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:52.847Z,1553800492.847 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:52.847Z,1553800492.847 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:52.855Z,1553800492.855 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:52.855Z,1553800492.855 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:52.855Z,1553800492.855 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:52.855Z,1553800492.855 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:52.855Z,1553800492.855 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:53.263Z,1553800493.263 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:53.264Z,1553800493.264 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:53.264Z,1553800493.264 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:53.275Z,1553800493.275 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:53.275Z,1553800493.275 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:53.276Z,1553800493.276 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:53.276Z,1553800493.276 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:53.276Z,1553800493.276 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:53.664Z,1553800493.664 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:53.664Z,1553800493.664 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:53.664Z,1553800493.664 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:53.664Z,1553800493.664 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:53.664Z,1553800493.664 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:53.665Z,1553800493.665 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:53.665Z,1553800493.665 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:53.665Z,1553800493.665 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:53.665Z,1553800493.665 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:53.672Z,1553800493.672 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:53.673Z,1553800493.673 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:53.673Z,1553800493.673 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:53.673Z,1553800493.673 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:53.673Z,1553800493.673 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:54.072Z,1553800494.072 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:54.072Z,1553800494.072 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:54.072Z,1553800494.072 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:54.072Z,1553800494.072 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:54.073Z,1553800494.073 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:54.073Z,1553800494.073 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:54.073Z,1553800494.073 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:54.073Z,1553800494.073 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:54.073Z,1553800494.073 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:54.081Z,1553800494.081 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:54.081Z,1553800494.081 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:54.081Z,1553800494.081 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:54.081Z,1553800494.081 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:54.086Z,1553800494.086 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:54.464Z,1553800494.464 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:54.464Z,1553800494.464 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:54.464Z,1553800494.464 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:54.464Z,1553800494.464 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:54.465Z,1553800494.465 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:54.465Z,1553800494.465 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:54.465Z,1553800494.465 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:54.465Z,1553800494.465 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:54.465Z,1553800494.465 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:54.472Z,1553800494.472 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:54.473Z,1553800494.473 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:54.473Z,1553800494.473 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:54.473Z,1553800494.473 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:54.473Z,1553800494.473 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:54.863Z,1553800494.863 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:54.863Z,1553800494.863 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:54.863Z,1553800494.863 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:54.863Z,1553800494.863 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:54.864Z,1553800494.864 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:54.864Z,1553800494.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:54.864Z,1553800494.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:54.864Z,1553800494.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:54.864Z,1553800494.864 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:54.872Z,1553800494.872 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:54.872Z,1553800494.872 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:54.873Z,1553800494.873 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:54.873Z,1553800494.873 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:54.873Z,1553800494.873 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:55.267Z,1553800495.267 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:55.267Z,1553800495.267 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:55.267Z,1553800495.267 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:55.268Z,1553800495.268 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:55.268Z,1553800495.268 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:55.268Z,1553800495.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:55.268Z,1553800495.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:55.268Z,1553800495.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:55.268Z,1553800495.268 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:55.280Z,1553800495.280 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:55.280Z,1553800495.280 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:55.281Z,1553800495.281 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:55.281Z,1553800495.281 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:55.281Z,1553800495.281 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:55.639Z,1553800495.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:14:55.645Z,1553800495.645 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:14:55.776Z,1553800495.776 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:55.776Z,1553800495.776 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:55.776Z,1553800495.776 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:55.776Z,1553800495.776 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:55.776Z,1553800495.776 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:55.777Z,1553800495.777 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:55.777Z,1553800495.777 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:55.777Z,1553800495.777 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:55.777Z,1553800495.777 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:55.791Z,1553800495.791 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:55.791Z,1553800495.791 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:55.792Z,1553800495.792 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:55.792Z,1553800495.792 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:55.792Z,1553800495.792 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:56.037Z,1553800496.037 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0D,FF
2019-03-28T19:14:56.138Z,1553800496.138 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:56.139Z,1553800496.139 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:56.140Z,1553800496.140 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:56.152Z,1553800496.152 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:56.152Z,1553800496.152 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:56.153Z,1553800496.153 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:56.153Z,1553800496.153 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:56.153Z,1553800496.153 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:56.515Z,1553800496.515 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:56.515Z,1553800496.515 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:56.515Z,1553800496.515 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:56.515Z,1553800496.515 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:56.515Z,1553800496.515 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:56.515Z,1553800496.515 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:56.516Z,1553800496.516 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:56.516Z,1553800496.516 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:56.516Z,1553800496.516 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:56.524Z,1553800496.524 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:56.524Z,1553800496.524 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:56.524Z,1553800496.524 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:56.524Z,1553800496.524 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:56.524Z,1553800496.524 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:56.881Z,1553800496.881 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:56.881Z,1553800496.881 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:56.881Z,1553800496.881 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:56.881Z,1553800496.881 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:56.882Z,1553800496.882 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:56.882Z,1553800496.882 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:56.882Z,1553800496.882 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:56.882Z,1553800496.882 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:56.882Z,1553800496.882 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:56.886Z,1553800496.886 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:56.886Z,1553800496.886 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:56.887Z,1553800496.887 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:56.887Z,1553800496.887 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:56.887Z,1553800496.887 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:57.288Z,1553800497.288 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:57.288Z,1553800497.288 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:57.288Z,1553800497.288 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:57.288Z,1553800497.288 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:57.288Z,1553800497.288 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:57.288Z,1553800497.288 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:57.289Z,1553800497.289 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:57.289Z,1553800497.289 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:57.289Z,1553800497.289 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:57.293Z,1553800497.293 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:57.293Z,1553800497.293 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:57.295Z,1553800497.295 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:57.295Z,1553800497.295 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:57.295Z,1553800497.295 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:57.699Z,1553800497.699 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:57.699Z,1553800497.699 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:57.699Z,1553800497.699 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:57.699Z,1553800497.699 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:57.699Z,1553800497.699 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:57.700Z,1553800497.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:57.700Z,1553800497.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:57.700Z,1553800497.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:57.700Z,1553800497.700 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:57.702Z,1553800497.702 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:57.702Z,1553800497.702 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:57.702Z,1553800497.702 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:57.702Z,1553800497.702 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:57.703Z,1553800497.703 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:58.091Z,1553800498.091 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:58.092Z,1553800498.092 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:58.092Z,1553800498.092 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:58.093Z,1553800498.093 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:58.093Z,1553800498.093 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:58.094Z,1553800498.094 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:58.094Z,1553800498.094 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:58.094Z,1553800498.094 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:58.510Z,1553800498.510 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:58.510Z,1553800498.510 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:58.511Z,1553800498.511 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:58.513Z,1553800498.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:58.513Z,1553800498.513 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:58.514Z,1553800498.514 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:58.514Z,1553800498.514 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:58.514Z,1553800498.514 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:58.909Z,1553800498.909 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:58.910Z,1553800498.910 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:58.910Z,1553800498.910 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:14:58.911Z,1553800498.911 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:14:58.911Z,1553800498.911 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:14:58.912Z,1553800498.912 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:14:58.912Z,1553800498.912 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:14:58.912Z,1553800498.912 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:59.348Z,1553800499.348 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:14:59.348Z,1553800499.348 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:14:59.348Z,1553800499.348 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:14:59.348Z,1553800499.348 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:14:59.348Z,1553800499.348 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:14:59.349Z,1553800499.349 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:14:59.349Z,1553800499.349 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:14:59.349Z,1553800499.349 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:14:59.349Z,1553800499.349 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:06.987Z,1553800506.987 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:06.987Z,1553800506.987 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:06.988Z,1553800506.988 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:06.988Z,1553800506.988 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:06.988Z,1553800506.988 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:07.103Z,1553800507.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:15:07.115Z,1553800507.115 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:15:07.417Z,1553800507.417 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:07.417Z,1553800507.417 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:07.417Z,1553800507.417 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:07.417Z,1553800507.417 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:07.417Z,1553800507.417 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:07.422Z,1553800507.422 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:07.422Z,1553800507.422 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:07.422Z,1553800507.422 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:07.422Z,1553800507.422 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:07.424Z,1553800507.424 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:07.424Z,1553800507.424 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:07.424Z,1553800507.424 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:07.425Z,1553800507.425 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:07.425Z,1553800507.425 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:07.521Z,1553800507.521 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-28T19:15:07.587Z,1553800507.587 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:07.587Z,1553800507.587 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:07.587Z,1553800507.587 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:07.587Z,1553800507.587 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:07.587Z,1553800507.587 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:07.588Z,1553800507.588 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:07.588Z,1553800507.588 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:07.588Z,1553800507.588 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:07.588Z,1553800507.588 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:07.589Z,1553800507.589 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:07.594Z,1553800507.594 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:07.594Z,1553800507.594 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:07.595Z,1553800507.595 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:07.595Z,1553800507.595 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:07.975Z,1553800507.975 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:07.975Z,1553800507.975 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:07.975Z,1553800507.975 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:07.975Z,1553800507.975 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:07.976Z,1553800507.976 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:07.976Z,1553800507.976 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:07.976Z,1553800507.976 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:07.976Z,1553800507.976 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:07.976Z,1553800507.976 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:07.978Z,1553800507.978 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:07.978Z,1553800507.978 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:07.979Z,1553800507.979 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:07.979Z,1553800507.979 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:07.979Z,1553800507.979 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:08.398Z,1553800508.398 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:08.398Z,1553800508.398 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:08.399Z,1553800508.399 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:08.407Z,1553800508.407 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:08.407Z,1553800508.407 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:08.408Z,1553800508.408 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:08.408Z,1553800508.408 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:08.408Z,1553800508.408 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:08.752Z,1553800508.752 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:08.753Z,1553800508.753 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:08.753Z,1553800508.753 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:08.753Z,1553800508.753 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:08.753Z,1553800508.753 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:08.753Z,1553800508.753 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:08.753Z,1553800508.753 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:08.754Z,1553800508.754 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:08.754Z,1553800508.754 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:08.761Z,1553800508.761 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:08.761Z,1553800508.761 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:08.778Z,1553800508.778 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:08.778Z,1553800508.778 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:08.778Z,1553800508.778 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:09.154Z,1553800509.154 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:09.154Z,1553800509.154 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:09.154Z,1553800509.154 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:09.154Z,1553800509.154 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:09.154Z,1553800509.154 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:09.155Z,1553800509.155 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:09.155Z,1553800509.155 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:09.155Z,1553800509.155 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:09.155Z,1553800509.155 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:09.162Z,1553800509.162 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:09.162Z,1553800509.162 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:09.163Z,1553800509.163 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:09.163Z,1553800509.163 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:09.163Z,1553800509.163 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:09.578Z,1553800509.578 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:09.578Z,1553800509.578 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:09.578Z,1553800509.578 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:09.578Z,1553800509.578 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:09.578Z,1553800509.578 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:09.579Z,1553800509.579 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:09.579Z,1553800509.579 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:09.579Z,1553800509.579 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:09.579Z,1553800509.579 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:09.587Z,1553800509.587 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:09.587Z,1553800509.587 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:09.587Z,1553800509.587 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:09.587Z,1553800509.587 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:09.588Z,1553800509.588 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:09.962Z,1553800509.962 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:09.963Z,1553800509.963 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:09.964Z,1553800509.964 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:09.971Z,1553800509.971 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:09.971Z,1553800509.971 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:09.972Z,1553800509.972 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:09.972Z,1553800509.972 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:09.972Z,1553800509.972 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:10.387Z,1553800510.387 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:10.387Z,1553800510.387 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:10.387Z,1553800510.387 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:10.387Z,1553800510.387 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:10.387Z,1553800510.387 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:10.388Z,1553800510.388 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:10.388Z,1553800510.388 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:10.388Z,1553800510.388 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:10.388Z,1553800510.388 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:10.396Z,1553800510.396 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:10.396Z,1553800510.396 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:10.396Z,1553800510.396 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:10.396Z,1553800510.396 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:10.396Z,1553800510.396 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:10.782Z,1553800510.782 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:10.783Z,1553800510.783 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:10.784Z,1553800510.784 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:10.799Z,1553800510.799 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:10.799Z,1553800510.799 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:10.800Z,1553800510.800 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:10.800Z,1553800510.800 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:10.800Z,1553800510.800 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:11.140Z,1553800511.140 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:15:11.144Z,1553800511.144 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:15:11.244Z,1553800511.244 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:11.244Z,1553800511.244 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:11.245Z,1553800511.245 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:11.257Z,1553800511.257 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:11.257Z,1553800511.257 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:11.257Z,1553800511.257 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:11.257Z,1553800511.257 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:11.262Z,1553800511.262 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:11.544Z,1553800511.544 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EC1,80,81,0A,FF
2019-03-28T19:15:11.622Z,1553800511.622 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:11.622Z,1553800511.622 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:11.622Z,1553800511.622 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:11.623Z,1553800511.623 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:11.623Z,1553800511.623 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:11.623Z,1553800511.623 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:11.623Z,1553800511.623 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:11.623Z,1553800511.623 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:11.623Z,1553800511.623 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:11.630Z,1553800511.630 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:11.630Z,1553800511.630 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:11.631Z,1553800511.631 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:11.631Z,1553800511.631 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:11.631Z,1553800511.631 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.014Z,1553800512.014 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:12.015Z,1553800512.015 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:12.023Z,1553800512.023 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:12.023Z,1553800512.023 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:12.023Z,1553800512.023 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:12.024Z,1553800512.024 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:12.024Z,1553800512.024 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.410Z,1553800512.410 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:12.410Z,1553800512.410 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:12.411Z,1553800512.411 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:12.419Z,1553800512.419 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:12.419Z,1553800512.419 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:12.420Z,1553800512.420 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:12.420Z,1553800512.420 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:12.420Z,1553800512.420 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.810Z,1553800512.810 [CommandLine](IMPORTANT): got command stop
2019-03-28T19:15:12.811Z,1553800512.811 [CommandLine](IMPORTANT): Scheduling is paused
2019-03-28T19:15:12.811Z,1553800512.811 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T19:15:12.816Z,1553800512.816 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:15:12.816Z,1553800512.816 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.816Z,1553800512.816 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-03-28T19:15:12.816Z,1553800512.816 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-03-28T19:15:12.816Z,1553800512.816 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-03-28T19:15:12.817Z,1553800512.817 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:15:12.817Z,1553800512.817 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:12.817Z,1553800512.817 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:15:12.817Z,1553800512.817 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:15:12.825Z,1553800512.825 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:15:12.830Z,1553800512.830 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:15:12.830Z,1553800512.830 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Setting Heading
2019-03-28T19:15:12.830Z,1553800512.830 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-03-28T19:15:12.830Z,1553800512.830 [lineCaptureHoming:Lap:TerminalGuidance](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.854Z,1553800512.854 [MissionManager](INFO): MissionManager is completed.
2019-03-28T19:15:12.854Z,1553800512.854 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming] Stopped
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T19:15:12.854Z,1553800512.854 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:I.] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:L] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:M] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T19:15:12.855Z,1553800512.855 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T19:15:12.856Z,1553800512.856 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-03-28T19:15:12.857Z,1553800512.857 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T19:15:12.866Z,1553800512.866 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:15:12.866Z,1553800512.866 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T19:15:12.866Z,1553800512.866 [lineCaptureHoming:Lap:Rollout] Stopped
2019-03-28T19:15:12.866Z,1553800512.866 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-03-28T19:15:12.866Z,1553800512.866 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-03-28T19:15:12.867Z,1553800512.867 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-28T19:15:12.867Z,1553800512.867 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-03-28T19:15:12.867Z,1553800512.867 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:15:13.123Z,1553800513.123 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T19:15:13.228Z,1553800513.228 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T19:15:13.228Z,1553800513.228 [Default] Running Loop=1
2019-03-28T19:15:13.228Z,1553800513.228 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T19:15:13.228Z,1553800513.228 [Default:B.GoToSurface] Running Loop=1
2019-03-28T19:15:13.228Z,1553800513.228 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:15:13.229Z,1553800513.229 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T19:15:13.229Z,1553800513.229 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T19:15:13.229Z,1553800513.229 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T19:15:13.229Z,1553800513.229 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:15:13.234Z,1553800513.234 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:15:13.234Z,1553800513.234 [Default:A.Wait] Running Loop=1
2019-03-28T19:15:13.234Z,1553800513.234 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:15:13.387Z,1553800513.387 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T19:15:14.389Z,1553800514.389 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-03-28T19:15:26.547Z,1553800526.547 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T19:15:26.547Z,1553800526.547 [Default:A.Wait] Stopped
2019-03-28T19:15:26.547Z,1553800526.547 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:15:26.942Z,1553800526.942 [Default:CheckIn] Running Loop=1
2019-03-28T19:15:26.942Z,1553800526.942 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T19:15:26.942Z,1553800526.942 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T19:15:44.704Z,1553800544.704 [PowerOnly](INFO): Powering down
2019-03-28T19:15:45.103Z,1553800545.103 [PowerOnly](FAULT): LCB fault:  Hardware Overcurrent Shutdown.
2019-03-28T19:15:45.103Z,1553800545.103 [PowerOnly] Hardware Fault, FailCount= 1
2019-03-28T19:15:45.103Z,1553800545.103 [PowerOnly](ERROR): Hardware Fault
2019-03-28T19:15:45.130Z,1553800545.130 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2019-03-28T19:15:45.584Z,1553800545.584 [CBIT](INFO): Clearing failed state for component PowerOnly
2019-03-28T19:15:45.585Z,1553800545.585 [PowerOnly] No Fault, FailCount= 1
2019-03-28T19:15:45.912Z,1553800545.912 [PowerOnly](INFO): Powering up
2019-03-28T19:16:47.328Z,1553800607.328 [PowerOnly](INFO): Powering down
2019-03-28T19:16:47.341Z,1553800607.341 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T19:16:47.341Z,1553800607.341 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.92,  94.92,  98.42,  95.42
2019-03-28T19:17:51.937Z,1553800671.937 [NAL9602](INFO): SBD MO Status=0, MOMSN=2492, MT Status=0, MTMSN=0
2019-03-28T19:17:51.937Z,1553800671.937 [NAL9602](INFO): No messages in MT queue
2019-03-28T19:17:52.758Z,1553800672.758 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:17:53.149Z,1553800673.149 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191031.00,A,3648.16568,N,12147.28277,W,0.136,0.00,280319,,,A*7E
2019-03-28T19:17:53.151Z,1553800673.151 [NAL9602](INFO): GPS fix at 20190328T191031: (36.802761, -121.788046)
2019-03-28T19:17:53.179Z,1553800673.179 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T19:17:53.179Z,1553800673.179 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T19:17:59.854Z,1553800679.854 [DataOverHttps](INFO): Sending 220 bytes from file Logs/20190328T190542/Courier0025.lzma
2019-03-28T19:18:00.659Z,1553800680.659 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0025.lzma.bak
2019-03-28T19:18:00.659Z,1553800680.659 [DataOverHttps](INFO): SBD MOMSN=10271430
2019-03-28T19:18:19.193Z,1553800699.193 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T184636/Express0032.lzma
2019-03-28T19:18:19.999Z,1553800699.999 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0032.lzma.bak
2019-03-28T19:18:19.000Z,1553800700.000 [DataOverHttps](INFO): SBD MOMSN=10271433
2019-03-28T19:18:25.896Z,1553800705.896 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:18:36.563Z,1553800716.563 [DataOverHttps](INFO): Sending 673 bytes from file Logs/20190328T184636/Express0034.lzma
2019-03-28T19:18:37.367Z,1553800717.367 [DataOverHttps](INFO): Moved sent file to Logs/20190328T184636/Express0034.lzma.bak
2019-03-28T19:18:37.368Z,1553800717.368 [DataOverHttps](INFO): SBD MOMSN=10271435
2019-03-28T19:18:50.840Z,1553800730.840 [DataOverHttps](INFO): Sending 852 bytes from file Logs/20190328T190446/Express0001.lzma
2019-03-28T19:18:51.651Z,1553800731.651 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190446/Express0001.lzma.bak
2019-03-28T19:18:51.651Z,1553800731.651 [DataOverHttps](INFO): SBD MOMSN=10271529
2019-03-28T19:19:04.559Z,1553800744.559 [DataOverHttps](INFO): Sending 865 bytes from file Logs/20190328T190542/Express0001.lzma
2019-03-28T19:19:05.363Z,1553800745.363 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0001.lzma.bak
2019-03-28T19:19:05.363Z,1553800745.363 [DataOverHttps](INFO): SBD MOMSN=10271559
2019-03-28T19:19:18.554Z,1553800758.554 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20190328T190542/Express0005.lzma
2019-03-28T19:19:19.359Z,1553800759.359 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0005.lzma.bak
2019-03-28T19:19:19.360Z,1553800759.360 [DataOverHttps](INFO): SBD MOMSN=10271583
2019-03-28T19:19:32.898Z,1553800772.898 [DataOverHttps](INFO): Sending 343 bytes from file Logs/20190328T190542/Express0008.lzma
2019-03-28T19:19:33.703Z,1553800773.703 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0008.lzma.bak
2019-03-28T19:19:33.703Z,1553800773.703 [DataOverHttps](INFO): SBD MOMSN=10271588
2019-03-28T19:19:46.666Z,1553800786.666 [DataOverHttps](INFO): Sending 293 bytes from file Logs/20190328T190542/Express0011.lzma
2019-03-28T19:19:47.471Z,1553800787.471 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0011.lzma.bak
2019-03-28T19:19:47.472Z,1553800787.472 [DataOverHttps](INFO): SBD MOMSN=10271594
2019-03-28T19:20:00.554Z,1553800800.554 [DataOverHttps](INFO): Sending 297 bytes from file Logs/20190328T190542/Express0014.lzma
2019-03-28T19:20:01.359Z,1553800801.359 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0014.lzma.bak
2019-03-28T19:20:01.360Z,1553800801.360 [DataOverHttps](INFO): SBD MOMSN=10271600
2019-03-28T19:20:23.590Z,1553800823.590 [DataOverHttps](INFO): Sending 454 bytes from file Logs/20190328T190542/Express0017.lzma
2019-03-28T19:20:24.395Z,1553800824.395 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0017.lzma.bak
2019-03-28T19:20:24.396Z,1553800824.396 [DataOverHttps](INFO): SBD MOMSN=10271607
2019-03-28T19:20:39.454Z,1553800839.454 [DataOverHttps](INFO): Sending 380 bytes from file Logs/20190328T190542/Express0020.lzma
2019-03-28T19:20:40.259Z,1553800840.259 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0020.lzma.bak
2019-03-28T19:20:40.259Z,1553800840.259 [DataOverHttps](INFO): SBD MOMSN=10271618
2019-03-28T19:20:53.338Z,1553800853.338 [DataOverHttps](INFO): Sending 183 bytes from file Logs/20190328T190542/Express0023.lzma
2019-03-28T19:20:54.140Z,1553800854.140 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0023.lzma.bak
2019-03-28T19:20:54.141Z,1553800854.141 [DataOverHttps](IMPORTANT): SBD MOMSN=10271629, MTMSN=20190328T191332
2019-03-28T19:21:01.722Z,1553800861.722 [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" 4b6pm 1 3
2019-03-28T19:21:01.771Z,1553800861.771 [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" 4b6pm 1 3.000000
2019-03-28T19:21:01.771Z,1553800861.771 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b6pm
2019-03-28T19:21:01.772Z,1553800861.772 [CommandLine](IMPORTANT): Scheduled #6 (#1 of 3 with id='4b6pm'): "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
2019-03-28T19:21:02.527Z,1553800862.527 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T191341
2019-03-28T19:21:08.048Z,1553800868.048 [DataOverHttps](INFO): Sending 1860 bytes from file Logs/20190328T190542/Express0026.lzma
2019-03-28T19:21:08.055Z,1553800868.055 [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" 4b6pm 2 3
2019-03-28T19:21:08.085Z,1553800868.085 [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" 4b6pm 2 3.000000
2019-03-28T19:21:08.085Z,1553800868.085 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b6pm
2019-03-28T19:21:08.086Z,1553800868.086 [CommandLine](IMPORTANT): Scheduled #7 (#2 of 3 with id='4b6pm'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T19:21:08.852Z,1553800868.852 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0026.lzma.bak
2019-03-28T19:21:08.852Z,1553800868.852 [DataOverHttps](IMPORTANT): SBD MOMSN=10271636, MTMSN=20190328T191347
2019-03-28T19:21:15.166Z,1553800875.166 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b6pm 3 3
2019-03-28T19:21:15.223Z,1553800875.223 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b6pm 3 3.000000
2019-03-28T19:21:15.223Z,1553800875.223 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b6pm
2019-03-28T19:21:15.224Z,1553800875.224 [CommandLine](IMPORTANT): Scheduled #8 (#3 of 3 with id='4b6pm'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T19:21:15.388Z,1553800875.388 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:21:15.389Z,1553800875.389 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:21:15.728Z,1553800875.728 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T19:21:15.751Z,1553800875.751 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T19:21:15.753Z,1553800875.753 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T19:21:15.763Z,1553800875.763 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T19:21:15.765Z,1553800875.765 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T19:21:15.776Z,1553800875.776 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T19:21:15.791Z,1553800875.791 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T19:21:15.793Z,1553800875.793 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T19:21:15.795Z,1553800875.795 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T19:21:15.822Z,1553800875.822 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T19:21:15.824Z,1553800875.824 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T19:21:15.826Z,1553800875.826 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T19:21:15.828Z,1553800875.828 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T19:21:15.859Z,1553800875.859 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T19:21:15.861Z,1553800875.861 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T19:21:15.864Z,1553800875.864 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T19:21:15.890Z,1553800875.890 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T19:21:15.892Z,1553800875.892 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T19:21:15.895Z,1553800875.895 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T19:21:15.897Z,1553800875.897 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T19:21:15.911Z,1553800875.911 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T19:21:15.913Z,1553800875.913 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T19:21:15.915Z,1553800875.915 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T19:21:15.942Z,1553800875.942 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T19:21:15.945Z,1553800875.945 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T19:21:15.947Z,1553800875.947 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T19:21:15.949Z,1553800875.949 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T19:21:15.963Z,1553800875.963 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T19:21:15.965Z,1553800875.965 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T19:21:15.968Z,1553800875.968 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T19:21:15.968Z,1553800875.968 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T19:21:16.091Z,1553800876.091 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T19:21:16.114Z,1553800876.114 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T19:21:16.116Z,1553800876.116 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T19:21:16.117Z,1553800876.117 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T19:21:16.155Z,1553800876.155 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T19:21:16.169Z,1553800876.169 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T19:21:16.210Z,1553800876.210 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T19:21:16.343Z,1553800876.343 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T19:21:16.345Z,1553800876.345 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T19:21:16.356Z,1553800876.356 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T19:21:16.362Z,1553800876.362 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T19:21:16.364Z,1553800876.364 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T19:21:16.371Z,1553800876.371 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T19:21:16.387Z,1553800876.387 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T19:21:16.436Z,1553800876.436 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:21:16.539Z,1553800876.539 [Reporter](INFO): HorizontalControl.headingCmd 3.125481 rad
2019-03-28T19:21:16.569Z,1553800876.569 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T19:21:16.572Z,1553800876.572 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T19:21:16.592Z,1553800876.592 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T19:21:16.598Z,1553800876.598 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T19:21:16.622Z,1553800876.622 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T19:21:16.625Z,1553800876.625 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T19:21:16.661Z,1553800876.661 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:21:16.672Z,1553800876.672 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-28T19:21:16.713Z,1553800876.713 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T19:21:16.721Z,1553800876.721 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T19:21:16.736Z,1553800876.736 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:21:16.751Z,1553800876.751 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T19:21:16.792Z,1553800876.792 [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>
-->
            <While>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Gt><Arg Name="DockRange"/></Gt>
            </While>

            <!--<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>

            <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 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>


2019-03-28T19:21:16.792Z,1553800876.792 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:21:25.669Z,1553800885.669 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0028.lzma
2019-03-28T19:21:26.476Z,1553800886.476 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0028.lzma.bak
2019-03-28T19:21:26.476Z,1553800886.476 [DataOverHttps](INFO): SBD MOMSN=10271992
2019-03-28T19:21:34.948Z,1553800894.948 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T19:21:34.949Z,1553800894.949 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T19:21:34.973Z,1553800894.973 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T19:21:35.017Z,1553800895.017 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T19:21:44.712Z,1553800904.712 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:21:44.712Z,1553800904.712 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -47,    +2,   33,A
2019-03-28T19:21:44.783Z,1553800904.783 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:21:44.783Z,1553800904.783 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:21:44.859Z,1553800904.859 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:21:45.211Z,1553800905.211 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:21:45.211Z,1553800905.211 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:21:48.241Z,1553800908.241 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0031.lzma
2019-03-28T19:21:49.047Z,1553800909.047 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0031.lzma.bak
2019-03-28T19:21:49.048Z,1553800909.048 [DataOverHttps](INFO): SBD MOMSN=10272016
2019-03-28T19:21:57.191Z,1553800917.191 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T19:21:57.192Z,1553800917.192 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T19:21:57.192Z,1553800917.192 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T19:21:57.193Z,1553800917.193 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T19:22:03.053Z,1553800923.053 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T19:22:03.053Z,1553800923.053 [CommandLine](IMPORTANT): got command run 
2019-03-28T19:22:03.071Z,1553800923.071 [CommandLine](IMPORTANT): Running 
2019-03-28T19:22:03.381Z,1553800923.381 [Default] Stopped
2019-03-28T19:22:03.381Z,1553800923.381 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T19:22:03.381Z,1553800923.381 [Default:B.GoToSurface] Stopped
2019-03-28T19:22:03.381Z,1553800923.381 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:22:03.381Z,1553800923.381 [Default:CheckIn] Stopped
2019-03-28T19:22:03.381Z,1553800923.381 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T19:22:03.381Z,1553800923.381 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T19:22:03.381Z,1553800923.381 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T19:22:03.386Z,1553800923.386 [lineCaptureHoming] Running Loop=1
2019-03-28T19:22:03.386Z,1553800923.386 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T19:22:03.386Z,1553800923.386 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:22:03.386Z,1553800923.386 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:22:03.386Z,1553800923.386 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:22:03.386Z,1553800923.386 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:22:03.387Z,1553800923.387 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T19:22:03.388Z,1553800923.388 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:22:03.388Z,1553800923.388 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:22:03.388Z,1553800923.388 [lineCaptureHoming:B] Running Loop=1
2019-03-28T19:22:03.388Z,1553800923.388 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:22:03.389Z,1553800923.389 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T19:22:03.389Z,1553800923.389 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:22:03.394Z,1553800923.394 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T19:22:03.394Z,1553800923.394 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:22:03.394Z,1553800923.394 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:22:03.394Z,1553800923.394 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:22:03.395Z,1553800923.395 [lineCaptureHoming:B] Stopped
2019-03-28T19:22:03.395Z,1553800923.395 [lineCaptureHoming:C] Running Loop=1
2019-03-28T19:22:03.395Z,1553800923.395 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:22:03.395Z,1553800923.395 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:22:03.395Z,1553800923.395 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:22:03.396Z,1553800923.396 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:22:03.746Z,1553800923.746 [lineCaptureHoming:C] Stopped
2019-03-28T19:22:03.747Z,1553800923.747 [lineCaptureHoming:D] Running Loop=1
2019-03-28T19:22:04.158Z,1553800924.158 [lineCaptureHoming:D] Stopped
2019-03-28T19:22:04.158Z,1553800924.158 [lineCaptureHoming:F] Running Loop=1
2019-03-28T19:22:04.583Z,1553800924.583 [lineCaptureHoming:F] Stopped
2019-03-28T19:22:04.583Z,1553800924.583 [lineCaptureHoming:G] Running Loop=1
2019-03-28T19:22:04.987Z,1553800924.987 [lineCaptureHoming:G] Stopped
2019-03-28T19:22:04.987Z,1553800924.987 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T19:22:04.987Z,1553800924.987 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T19:22:05.415Z,1553800925.415 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T19:22:05.415Z,1553800925.415 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T19:22:05.416Z,1553800925.416 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T19:22:05.416Z,1553800925.416 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T19:22:05.416Z,1553800925.416 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T19:22:05.416Z,1553800925.416 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:22:05.806Z,1553800925.806 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T19:22:05.806Z,1553800925.806 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T19:22:05.806Z,1553800925.806 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T19:22:05.806Z,1553800925.806 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:22:05.807Z,1553800925.807 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T19:22:05.807Z,1553800925.807 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T19:22:05.807Z,1553800925.807 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T19:22:05.808Z,1553800925.808 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:22:05.808Z,1553800925.808 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:22:05.808Z,1553800925.808 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T19:22:05.817Z,1553800925.817 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553800231.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T19:22:05.830Z,1553800925.830 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T19:22:06.190Z,1553800926.190 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T19:22:06.583Z,1553800926.583 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:22:07.253Z,1553800927.253 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0034.lzma
2019-03-28T19:22:07.762Z,1553800927.762 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:22:08.059Z,1553800928.059 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0034.lzma.bak
2019-03-28T19:22:08.059Z,1553800928.059 [DataOverHttps](INFO): SBD MOMSN=10272018
2019-03-28T19:22:08.149Z,1553800928.149 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191446.00,A,3648.16612,N,12147.27801,W,0.194,229.68,280319,,,A*7F
2019-03-28T19:22:08.152Z,1553800928.152 [NAL9602](INFO): GPS fix at 20190328T191446: (36.802769, -121.787967)
2019-03-28T19:22:08.207Z,1553800928.207 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T19:22:08.208Z,1553800928.208 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T19:22:08.635Z,1553800928.635 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:22:20.977Z,1553800940.977 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190328T190542/Courier0037.lzma
2019-03-28T19:22:21.783Z,1553800941.783 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0037.lzma.bak
2019-03-28T19:22:21.784Z,1553800941.784 [DataOverHttps](INFO): SBD MOMSN=10272020
2019-03-28T19:22:23.548Z,1553800943.548 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-03-28T19:22:35.150Z,1553800955.150 [DataOverHttps](INFO): Sending 314 bytes from file Logs/20190328T190542/Express0029.lzma
2019-03-28T19:22:35.955Z,1553800955.955 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0029.lzma.bak
2019-03-28T19:22:35.956Z,1553800955.956 [DataOverHttps](INFO): SBD MOMSN=10272024
2019-03-28T19:22:49.222Z,1553800969.222 [DataOverHttps](INFO): Sending 296 bytes from file Logs/20190328T190542/Express0032.lzma
2019-03-28T19:22:50.027Z,1553800970.027 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0032.lzma.bak
2019-03-28T19:22:50.028Z,1553800970.028 [DataOverHttps](INFO): SBD MOMSN=10272030
2019-03-28T19:23:04.270Z,1553800984.270 [DataOverHttps](INFO): Sending 303 bytes from file Logs/20190328T190542/Express0035.lzma
2019-03-28T19:23:05.071Z,1553800985.071 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0035.lzma.bak
2019-03-28T19:23:05.072Z,1553800985.072 [DataOverHttps](INFO): SBD MOMSN=10272036
2019-03-28T19:23:18.478Z,1553800998.478 [DataOverHttps](INFO): Sending 341 bytes from file Logs/20190328T190542/Express0038.lzma
2019-03-28T19:23:19.283Z,1553800999.283 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0038.lzma.bak
2019-03-28T19:23:19.284Z,1553800999.284 [DataOverHttps](INFO): SBD MOMSN=10272043
2019-03-28T19:23:22.587Z,1553801002.587 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T19:23:22.588Z,1553801002.588 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T19:23:22.893Z,1553801002.893 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T19:23:22.893Z,1553801002.893 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T19:23:22.979Z,1553801002.979 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:23:54.839Z,1553801034.839 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553800960.000000 second
2019-03-28T19:23:54.950Z,1553801034.950 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T19:23:54.951Z,1553801034.951 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T19:23:54.951Z,1553801034.951 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T19:23:54.951Z,1553801034.951 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T19:23:54.951Z,1553801034.951 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T19:23:54.951Z,1553801034.951 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:23:55.378Z,1553801035.378 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T19:23:55.378Z,1553801035.378 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T19:23:55.378Z,1553801035.378 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:23:55.378Z,1553801035.378 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T19:23:55.727Z,1553801035.727 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T19:23:55.728Z,1553801035.728 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T19:23:56.126Z,1553801036.126 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T19:23:56.126Z,1553801036.126 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T19:23:56.126Z,1553801036.126 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T19:23:56.127Z,1553801036.127 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T19:23:56.532Z,1553801036.532 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T19:23:56.533Z,1553801036.533 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:23:56.534Z,1553801036.534 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:23:56.534Z,1553801036.534 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:23:56.534Z,1553801036.534 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T19:23:56.534Z,1553801036.534 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:23:56.534Z,1553801036.534 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:23:56.534Z,1553801036.534 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:23:56.535Z,1553801036.535 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-28T19:23:56.535Z,1553801036.535 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Initialize.
2019-03-28T19:23:56.535Z,1553801036.535 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T19:23:56.932Z,1553801036.932 [lineCaptureHoming:Lap:ActivateCamera] Running Loop=1
2019-03-28T19:23:56.932Z,1553801036.932 [lineCaptureHoming:Lap:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:23:56.932Z,1553801036.932 [lineCaptureHoming:Lap:ActivateCamera:B] Running Loop=1
2019-03-28T19:23:56.933Z,1553801036.933 [lineCaptureHoming:Lap:ActivateCamera:A] Running Loop=1
2019-03-28T19:23:56.933Z,1553801036.933 [lineCaptureHoming:Lap:ActivateCamera:B] Running Loop=1
2019-03-28T19:23:56.933Z,1553801036.933 [lineCaptureHoming:Lap:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-28T19:23:56.941Z,1553801036.941 [lineCaptureHoming:Lap:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:23:56.941Z,1553801036.941 [lineCaptureHoming:Lap:ActivateCamera:A] Stopped
2019-03-28T19:23:56.941Z,1553801036.941 [lineCaptureHoming:Lap:ActivateCamera:C] Running Loop=1
2019-03-28T19:23:56.941Z,1553801036.941 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:23:56.941Z,1553801036.941 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-28T19:23:56.942Z,1553801036.942 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T19:23:56.942Z,1553801036.942 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T19:23:56.942Z,1553801036.942 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:23:56.942Z,1553801036.942 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T19:23:56.942Z,1553801036.942 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:23:56.943Z,1553801036.943 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:23:56.944Z,1553801036.944 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:23:56.944Z,1553801036.944 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:23:56.944Z,1553801036.944 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T19:23:56.945Z,1553801036.945 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T19:23:56.945Z,1553801036.945 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T19:23:56.945Z,1553801036.945 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T19:23:56.945Z,1553801036.945 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:23:56.945Z,1553801036.945 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:23:56.945Z,1553801036.945 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T19:23:56.946Z,1553801036.946 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:23:56.946Z,1553801036.946 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:23:56.946Z,1553801036.946 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T19:23:56.946Z,1553801036.946 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T19:23:56.946Z,1553801036.946 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:23:56.947Z,1553801036.947 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:23:56.948Z,1553801036.948 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:23:56.949Z,1553801036.949 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:23:56.949Z,1553801036.949 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T19:23:56.949Z,1553801036.949 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T19:23:56.949Z,1553801036.949 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:23:56.964Z,1553801036.964 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T19:23:57.323Z,1553801037.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:23:57.327Z,1553801037.327 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:23:57.356Z,1553801037.356 [PowerOnly](INFO): Powering up
2019-03-28T19:23:57.403Z,1553801037.403 [lineCaptureHoming:Lap:ActivateCamera:C] Stopped
2019-03-28T19:23:57.403Z,1553801037.403 [lineCaptureHoming:Lap:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:23:57.403Z,1553801037.403 [lineCaptureHoming:Lap:ActivateCamera] Stopped
2019-03-28T19:23:57.403Z,1553801037.403 [lineCaptureHoming:Lap:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:23:57.404Z,1553801037.404 [lineCaptureHoming:Lap:ActivateCamera:B] Stopped
2019-03-28T19:23:57.404Z,1553801037.404 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T19:23:57.404Z,1553801037.404 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:23:57.404Z,1553801037.404 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T19:23:57.404Z,1553801037.404 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:23:57.405Z,1553801037.405 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-03-28T19:23:57.405Z,1553801037.405 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-03-28T19:23:57.405Z,1553801037.405 [lineCaptureHoming:Lap:Dock:UpdateNav] Running Loop=1
2019-03-28T19:23:57.405Z,1553801037.405 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T19:23:57.405Z,1553801037.405 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-03-28T19:23:57.405Z,1553801037.405 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:23:57.443Z,1553801037.443 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:23:57.708Z,1553801037.708 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T19:23:57.767Z,1553801037.767 [lineCaptureHoming:Lap:Dock:UpdateNav] Stopped
2019-03-28T19:23:57.767Z,1553801037.767 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-03-28T19:23:57.767Z,1553801037.767 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Stopped
2019-03-28T19:23:57.767Z,1553801037.767 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-03-28T19:23:57.768Z,1553801037.768 [lineCaptureHoming:Lap:Dock:B.Wait] Running Loop=1
2019-03-28T19:23:57.768Z,1553801037.768 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:23:57.769Z,1553801037.769 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:23:57.769Z,1553801037.769 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:23:57.769Z,1553801037.769 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:23:57.769Z,1553801037.769 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:23:57.769Z,1553801037.769 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:23:57.769Z,1553801037.769 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:23:57.770Z,1553801037.770 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:23:57.770Z,1553801037.770 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:23:57.770Z,1553801037.770 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:23:57.770Z,1553801037.770 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:23:57.770Z,1553801037.770 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:23:57.770Z,1553801037.770 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:23:57.771Z,1553801037.771 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:23:57.771Z,1553801037.771 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:24:01.347Z,1553801041.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:01.351Z,1553801041.351 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:01.763Z,1553801041.763 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-28T19:24:05.388Z,1553801045.388 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:05.393Z,1553801045.393 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:09.428Z,1553801049.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:09.450Z,1553801049.450 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:09.916Z,1553801049.916 [Reporter](INFO): acoustic_contact_range 21.359999 m
2019-03-28T19:24:09.917Z,1553801049.917 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.128862 rad
2019-03-28T19:24:13.463Z,1553801053.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:13.464Z,1553801053.464 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:13.867Z,1553801053.867 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:24:17.504Z,1553801057.504 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:17.509Z,1553801057.509 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:17.911Z,1553801057.911 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-28T19:24:21.543Z,1553801061.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:21.544Z,1553801061.544 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:21.955Z,1553801061.955 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T19:24:22.867Z,1553801062.867 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-28T19:24:22.868Z,1553801062.868 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.125481 rad
2019-03-28T19:24:25.588Z,1553801065.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:25.595Z,1553801065.595 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:25.987Z,1553801065.987 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:24:29.624Z,1553801069.624 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:29.629Z,1553801069.629 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:30.024Z,1553801070.024 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T19:24:33.664Z,1553801073.664 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:33.668Z,1553801073.668 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:37.720Z,1553801077.720 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:37.724Z,1553801077.724 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:38.227Z,1553801078.227 [Reporter](INFO): acoustic_contact_range 4.800000 m
2019-03-28T19:24:38.228Z,1553801078.228 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.116152 rad
2019-03-28T19:24:41.752Z,1553801081.752 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:41.759Z,1553801081.759 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:42.321Z,1553801082.321 [Reporter](INFO): acoustic_contact_range 7.259999 m
2019-03-28T19:24:42.325Z,1553801082.325 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.130687 rad
2019-03-28T19:24:45.724Z,1553801085.724 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-28T19:24:45.730Z,1553801085.730 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.125481 rad
2019-03-28T19:24:45.806Z,1553801085.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:45.810Z,1553801085.810 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:46.298Z,1553801086.298 [Reporter](INFO): acoustic_contact_range 36.900002 m
2019-03-28T19:24:46.301Z,1553801086.301 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.755456 rad
2019-03-28T19:24:49.823Z,1553801089.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:49.824Z,1553801089.824 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:50.227Z,1553801090.227 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0B,FF
2019-03-28T19:24:51.988Z,1553801091.988 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-28T19:24:51.988Z,1553801091.988 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.125481 rad
2019-03-28T19:24:53.864Z,1553801093.864 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:53.869Z,1553801093.869 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:54.467Z,1553801094.467 [Reporter](INFO): acoustic_contact_range 49.019997 m
2019-03-28T19:24:54.468Z,1553801094.468 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.932456 rad
2019-03-28T19:24:57.904Z,1553801097.904 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:24:57.908Z,1553801097.908 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:24:58.387Z,1553801098.387 [lineCaptureHoming:Lap:Dock:B.Wait](INFO): Done Waiting.
2019-03-28T19:24:58.387Z,1553801098.387 [lineCaptureHoming:Lap:Dock:B.Wait] Stopped
2019-03-28T19:24:58.387Z,1553801098.387 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:24:58.388Z,1553801098.388 [lineCaptureHoming:Lap:Dock:C] Running Loop=1
2019-03-28T19:24:58.575Z,1553801098.575 [Reporter](INFO): acoustic_contact_range 209.459976 m
2019-03-28T19:24:58.576Z,1553801098.576 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.088603 rad
2019-03-28T19:24:58.744Z,1553801098.744 [PowerOnly](INFO): Powering down
2019-03-28T19:24:58.762Z,1553801098.762 [lineCaptureHoming:Lap:Dock:C] Stopped
2019-03-28T19:24:58.762Z,1553801098.762 [lineCaptureHoming:Lap:Dock:D] Running Loop=1
2019-03-28T19:24:59.162Z,1553801099.162 [lineCaptureHoming:Lap:Dock:D] Stopped
2019-03-28T19:24:59.162Z,1553801099.162 [lineCaptureHoming:Lap:Dock](INFO): Completed lineCaptureHoming:Lap:Dock
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Dock] Stopped
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-03-28T19:24:59.163Z,1553801099.163 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:24:59.566Z,1553801099.566 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-03-28T19:24:59.567Z,1553801099.567 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:24:59.568Z,1553801099.568 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T19:24:59.568Z,1553801099.568 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:24:59.568Z,1553801099.568 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T19:24:59.568Z,1553801099.568 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:25:01.944Z,1553801101.944 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:01.948Z,1553801101.948 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:02.398Z,1553801102.398 [lineCaptureHoming:Lap:ActivateCamera] Running Loop=1
2019-03-28T19:25:02.398Z,1553801102.398 [lineCaptureHoming:Lap:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:25:02.399Z,1553801102.399 [lineCaptureHoming:Lap:ActivateCamera:B] Running Loop=1
2019-03-28T19:25:02.399Z,1553801102.399 [lineCaptureHoming:Lap:ActivateCamera:A] Running Loop=1
2019-03-28T19:25:02.406Z,1553801102.406 [lineCaptureHoming:Lap:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 14.400001 m .
2019-03-28T19:25:02.406Z,1553801102.406 [lineCaptureHoming:Lap:ActivateCamera:A] Stopped
2019-03-28T19:25:02.406Z,1553801102.406 [lineCaptureHoming:Lap:ActivateCamera:C] Running Loop=1
2019-03-28T19:25:02.463Z,1553801102.463 [Reporter](INFO): acoustic_contact_range 14.400001 m
2019-03-28T19:25:02.464Z,1553801102.464 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.180538 rad
2019-03-28T19:25:02.770Z,1553801102.770 [PowerOnly](INFO): Powering up
2019-03-28T19:25:02.803Z,1553801102.803 [lineCaptureHoming:Lap:ActivateCamera:C] Stopped
2019-03-28T19:25:02.803Z,1553801102.803 [lineCaptureHoming:Lap:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:25:02.804Z,1553801102.804 [lineCaptureHoming:Lap:ActivateCamera] Stopped
2019-03-28T19:25:02.804Z,1553801102.804 [lineCaptureHoming:Lap:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:25:02.804Z,1553801102.804 [lineCaptureHoming:Lap:ActivateCamera:B] Stopped
2019-03-28T19:25:05.987Z,1553801105.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:05.992Z,1553801105.992 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:06.391Z,1553801106.391 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EA8,00,81,0A,FF
2019-03-28T19:25:10.024Z,1553801110.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:10.028Z,1553801110.028 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:10.424Z,1553801110.424 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:25:13.450Z,1553801113.450 [CommandLine](IMPORTANT): got command show stack
2019-03-28T19:25:13.451Z,1553801113.451 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-28T19:25:13.452Z,1553801113.452 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-28T19:25:13.452Z,1553801113.452 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-28T19:25:13.452Z,1553801113.452 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-28T19:25:13.452Z,1553801113.452 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:I.
2019-03-28T19:25:13.453Z,1553801113.453 [lineCaptureHoming](IMPORTANT): Priority 4: lineCaptureHoming:J.Mass
2019-03-28T19:25:13.453Z,1553801113.453 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:K.Buoyancy
2019-03-28T19:25:13.453Z,1553801113.453 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:L
2019-03-28T19:25:13.454Z,1553801113.454 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:M
2019-03-28T19:25:13.455Z,1553801113.455 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-03-28T19:25:13.455Z,1553801113.455 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed
2019-03-28T19:25:13.456Z,1553801113.456 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo
2019-03-28T19:25:13.456Z,1553801113.456 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 11: lineCaptureHoming:RequestPing:A
2019-03-28T19:25:13.456Z,1553801113.456 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 12: lineCaptureHoming:RequestPing:B
2019-03-28T19:25:13.456Z,1553801113.456 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 13: lineCaptureHoming:RequestPing:C
2019-03-28T19:25:13.457Z,1553801113.457 [lineCaptureHoming:Lap:TerminalGuidance](IMPORTANT): Priority 14: lineCaptureHoming:Lap:TerminalGuidance:A.Point
2019-03-28T19:25:13.458Z,1553801113.458 [lineCaptureHoming:Lap:Rollout:MaintainHeading](IMPORTANT): Priority 15: lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait
2019-03-28T19:25:14.064Z,1553801114.064 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:14.068Z,1553801114.068 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:14.467Z,1553801114.467 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T19:25:17.346Z,1553801117.346 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-28T19:25:17.346Z,1553801117.346 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +1,    -7,A
2019-03-28T19:25:17.357Z,1553801117.357 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:25:17.357Z,1553801117.357 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:25:17.474Z,1553801117.474 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:25:17.802Z,1553801117.802 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:25:17.802Z,1553801117.802 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:25:18.104Z,1553801118.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:18.110Z,1553801118.110 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:18.511Z,1553801118.511 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,19,FF
2019-03-28T19:25:22.143Z,1553801122.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:22.144Z,1553801122.144 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:22.547Z,1553801122.547 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-28T19:25:26.184Z,1553801126.184 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:26.188Z,1553801126.188 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:26.771Z,1553801126.771 [Reporter](INFO): acoustic_contact_range 60.060001 m
2019-03-28T19:25:26.773Z,1553801126.773 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.115009 rad
2019-03-28T19:25:30.224Z,1553801130.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:30.229Z,1553801130.229 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:30.747Z,1553801130.747 [Reporter](INFO): acoustic_contact_range 23.819998 m
2019-03-28T19:25:30.748Z,1553801130.748 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.343478 rad
2019-03-28T19:25:34.264Z,1553801134.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:34.268Z,1553801134.268 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:34.819Z,1553801134.819 [Reporter](INFO): acoustic_contact_range 28.679998 m
2019-03-28T19:25:34.820Z,1553801134.820 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.132258 rad
2019-03-28T19:25:38.316Z,1553801138.316 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:38.321Z,1553801138.321 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:38.811Z,1553801138.811 [Reporter](INFO): acoustic_contact_range 55.740002 m
2019-03-28T19:25:38.812Z,1553801138.812 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.163932 rad
2019-03-28T19:25:42.349Z,1553801142.349 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:42.354Z,1553801142.354 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:42.854Z,1553801142.854 [Reporter](INFO): acoustic_contact_range 38.820000 m
2019-03-28T19:25:42.856Z,1553801142.856 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.158455 rad
2019-03-28T19:25:46.384Z,1553801146.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:46.394Z,1553801146.394 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:46.887Z,1553801146.887 [Reporter](INFO): acoustic_contact_range 59.940006 m
2019-03-28T19:25:46.888Z,1553801146.888 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.178395 rad
2019-03-28T19:25:50.424Z,1553801150.424 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:25:50.428Z,1553801150.428 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:25:50.827Z,1553801150.827 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T19:25:52.519Z,1553801152.519 [CommandLine](IMPORTANT): got command stop
2019-03-28T19:25:52.520Z,1553801152.520 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T19:25:52.902Z,1553801152.902 [MissionManager](INFO): MissionManager is completed.
2019-03-28T19:25:52.902Z,1553801152.902 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T19:25:52.902Z,1553801152.902 [lineCaptureHoming] Stopped
2019-03-28T19:25:52.902Z,1553801152.902 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T19:25:52.902Z,1553801152.902 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T19:25:52.902Z,1553801152.902 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:I.] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:L] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:M] Stopped
2019-03-28T19:25:52.903Z,1553801152.903 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:25:52.904Z,1553801152.904 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:25:52.905Z,1553801152.905 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Stopped
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:Rollout] Stopped
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-03-28T19:25:52.906Z,1553801152.906 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:25:52.993Z,1553801152.993 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T19:25:53.290Z,1553801153.290 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T19:25:53.290Z,1553801153.290 [Default] Running Loop=1
2019-03-28T19:25:53.290Z,1553801153.290 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T19:25:53.290Z,1553801153.290 [Default:B.GoToSurface] Running Loop=1
2019-03-28T19:25:53.291Z,1553801153.291 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:25:53.292Z,1553801153.292 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T19:25:53.292Z,1553801153.292 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T19:25:53.293Z,1553801153.293 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T19:25:53.295Z,1553801153.295 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:25:53.296Z,1553801153.296 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:25:53.297Z,1553801153.297 [Default:A.Wait] Running Loop=1
2019-03-28T19:25:53.297Z,1553801153.297 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:25:53.351Z,1553801153.351 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T19:26:04.178Z,1553801164.178 [PowerOnly](INFO): Powering down
2019-03-28T19:26:06.621Z,1553801166.621 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T19:26:06.621Z,1553801166.621 [Default:A.Wait] Stopped
2019-03-28T19:26:06.621Z,1553801166.621 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:26:07.021Z,1553801167.021 [Default:CheckIn] Running Loop=1
2019-03-28T19:26:07.021Z,1553801167.021 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T19:26:07.021Z,1553801167.021 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T19:27:10.822Z,1553801230.822 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T19:27:11.646Z,1553801231.646 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:27:16.894Z,1553801236.894 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:27:17.289Z,1553801237.289 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191956.00,A,3648.16541,N,12147.27734,W,0.078,229.68,280319,,,A*7C
2019-03-28T19:27:17.296Z,1553801237.296 [NAL9602](INFO): GPS fix at 20190328T191956: (36.802757, -121.787956)
2019-03-28T19:27:17.380Z,1553801237.380 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T19:27:17.381Z,1553801237.381 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T19:27:24.085Z,1553801244.085 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20190328T190542/Courier0040.lzma
2019-03-28T19:27:24.891Z,1553801244.891 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0040.lzma.bak
2019-03-28T19:27:24.892Z,1553801244.892 [DataOverHttps](INFO): SBD MOMSN=10272062
2019-03-28T19:27:38.027Z,1553801258.027 [DataOverHttps](INFO): Sending 970 bytes from file Logs/20190328T190542/Express0041.lzma
2019-03-28T19:27:38.831Z,1553801258.831 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0041.lzma.bak
2019-03-28T19:27:38.832Z,1553801258.832 [DataOverHttps](INFO): SBD MOMSN=10272065
2019-03-28T19:27:40.753Z,1553801260.753 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T19:27:40.753Z,1553801260.753 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-28T19:27:40.753Z,1553801260.753 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:27:50.015Z,1553801270.015 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:28:52.701Z,1553801332.701 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T19:28:52.702Z,1553801332.702 [RDI_Pathfinder](ERROR): Failed to parse:
:TS2300478,35.0, -0.1,   0.0,1448.9,  0
2019-03-28T19:28:52.712Z,1553801332.712 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:28:52.712Z,1553801332.712 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:28:52.760Z,1553801332.760 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:28:53.124Z,1553801333.124 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:28:53.124Z,1553801333.124 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:29:39.184Z,1553801379.184 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T192217
2019-03-28T19:29:44.610Z,1553801384.610 [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" 4b74c 1 3
2019-03-28T19:29:44.691Z,1553801384.691 [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" 4b74c 1 3.000000
2019-03-28T19:29:44.691Z,1553801384.691 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b74c
2019-03-28T19:29:44.692Z,1553801384.692 [CommandLine](IMPORTANT): Scheduled #9 (#1 of 3 with id='4b74c'): "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
2019-03-28T19:29:45.416Z,1553801385.416 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T192224
2019-03-28T19:29:50.994Z,1553801390.994 [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" 4b74c 2 3
2019-03-28T19:29:51.009Z,1553801391.009 [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" 4b74c 2 3.000000
2019-03-28T19:29:51.009Z,1553801391.009 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b74c
2019-03-28T19:29:51.040Z,1553801391.040 [CommandLine](IMPORTANT): Scheduled #10 (#2 of 3 with id='4b74c'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T19:29:51.799Z,1553801391.799 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T192230
2019-03-28T19:29:53.340Z,1553801393.340 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T19:29:53.340Z,1553801393.340 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,  98.42,  95.92
2019-03-28T19:29:57.481Z,1553801397.481 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b74c 3 3
2019-03-28T19:29:57.540Z,1553801397.540 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b74c 3 3.000000
2019-03-28T19:29:57.541Z,1553801397.541 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b74c
2019-03-28T19:29:57.542Z,1553801397.542 [CommandLine](IMPORTANT): Scheduled #11 (#3 of 3 with id='4b74c'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T19:29:57.638Z,1553801397.638 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:29:57.638Z,1553801397.638 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:29:57.942Z,1553801397.942 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T19:29:57.944Z,1553801397.944 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T19:29:57.947Z,1553801397.947 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T19:29:57.949Z,1553801397.949 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T19:29:57.951Z,1553801397.951 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T19:29:57.953Z,1553801397.953 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T19:29:57.956Z,1553801397.956 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T19:29:57.958Z,1553801397.958 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T19:29:57.960Z,1553801397.960 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T19:29:57.963Z,1553801397.963 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T19:29:57.965Z,1553801397.965 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T19:29:57.968Z,1553801397.968 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T19:29:57.970Z,1553801397.970 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T19:29:57.972Z,1553801397.972 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T19:29:57.975Z,1553801397.975 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T19:29:57.977Z,1553801397.977 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T19:29:57.979Z,1553801397.979 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T19:29:57.982Z,1553801397.982 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T19:29:57.984Z,1553801397.984 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T19:29:57.986Z,1553801397.986 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T19:29:57.988Z,1553801397.988 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T19:29:58.015Z,1553801398.015 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T19:29:58.017Z,1553801398.017 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T19:29:58.024Z,1553801398.024 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T19:29:58.034Z,1553801398.034 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T19:29:58.037Z,1553801398.037 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T19:29:58.043Z,1553801398.043 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T19:29:58.045Z,1553801398.045 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T19:29:58.052Z,1553801398.052 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T19:29:58.072Z,1553801398.072 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T19:29:58.072Z,1553801398.072 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T19:29:58.107Z,1553801398.107 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T19:29:58.152Z,1553801398.152 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T19:29:58.193Z,1553801398.193 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T19:29:58.206Z,1553801398.206 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T19:29:58.230Z,1553801398.230 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T19:29:58.241Z,1553801398.241 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T19:29:58.264Z,1553801398.264 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T19:29:58.421Z,1553801398.421 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T19:29:58.423Z,1553801398.423 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T19:29:58.425Z,1553801398.425 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T19:29:58.431Z,1553801398.431 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T19:29:58.442Z,1553801398.442 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T19:29:58.444Z,1553801398.444 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T19:29:58.447Z,1553801398.447 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T19:29:58.452Z,1553801398.452 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:29:58.591Z,1553801398.591 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T19:29:58.593Z,1553801398.593 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T19:29:58.621Z,1553801398.621 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T19:29:58.624Z,1553801398.624 [Reporter](INFO): HorizontalControl.headingCmd 3.125481 rad
2019-03-28T19:29:58.632Z,1553801398.632 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T19:29:58.668Z,1553801398.668 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T19:29:58.679Z,1553801398.679 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T19:29:58.725Z,1553801398.725 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:29:58.741Z,1553801398.741 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-28T19:29:58.779Z,1553801398.779 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T19:29:58.788Z,1553801398.788 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T19:29:58.804Z,1553801398.804 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:29:58.813Z,1553801398.813 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T19:29:58.860Z,1553801398.860 [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>
-->
            <While>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Gt><Arg Name="DockRange"/></Gt>
            </While>

            <!--<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>

            <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 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>


2019-03-28T19:29:58.861Z,1553801398.861 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:30:09.360Z,1553801409.360 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T19:30:09.361Z,1553801409.361 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T19:30:09.362Z,1553801409.362 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T19:30:09.363Z,1553801409.363 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T19:30:21.863Z,1553801421.863 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T19:30:21.864Z,1553801421.864 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T19:30:21.865Z,1553801421.865 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T19:30:21.866Z,1553801421.866 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T19:30:26.227Z,1553801426.227 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T19:30:26.228Z,1553801426.228 [CommandLine](IMPORTANT): got command run 
2019-03-28T19:30:26.230Z,1553801426.230 [CommandLine](IMPORTANT): Running 
2019-03-28T19:30:26.479Z,1553801426.479 [Default] Stopped
2019-03-28T19:30:26.479Z,1553801426.479 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T19:30:26.479Z,1553801426.479 [Default:B.GoToSurface] Stopped
2019-03-28T19:30:26.479Z,1553801426.479 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:30:26.479Z,1553801426.479 [Default:CheckIn] Stopped
2019-03-28T19:30:26.479Z,1553801426.479 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T19:30:26.479Z,1553801426.479 [Default:CheckIn:C.Wait] Stopped
2019-03-28T19:30:26.480Z,1553801426.480 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:30:26.480Z,1553801426.480 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T19:30:26.480Z,1553801426.480 [lineCaptureHoming] Running Loop=1
2019-03-28T19:30:26.480Z,1553801426.480 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T19:30:26.480Z,1553801426.480 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:30:26.480Z,1553801426.480 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:30:26.480Z,1553801426.480 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:30:26.480Z,1553801426.480 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T19:30:26.481Z,1553801426.481 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:30:26.486Z,1553801426.486 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T19:30:26.486Z,1553801426.486 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:30:26.486Z,1553801426.486 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:30:26.486Z,1553801426.486 [lineCaptureHoming:B] Running Loop=1
2019-03-28T19:30:26.487Z,1553801426.487 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:30:26.487Z,1553801426.487 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T19:30:26.487Z,1553801426.487 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:30:26.488Z,1553801426.488 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T19:30:26.488Z,1553801426.488 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:30:26.488Z,1553801426.488 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:30:26.488Z,1553801426.488 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:30:26.489Z,1553801426.489 [lineCaptureHoming:B] Stopped
2019-03-28T19:30:26.489Z,1553801426.489 [lineCaptureHoming:C] Running Loop=1
2019-03-28T19:30:26.489Z,1553801426.489 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:30:26.489Z,1553801426.489 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:30:26.489Z,1553801426.489 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:30:26.494Z,1553801426.494 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:30:26.862Z,1553801426.862 [lineCaptureHoming:C] Stopped
2019-03-28T19:30:26.862Z,1553801426.862 [lineCaptureHoming:D] Running Loop=1
2019-03-28T19:30:27.248Z,1553801427.248 [lineCaptureHoming:D] Stopped
2019-03-28T19:30:27.248Z,1553801427.248 [lineCaptureHoming:F] Running Loop=1
2019-03-28T19:30:27.662Z,1553801427.662 [lineCaptureHoming:F] Stopped
2019-03-28T19:30:27.662Z,1553801427.662 [lineCaptureHoming:G] Running Loop=1
2019-03-28T19:30:28.063Z,1553801428.063 [lineCaptureHoming:G] Stopped
2019-03-28T19:30:28.063Z,1553801428.063 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T19:30:28.063Z,1553801428.063 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T19:30:28.486Z,1553801428.486 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T19:30:28.487Z,1553801428.487 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T19:30:28.487Z,1553801428.487 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T19:30:28.487Z,1553801428.487 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T19:30:28.487Z,1553801428.487 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T19:30:28.487Z,1553801428.487 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:30:28.879Z,1553801428.879 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T19:30:28.879Z,1553801428.879 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T19:30:28.879Z,1553801428.879 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T19:30:28.879Z,1553801428.879 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:30:28.879Z,1553801428.879 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T19:30:28.880Z,1553801428.880 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T19:30:28.880Z,1553801428.880 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T19:30:28.880Z,1553801428.880 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:30:28.881Z,1553801428.881 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:30:28.881Z,1553801428.881 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T19:30:28.893Z,1553801428.893 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553800796.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T19:30:28.898Z,1553801428.898 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T19:30:29.281Z,1553801429.281 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T19:30:29.718Z,1553801429.718 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:30:30.866Z,1553801430.866 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:30:31.262Z,1553801431.262 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192310.00,A,3648.17188,N,12147.28068,W,0.447,292.50,280319,,,A*75
2019-03-28T19:30:31.264Z,1553801431.264 [NAL9602](INFO): GPS fix at 20190328T192310: (36.802865, -121.788011)
2019-03-28T19:30:31.371Z,1553801431.371 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T19:30:31.371Z,1553801431.371 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T19:30:31.728Z,1553801431.728 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:30:33.632Z,1553801433.632 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190328T190542/Courier0043.lzma
2019-03-28T19:30:34.448Z,1553801434.448 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0043.lzma.bak
2019-03-28T19:30:34.448Z,1553801434.448 [DataOverHttps](INFO): SBD MOMSN=10272134
2019-03-28T19:30:43.255Z,1553801443.255 [CommandLine](IMPORTANT): got command failComponent
2019-03-28T19:30:43.255Z,1553801443.255 [CommandLine](IMPORTANT): Failed components:
2019-03-28T19:30:43.255Z,1553801443.255 [CommandLine](IMPORTANT): No failed Components.
2019-03-28T19:30:47.290Z,1553801447.290 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0046.lzma
2019-03-28T19:30:48.095Z,1553801448.095 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0046.lzma.bak
2019-03-28T19:30:48.096Z,1553801448.096 [DataOverHttps](INFO): SBD MOMSN=10272137
2019-03-28T19:31:01.475Z,1553801461.475 [DataOverHttps](INFO): Sending 620 bytes from file Logs/20190328T190542/Express0044.lzma
2019-03-28T19:31:01.732Z,1553801461.732 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T19:31:01.806Z,1553801461.806 [NAL9602](FAULT): received: 
+CSQ:1

OK93, 2, 0, 0, 0

OK
2019-03-28T19:31:01.806Z,1553801461.806 [NAL9602] Data Fault, FailCount= 1
2019-03-28T19:31:01.806Z,1553801461.806 [NAL9602](ERROR): Data Fault
2019-03-28T19:31:01.905Z,1553801461.905 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-28T19:31:02.142Z,1553801462.142 [NAL9602](INFO): Powering down
2019-03-28T19:31:02.279Z,1553801462.279 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0044.lzma.bak
2019-03-28T19:31:02.280Z,1553801462.280 [DataOverHttps](INFO): SBD MOMSN=10272139
2019-03-28T19:31:03.017Z,1553801463.017 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-28T19:31:03.017Z,1553801463.017 [NAL9602] No Fault, FailCount= 1
2019-03-28T19:31:15.725Z,1553801475.725 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20190328T190542/Express0047.lzma
2019-03-28T19:31:16.531Z,1553801476.531 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0047.lzma.bak
2019-03-28T19:31:16.532Z,1553801476.532 [DataOverHttps](INFO): SBD MOMSN=10272167
2019-03-28T19:31:18.414Z,1553801478.414 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T19:31:18.415Z,1553801478.415 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T19:31:18.751Z,1553801478.751 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:31:32.441Z,1553801492.441 [NAL9602](INFO): Powering up NAL9602
2019-03-28T19:31:43.344Z,1553801503.344 [NAL9602](INFO): NAL9602 initialized
2019-03-28T19:31:44.170Z,1553801504.170 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:31:57.540Z,1553801517.540 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:31:57.540Z,1553801517.540 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:31:57.583Z,1553801517.583 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:31:57.932Z,1553801517.932 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:31:57.932Z,1553801517.932 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:34:19.333Z,1553801659.333 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T19:34:19.334Z,1553801659.334 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  97.92,  94.42,  98.42,  BI,    -5,    +5,    +0,    -1,A
2019-03-28T19:35:34.048Z,1553801734.048 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T19:35:34.870Z,1553801734.870 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:37.702Z,1553801737.702 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:40.126Z,1553801740.126 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:42.950Z,1553801742.950 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:46.182Z,1553801746.182 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:49.010Z,1553801749.010 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:51.838Z,1553801751.838 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:54.670Z,1553801754.670 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:56.686Z,1553801756.686 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:35:59.922Z,1553801759.922 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:02.750Z,1553801762.750 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:05.986Z,1553801765.986 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:08.810Z,1553801768.810 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:12.038Z,1553801772.038 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:14.870Z,1553801774.870 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:17.694Z,1553801777.694 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:20.926Z,1553801780.926 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:23.758Z,1553801783.758 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:26.986Z,1553801786.986 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:29.814Z,1553801789.814 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:33.050Z,1553801793.050 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:35.874Z,1553801795.874 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:38.706Z,1553801798.706 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:41.934Z,1553801801.934 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:44.766Z,1553801804.766 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:47.998Z,1553801807.998 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:50.422Z,1553801810.422 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:52.850Z,1553801812.850 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:56.074Z,1553801816.074 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:36:58.906Z,1553801818.906 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:02.138Z,1553801822.138 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:04.966Z,1553801824.966 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:08.198Z,1553801828.198 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:11.030Z,1553801831.030 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:13.854Z,1553801833.854 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:17.086Z,1553801837.086 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:19.914Z,1553801839.914 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:23.146Z,1553801843.146 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:25.970Z,1553801845.970 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:29.206Z,1553801849.206 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:32.038Z,1553801852.038 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:34.862Z,1553801854.862 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:38.094Z,1553801858.094 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:40.918Z,1553801860.918 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:44.154Z,1553801864.154 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:46.978Z,1553801866.978 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:50.214Z,1553801870.214 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:53.042Z,1553801873.042 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:55.866Z,1553801875.866 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:37:56.258Z,1553801876.258 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193034.00,A,3648.15680,N,12147.27675,W,0.525,147.20,280319,,,A*70
2019-03-28T19:37:56.260Z,1553801876.260 [NAL9602](INFO): GPS fix at 20190328T193034: (36.802613, -121.787946)
2019-03-28T19:37:56.347Z,1553801876.347 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T19:37:56.362Z,1553801876.362 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T19:37:56.362Z,1553801876.362 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T19:37:56.362Z,1553801876.362 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T19:37:56.362Z,1553801876.362 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T19:37:56.362Z,1553801876.362 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:37:56.724Z,1553801876.724 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T19:37:56.724Z,1553801876.724 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T19:37:56.724Z,1553801876.724 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:37:56.725Z,1553801876.725 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T19:37:57.099Z,1553801877.099 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T19:37:57.099Z,1553801877.099 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T19:37:57.535Z,1553801877.535 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T19:37:57.535Z,1553801877.535 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T19:37:57.535Z,1553801877.535 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T19:37:57.535Z,1553801877.535 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T19:37:57.914Z,1553801877.914 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T19:37:57.914Z,1553801877.914 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T19:37:57.914Z,1553801877.914 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T19:37:57.914Z,1553801877.914 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:37:57.915Z,1553801877.915 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T19:37:57.916Z,1553801877.916 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:37:57.916Z,1553801877.916 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:37:57.916Z,1553801877.916 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:37:57.916Z,1553801877.916 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-28T19:37:57.916Z,1553801877.916 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Initialize.
2019-03-28T19:37:57.916Z,1553801877.916 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T19:37:58.378Z,1553801878.378 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Running Loop=1
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:37:58.379Z,1553801878.379 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:37:58.380Z,1553801878.380 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:37:58.381Z,1553801878.381 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T19:37:58.381Z,1553801878.381 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:37:58.386Z,1553801878.386 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:37:58.387Z,1553801878.387 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:37:58.388Z,1553801878.388 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:37:58.389Z,1553801878.389 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:37:58.394Z,1553801878.394 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T19:37:58.394Z,1553801878.394 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T19:37:58.394Z,1553801878.394 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:37:58.423Z,1553801878.423 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T19:37:58.424Z,1553801878.424 [Reporter](INFO): HorizontalControl.headingCmd 3.178395 rad
2019-03-28T19:37:58.680Z,1553801878.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:37:58.685Z,1553801878.685 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:37:58.785Z,1553801878.785 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T19:37:58.785Z,1553801878.785 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:37:58.785Z,1553801878.785 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T19:37:58.785Z,1553801878.785 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:37:58.798Z,1553801878.798 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T19:37:58.799Z,1553801878.799 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:37:58.799Z,1553801878.799 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T19:37:58.799Z,1553801878.799 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:37:58.799Z,1553801878.799 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T19:37:58.799Z,1553801878.799 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:37:58.799Z,1553801878.799 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:37:59.084Z,1553801879.084 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,186,80,81,0A,FF
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:37:59.164Z,1553801879.164 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:37:59.165Z,1553801879.165 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:37:59.165Z,1553801879.165 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:37:59.165Z,1553801879.165 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:37:59.165Z,1553801879.165 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:37:59.165Z,1553801879.165 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:38:02.717Z,1553801882.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:02.721Z,1553801882.721 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:03.123Z,1553801883.123 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-28T19:38:06.760Z,1553801886.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:06.766Z,1553801886.766 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:07.163Z,1553801887.163 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0E,FF
2019-03-28T19:38:10.799Z,1553801890.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:10.800Z,1553801890.800 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:11.204Z,1553801891.204 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,E87,80,81,0B,FF
2019-03-28T19:38:14.856Z,1553801894.856 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:14.860Z,1553801894.860 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:15.255Z,1553801895.255 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,11,FF
2019-03-28T19:38:15.343Z,1553801895.343 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:38:15.343Z,1553801895.343 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -1,    +2,    +8,A
2019-03-28T19:38:15.390Z,1553801895.390 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:38:15.390Z,1553801895.390 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:38:15.510Z,1553801895.510 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:38:15.826Z,1553801895.826 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:38:15.826Z,1553801895.826 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:38:16.084Z,1553801896.084 [lineCaptureHoming:Lap:ActivateCamera] Running Loop=1
2019-03-28T19:38:16.084Z,1553801896.084 [lineCaptureHoming:Lap:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:38:16.085Z,1553801896.085 [lineCaptureHoming:Lap:ActivateCamera:B] Running Loop=1
2019-03-28T19:38:16.085Z,1553801896.085 [lineCaptureHoming:Lap:ActivateCamera:A] Running Loop=1
2019-03-28T19:38:16.085Z,1553801896.085 [lineCaptureHoming:Lap:ActivateCamera:B] Running Loop=1
2019-03-28T19:38:16.090Z,1553801896.090 [lineCaptureHoming:Lap:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-28T19:38:16.102Z,1553801896.102 [lineCaptureHoming:Lap:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.820000 m .
2019-03-28T19:38:16.102Z,1553801896.102 [lineCaptureHoming:Lap:ActivateCamera:A] Stopped
2019-03-28T19:38:16.102Z,1553801896.102 [lineCaptureHoming:Lap:ActivateCamera:C] Running Loop=1
2019-03-28T19:38:16.302Z,1553801896.302 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-28T19:38:16.311Z,1553801896.311 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.081808 rad
2019-03-28T19:38:16.476Z,1553801896.476 [PowerOnly](INFO): Powering up
2019-03-28T19:38:16.517Z,1553801896.517 [lineCaptureHoming:Lap:ActivateCamera:C] Stopped
2019-03-28T19:38:16.517Z,1553801896.517 [lineCaptureHoming:Lap:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:38:16.517Z,1553801896.517 [lineCaptureHoming:Lap:ActivateCamera] Stopped
2019-03-28T19:38:16.517Z,1553801896.517 [lineCaptureHoming:Lap:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:ActivateCamera
2019-03-28T19:38:16.517Z,1553801896.517 [lineCaptureHoming:Lap:ActivateCamera:B] Stopped
2019-03-28T19:38:18.887Z,1553801898.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:18.893Z,1553801898.893 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:22.920Z,1553801902.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:22.924Z,1553801902.924 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:23.423Z,1553801903.423 [Reporter](INFO): acoustic_contact_range 20.160000 m
2019-03-28T19:38:23.424Z,1553801903.424 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.275156 rad
2019-03-28T19:38:26.960Z,1553801906.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:26.965Z,1553801906.965 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:27.380Z,1553801907.380 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T19:38:28.992Z,1553801908.992 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:38:31.003Z,1553801911.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:31.004Z,1553801911.004 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:31.571Z,1553801911.571 [Reporter](INFO): acoustic_contact_range 10.380001 m
2019-03-28T19:38:31.572Z,1553801911.572 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.122346 rad
2019-03-28T19:38:35.040Z,1553801915.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:35.044Z,1553801915.044 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:35.603Z,1553801915.603 [Reporter](INFO): acoustic_contact_range 74.400009 m
2019-03-28T19:38:35.604Z,1553801915.604 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.864541 rad
2019-03-28T19:38:39.086Z,1553801919.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:39.091Z,1553801919.091 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:40.337Z,1553801920.337 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-28T19:38:40.337Z,1553801920.337 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +15,   -10, 

2019-03-28T19:38:43.124Z,1553801923.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:43.130Z,1553801923.130 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:43.643Z,1553801923.643 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-28T19:38:43.644Z,1553801923.644 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.118487 rad
2019-03-28T19:38:47.164Z,1553801927.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:47.169Z,1553801927.169 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:47.567Z,1553801927.567 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:38:51.200Z,1553801931.200 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:51.204Z,1553801931.204 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:51.743Z,1553801931.743 [Reporter](INFO): acoustic_contact_range 8.339999 m
2019-03-28T19:38:51.744Z,1553801931.744 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.145205 rad
2019-03-28T19:38:55.240Z,1553801935.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:55.246Z,1553801935.246 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:55.643Z,1553801935.643 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,18,FF
2019-03-28T19:38:59.290Z,1553801939.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:38:59.295Z,1553801939.295 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:38:59.771Z,1553801939.771 [Reporter](INFO): acoustic_contact_range 64.020004 m
2019-03-28T19:38:59.772Z,1553801939.772 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.119570 rad
2019-03-28T19:39:03.333Z,1553801943.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:03.337Z,1553801943.337 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:03.977Z,1553801943.977 [Reporter](INFO): acoustic_contact_range 14.159999 m
2019-03-28T19:39:03.979Z,1553801943.979 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.130403 rad
2019-03-28T19:39:07.359Z,1553801947.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:07.361Z,1553801947.361 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:07.894Z,1553801947.894 [Reporter](INFO): acoustic_contact_range 27.420002 m
2019-03-28T19:39:07.896Z,1553801947.896 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.212016 rad
2019-03-28T19:39:11.404Z,1553801951.404 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:11.408Z,1553801951.408 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:11.931Z,1553801951.931 [Reporter](INFO): acoustic_contact_range 90.660004 m
2019-03-28T19:39:11.932Z,1553801951.932 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.815918 rad
2019-03-28T19:39:15.444Z,1553801955.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:15.448Z,1553801955.448 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:15.844Z,1553801955.844 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,188,80,81,0E,FF
2019-03-28T19:39:17.878Z,1553801957.878 [PowerOnly](INFO): Powering down
2019-03-28T19:39:19.480Z,1553801959.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:19.486Z,1553801959.486 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:20.031Z,1553801960.031 [Reporter](INFO): acoustic_contact_range 63.119999 m
2019-03-28T19:39:20.032Z,1553801960.032 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.262217 rad
2019-03-28T19:39:23.517Z,1553801963.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:23.521Z,1553801963.521 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:23.924Z,1553801963.924 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T19:39:27.560Z,1553801967.560 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:27.564Z,1553801967.564 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:28.139Z,1553801968.139 [Reporter](INFO): acoustic_contact_range 40.559998 m
2019-03-28T19:39:28.141Z,1553801968.141 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.136690 rad
2019-03-28T19:39:31.604Z,1553801971.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:31.609Z,1553801971.609 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:32.115Z,1553801972.115 [Reporter](INFO): acoustic_contact_range 10.319998 m
2019-03-28T19:39:32.116Z,1553801972.116 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.171497 rad
2019-03-28T19:39:35.640Z,1553801975.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:35.644Z,1553801975.644 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:36.135Z,1553801976.135 [Reporter](INFO): acoustic_contact_range 22.679996 m
2019-03-28T19:39:36.136Z,1553801976.136 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.993852 rad
2019-03-28T19:39:39.693Z,1553801979.693 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:39.697Z,1553801979.697 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:39.734Z,1553801979.734 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T19:39:39.734Z,1553801979.734 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032812405178,35.   0.0,1448.9,  0
2019-03-28T19:39:40.083Z,1553801980.083 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T19:39:43.720Z,1553801983.720 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:43.726Z,1553801983.726 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:44.223Z,1553801984.223 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-28T19:39:44.224Z,1553801984.224 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.139523 rad
2019-03-28T19:39:47.760Z,1553801987.760 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:47.764Z,1553801987.764 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:48.168Z,1553801988.168 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:39:51.804Z,1553801991.804 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:51.804Z,1553801991.804 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:52.204Z,1553801992.204 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:39:55.840Z,1553801995.840 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:55.846Z,1553801995.846 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:39:56.244Z,1553801996.244 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EAE,000,0,08,FF
2019-03-28T19:39:59.884Z,1553801999.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:39:59.918Z,1553801999.918 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:00.295Z,1553802000.295 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0E,FF
2019-03-28T19:40:03.920Z,1553802003.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:03.925Z,1553802003.925 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:04.419Z,1553802004.419 [Reporter](INFO): acoustic_contact_range 64.080009 m
2019-03-28T19:40:04.420Z,1553802004.420 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.097861 rad
2019-03-28T19:40:07.960Z,1553802007.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:07.966Z,1553802007.966 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:08.367Z,1553802008.367 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-28T19:40:11.000Z,1553802012.000 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:12.004Z,1553802012.004 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:12.518Z,1553802012.518 [Reporter](INFO): acoustic_contact_range 11.400001 m
2019-03-28T19:40:12.519Z,1553802012.519 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.159039 rad
2019-03-28T19:40:16.043Z,1553802016.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:16.048Z,1553802016.048 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:16.571Z,1553802016.571 [Reporter](INFO): acoustic_contact_range 6.240000 m
2019-03-28T19:40:16.572Z,1553802016.572 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.133643 rad
2019-03-28T19:40:20.084Z,1553802020.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:20.090Z,1553802020.090 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:20.587Z,1553802020.587 [Reporter](INFO): acoustic_contact_range 18.059998 m
2019-03-28T19:40:20.588Z,1553802020.588 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.147493 rad
2019-03-28T19:40:24.124Z,1553802024.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:24.148Z,1553802024.148 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:24.663Z,1553802024.663 [Reporter](INFO): acoustic_contact_range 5.580000 m
2019-03-28T19:40:24.664Z,1553802024.664 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.091614 rad
2019-03-28T19:40:28.160Z,1553802028.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:28.164Z,1553802028.164 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:28.695Z,1553802028.695 [Reporter](INFO): acoustic_contact_range 59.340008 m
2019-03-28T19:40:28.696Z,1553802028.696 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.831605 rad
2019-03-28T19:40:32.204Z,1553802032.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:32.210Z,1553802032.210 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:32.695Z,1553802032.695 [Reporter](INFO): acoustic_contact_range 7.859998 m
2019-03-28T19:40:32.696Z,1553802032.696 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.124263 rad
2019-03-28T19:40:36.244Z,1553802036.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:36.248Z,1553802036.248 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:36.727Z,1553802036.727 [Reporter](INFO): acoustic_contact_range 10.319998 m
2019-03-28T19:40:36.728Z,1553802036.728 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.121832 rad
2019-03-28T19:40:37.483Z,1553802037.483 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  97.92,  93.93,  97.92,  95.42
2019-03-28T19:40:40.295Z,1553802040.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:40.300Z,1553802040.300 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:40.791Z,1553802040.791 [Reporter](INFO): acoustic_contact_range 121.620010 m
2019-03-28T19:40:40.792Z,1553802040.792 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.131353 rad
2019-03-28T19:40:44.331Z,1553802044.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:44.336Z,1553802044.336 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:44.727Z,1553802044.727 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:40:48.364Z,1553802048.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:48.368Z,1553802048.368 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:48.767Z,1553802048.767 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-28T19:40:52.404Z,1553802052.404 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:52.408Z,1553802052.408 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:52.934Z,1553802052.934 [Reporter](INFO): acoustic_contact_range 8.759999 m
2019-03-28T19:40:52.936Z,1553802052.936 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.144006 rad
2019-03-28T19:40:56.440Z,1553802056.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:40:56.445Z,1553802056.445 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:40:59.696Z,1553802059.696 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,    +6,    -2,    -1,    +2,A
2019-03-28T19:41:00.480Z,1553802060.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:00.484Z,1553802060.484 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:00.999Z,1553802060.999 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-28T19:41:00.000Z,1553802061.000 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.148788 rad
2019-03-28T19:41:01.329Z,1553802061.329 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:41:01.329Z,1553802061.329 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +11,   -2,   -10,A
2019-03-28T19:41:04.524Z,1553802064.524 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:04.528Z,1553802064.528 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:05.015Z,1553802065.015 [Reporter](INFO): acoustic_contact_range 39.119999 m
2019-03-28T19:41:05.016Z,1553802065.016 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.139354 rad
2019-03-28T19:41:08.560Z,1553802068.560 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:08.566Z,1553802068.566 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:08.963Z,1553802068.963 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:41:12.600Z,1553802072.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:12.604Z,1553802072.604 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:13.118Z,1553802073.118 [Reporter](INFO): acoustic_contact_range 14.820001 m
2019-03-28T19:41:13.120Z,1553802073.120 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.078043 rad
2019-03-28T19:41:16.640Z,1553802076.640 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:16.644Z,1553802076.644 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:17.043Z,1553802077.043 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-28T19:41:20.680Z,1553802080.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:20.686Z,1553802080.686 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:21.199Z,1553802081.199 [Reporter](INFO): acoustic_contact_range 8.460000 m
2019-03-28T19:41:21.200Z,1553802081.200 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.140903 rad
2019-03-28T19:41:24.731Z,1553802084.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:24.735Z,1553802084.735 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:25.263Z,1553802085.263 [Reporter](INFO): acoustic_contact_range 180.660004 m
2019-03-28T19:41:25.264Z,1553802085.264 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.138990 rad
2019-03-28T19:41:28.782Z,1553802088.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:28.787Z,1553802088.787 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:29.308Z,1553802089.308 [Reporter](INFO): acoustic_contact_range 51.420002 m
2019-03-28T19:41:29.323Z,1553802089.323 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.117453 rad
2019-03-28T19:41:30.055Z,1553802090.055 [Reporter](INFO): acoustic_contact_range 8.639998 m
2019-03-28T19:41:30.056Z,1553802090.056 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.127796 rad
2019-03-28T19:41:32.800Z,1553802092.800 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:32.805Z,1553802092.805 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:36.844Z,1553802096.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:36.849Z,1553802096.849 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:37.244Z,1553802097.244 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:41:40.880Z,1553802100.880 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:40.885Z,1553802100.885 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:41.286Z,1553802101.286 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EC0,000,1,0C,FF
2019-03-28T19:41:44.926Z,1553802104.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:44.932Z,1553802104.932 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:45.470Z,1553802105.470 [Reporter](INFO): acoustic_contact_range 60.720005 m
2019-03-28T19:41:45.471Z,1553802105.471 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.876398 rad
2019-03-28T19:41:48.960Z,1553802108.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:48.964Z,1553802108.964 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:49.367Z,1553802109.367 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-28T19:41:50.272Z,1553802110.272 [Reporter](INFO): acoustic_contact_range 8.759999 m
2019-03-28T19:41:50.273Z,1553802110.273 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.159485 rad
2019-03-28T19:41:53.000Z,1553802113.000 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:53.004Z,1553802113.004 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:57.040Z,1553802117.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:41:57.046Z,1553802117.046 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:41:57.567Z,1553802117.567 [Reporter](INFO): acoustic_contact_range 8.460000 m
2019-03-28T19:41:57.568Z,1553802117.568 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.160738 rad
2019-03-28T19:42:00.712Z,1553802120.712 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   -27,   +28,    -3,A
2019-03-28T19:42:00.739Z,1553802120.739 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:42:00.739Z,1553802120.739 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:42:00.818Z,1553802120.818 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:42:01.079Z,1553802121.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:01.083Z,1553802121.083 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:01.244Z,1553802121.244 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:42:01.244Z,1553802121.244 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:42:01.671Z,1553802121.671 [Reporter](INFO): acoustic_contact_range 37.439999 m
2019-03-28T19:42:01.672Z,1553802121.672 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.813507 rad
2019-03-28T19:42:05.120Z,1553802125.120 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:05.144Z,1553802125.144 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:05.523Z,1553802125.523 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0C,FF
2019-03-28T19:42:09.164Z,1553802129.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:09.170Z,1553802129.170 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:09.667Z,1553802129.667 [Reporter](INFO): acoustic_contact_range 56.279999 m
2019-03-28T19:42:09.668Z,1553802129.668 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.083855 rad
2019-03-28T19:42:13.204Z,1553802133.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:13.208Z,1553802133.208 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:13.719Z,1553802133.719 [Reporter](INFO): acoustic_contact_range 6.059999 m
2019-03-28T19:42:13.720Z,1553802133.720 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.169871 rad
2019-03-28T19:42:17.244Z,1553802137.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:17.248Z,1553802137.248 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:21.287Z,1553802141.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:21.293Z,1553802141.293 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:21.827Z,1553802141.827 [Reporter](INFO): acoustic_contact_range 13.199997 m
2019-03-28T19:42:21.828Z,1553802141.828 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.152750 rad
2019-03-28T19:42:25.333Z,1553802145.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:25.338Z,1553802145.338 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:25.724Z,1553802145.724 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:42:29.361Z,1553802149.361 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:29.365Z,1553802149.365 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:29.879Z,1553802149.879 [Reporter](INFO): acoustic_contact_range 5.999998 m
2019-03-28T19:42:29.880Z,1553802149.880 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.171887 rad
2019-03-28T19:42:33.400Z,1553802153.400 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:33.406Z,1553802153.406 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:33.803Z,1553802153.803 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:42:37.439Z,1553802157.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:37.443Z,1553802157.443 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:41.480Z,1553802161.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:41.484Z,1553802161.484 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:41.971Z,1553802161.971 [Reporter](INFO): acoustic_contact_range 10.319998 m
2019-03-28T19:42:41.972Z,1553802161.972 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.113966 rad
2019-03-28T19:42:45.520Z,1553802165.520 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:45.526Z,1553802165.526 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:45.927Z,1553802165.927 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T19:42:49.567Z,1553802169.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:49.572Z,1553802169.572 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:50.079Z,1553802170.079 [Reporter](INFO): acoustic_contact_range 10.319998 m
2019-03-28T19:42:50.080Z,1553802170.080 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.160330 rad
2019-03-28T19:42:53.604Z,1553802173.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:53.609Z,1553802173.609 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:57.644Z,1553802177.644 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:42:57.650Z,1553802177.650 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:42:58.047Z,1553802178.047 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0F,FF
2019-03-28T19:42:58.853Z,1553802178.853 [Micromodem](ERROR): Response from modem failed NMEA checksum: 94257,AUV,2.0.27690*19

2019-03-28T19:43:01.689Z,1553802181.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:01.695Z,1553802181.695 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:01.729Z,1553802181.729 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T19:43:01.729Z,1553802181.729 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032812441378,35.0, -0.11448.9,  0
2019-03-28T19:43:02.086Z,1553802182.086 [Micromodem](ERROR): Response from modem unexpected: $CADQF,196,1*5E

2019-03-28T19:43:02.088Z,1553802182.088 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2019-03-28T19:43:02.191Z,1553802182.191 [Reporter](INFO): acoustic_contact_range 49.980003 m
2019-03-28T19:43:02.192Z,1553802182.192 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.164496 rad
2019-03-28T19:43:02.493Z,1553802182.493 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190328194259.989480,06,668,28,0092,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,0.00,-999,9760,4000*52

2019-03-28T19:43:05.726Z,1553802185.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:05.731Z,1553802185.731 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:06.239Z,1553802186.239 [Reporter](INFO): acoustic_contact_range 60.300003 m
2019-03-28T19:43:06.240Z,1553802186.240 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.115325 rad
2019-03-28T19:43:09.768Z,1553802189.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:09.773Z,1553802189.773 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:10.176Z,1553802190.176 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,18A,80,81,0D,FF
2019-03-28T19:43:13.807Z,1553802193.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:13.812Z,1553802193.812 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:14.208Z,1553802194.208 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:43:17.915Z,1553802197.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:17.920Z,1553802197.920 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:18.556Z,1553802198.556 [Reporter](INFO): acoustic_contact_range 119.280006 m
2019-03-28T19:43:18.558Z,1553802198.558 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.945689 rad
2019-03-28T19:43:21.955Z,1553802201.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:21.961Z,1553802201.961 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:22.351Z,1553802202.351 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0E,FF
2019-03-28T19:43:25.988Z,1553802205.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:25.992Z,1553802205.992 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:26.495Z,1553802206.495 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-28T19:43:26.496Z,1553802206.496 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.122494 rad
2019-03-28T19:43:30.028Z,1553802210.028 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:30.033Z,1553802210.033 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:30.432Z,1553802210.432 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,11,FF
2019-03-28T19:43:34.074Z,1553802214.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:34.079Z,1553802214.079 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:34.471Z,1553802214.471 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,11,FF
2019-03-28T19:43:34.489Z,1553802214.489 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CDQF,9,*5

2019-03-28T19:43:34.876Z,1553802214.876 [Micromodem](ERROR): Response from modem failed NMEA checksum: CASGBA_CRC,0*21

2019-03-28T19:43:34.883Z,1553802214.883 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CACT,6,1,20190328194332.516754,06,862,29,0099,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,196,0.00,-999,9760,4000*50

2019-03-28T19:43:38.121Z,1553802218.121 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:38.128Z,1553802218.128 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:38.512Z,1553802218.512 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T19:43:38.540Z,1553802218.540 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,1,20190328194336.075603,06,920,29,0095,0150,246,00,00,00,00,0,-01,-01,3,2,1,1,-999,-99.9,-9.99,-999,-9.99,204,0.05,-999,9760,4000*51

2019-03-28T19:43:42.148Z,1553802222.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:42.153Z,1553802222.153 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:42.557Z,1553802222.557 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:43:43.487Z,1553802223.487 [Reporter](INFO): acoustic_contact_range 8.999999 m
2019-03-28T19:43:43.488Z,1553802223.488 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.117636 rad
2019-03-28T19:43:46.187Z,1553802226.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:46.188Z,1553802226.188 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:50.228Z,1553802230.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:50.232Z,1553802230.232 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:50.636Z,1553802230.636 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,189,80,81,0A,FF
2019-03-28T19:43:54.270Z,1553802234.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:54.275Z,1553802234.275 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:43:54.671Z,1553802234.671 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0E,FF
2019-03-28T19:43:55.587Z,1553802235.587 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-28T19:43:55.588Z,1553802235.588 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.149281 rad
2019-03-28T19:43:56.332Z,1553802236.332 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:43:56.332Z,1553802236.332 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,    +5,    +0,    -2A
2019-03-28T19:43:58.326Z,1553802238.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:43:58.332Z,1553802238.332 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:44:02.348Z,1553802242.348 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:44:02.352Z,1553802242.352 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:44:02.755Z,1553802242.755 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,19,FF
2019-03-28T19:44:06.396Z,1553802246.396 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:44:06.401Z,1553802246.401 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:44:06.903Z,1553802246.903 [Reporter](INFO): acoustic_contact_range 60.179996 m
2019-03-28T19:44:06.904Z,1553802246.904 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.119862 rad
2019-03-28T19:44:10.401Z,1553802250.401 [CommandLine](IMPORTANT): got command stop
2019-03-28T19:44:10.401Z,1553802250.401 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T19:44:10.435Z,1553802250.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:44:10.441Z,1553802250.441 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:44:10.617Z,1553802250.617 [MissionManager](INFO): MissionManager is completed.
2019-03-28T19:44:10.617Z,1553802250.617 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming] Stopped
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T19:44:10.622Z,1553802250.622 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:I.] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:L] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:M] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T19:44:10.623Z,1553802250.623 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T19:44:10.624Z,1553802250.624 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T19:44:10.625Z,1553802250.625 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:44:10.634Z,1553802250.634 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T19:44:10.634Z,1553802250.634 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:44:10.634Z,1553802250.634 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:44:10.634Z,1553802250.634 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:44:10.634Z,1553802250.634 [lineCaptureHoming:Lap:TerminalGuidance:A.Point] Stopped
2019-03-28T19:44:10.774Z,1553802250.774 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T19:44:10.915Z,1553802250.915 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T19:44:10.916Z,1553802250.916 [Default] Running Loop=1
2019-03-28T19:44:10.916Z,1553802250.916 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T19:44:10.917Z,1553802250.917 [Default:B.GoToSurface] Running Loop=1
2019-03-28T19:44:10.917Z,1553802250.917 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:44:10.917Z,1553802250.917 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T19:44:10.917Z,1553802250.917 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T19:44:10.925Z,1553802250.925 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T19:44:10.925Z,1553802250.925 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:44:10.930Z,1553802250.930 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:44:10.930Z,1553802250.930 [Default:A.Wait] Running Loop=1
2019-03-28T19:44:10.930Z,1553802250.930 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:44:10.983Z,1553802250.983 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T19:44:24.250Z,1553802264.250 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T19:44:24.250Z,1553802264.250 [Default:A.Wait] Stopped
2019-03-28T19:44:24.250Z,1553802264.250 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:44:24.673Z,1553802264.673 [Default:CheckIn] Running Loop=1
2019-03-28T19:44:24.673Z,1553802264.673 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T19:44:24.673Z,1553802264.673 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T19:44:26.210Z,1553802266.210 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:44:26.601Z,1553802266.601 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193705.00,A,3648.16782,N,12147.28100,W,0.078,311.54,280319,,,A*70
2019-03-28T19:44:26.608Z,1553802266.608 [NAL9602](INFO): GPS fix at 20190328T193705: (36.802797, -121.788017)
2019-03-28T19:44:26.668Z,1553802266.668 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T19:44:26.668Z,1553802266.668 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T19:44:28.120Z,1553802268.120 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190328T190542/Courier0049.lzma
2019-03-28T19:44:28.927Z,1553802268.927 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0049.lzma.bak
2019-03-28T19:44:28.927Z,1553802268.927 [DataOverHttps](INFO): SBD MOMSN=10272209
2019-03-28T19:44:42.635Z,1553802282.635 [DataOverHttps](INFO): Sending 791 bytes from file Logs/20190328T190542/Express0050.lzma
2019-03-28T19:44:43.439Z,1553802283.439 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0050.lzma.bak
2019-03-28T19:44:43.440Z,1553802283.440 [DataOverHttps](INFO): SBD MOMSN=10272212
2019-03-28T19:44:45.657Z,1553802285.657 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T19:44:45.666Z,1553802285.666 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-28T19:44:45.667Z,1553802285.667 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:44:57.328Z,1553802297.328 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T19:44:57.402Z,1553802297.402 [NAL9602](FAULT): received: 
+CSQ:0

OK93, 2, 0, 0, 0

OK
2019-03-28T19:44:57.402Z,1553802297.402 [NAL9602] Data Fault, FailCount= 2
2019-03-28T19:44:57.402Z,1553802297.402 [NAL9602](ERROR): Data Fault
2019-03-28T19:44:57.525Z,1553802297.525 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-28T19:44:57.717Z,1553802297.717 [NAL9602](INFO): Powering down
2019-03-28T19:44:58.606Z,1553802298.606 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-28T19:44:58.606Z,1553802298.606 [NAL9602] No Fault, FailCount= 2
2019-03-28T19:45:28.020Z,1553802328.020 [NAL9602](INFO): Powering up NAL9602
2019-03-28T19:45:38.921Z,1553802338.921 [NAL9602](INFO): NAL9602 initialized
2019-03-28T19:46:08.295Z,1553802368.295 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T193846
2019-03-28T19:46:10.027Z,1553802370.027 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:46:13.958Z,1553802373.958 [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" 4b7vg 1 3
2019-03-28T19:46:13.973Z,1553802373.973 [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" 4b7vg 1 3.000000
2019-03-28T19:46:13.974Z,1553802373.974 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b7vg
2019-03-28T19:46:13.975Z,1553802373.975 [CommandLine](IMPORTANT): Scheduled #12 (#1 of 3 with id='4b7vg'): "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
2019-03-28T19:46:14.764Z,1553802374.764 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T193853
2019-03-28T19:46:20.299Z,1553802380.299 [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" 4b7vg 2 3
2019-03-28T19:46:20.399Z,1553802380.399 [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" 4b7vg 2 3.000000
2019-03-28T19:46:20.399Z,1553802380.399 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b7vg
2019-03-28T19:46:20.400Z,1553802380.400 [CommandLine](IMPORTANT): Scheduled #13 (#2 of 3 with id='4b7vg'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T19:46:21.095Z,1553802381.095 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T193859
2019-03-28T19:46:26.834Z,1553802386.834 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b7vg 3 3
2019-03-28T19:46:26.900Z,1553802386.900 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b7vg 3 3.000000
2019-03-28T19:46:26.901Z,1553802386.901 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b7vg
2019-03-28T19:46:26.902Z,1553802386.902 [CommandLine](IMPORTANT): Scheduled #14 (#3 of 3 with id='4b7vg'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T19:46:27.103Z,1553802387.103 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:46:27.103Z,1553802387.103 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:46:27.570Z,1553802387.570 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T19:46:27.572Z,1553802387.572 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T19:46:27.574Z,1553802387.574 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T19:46:27.577Z,1553802387.577 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T19:46:27.579Z,1553802387.579 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T19:46:27.581Z,1553802387.581 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T19:46:27.583Z,1553802387.583 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T19:46:27.586Z,1553802387.586 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T19:46:27.588Z,1553802387.588 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T19:46:27.591Z,1553802387.591 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T19:46:27.593Z,1553802387.593 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T19:46:27.595Z,1553802387.595 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T19:46:27.597Z,1553802387.597 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T19:46:27.600Z,1553802387.600 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T19:46:27.602Z,1553802387.602 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T19:46:27.604Z,1553802387.604 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T19:46:27.607Z,1553802387.607 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T19:46:27.609Z,1553802387.609 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T19:46:27.611Z,1553802387.611 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T19:46:27.614Z,1553802387.614 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T19:46:27.616Z,1553802387.616 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T19:46:27.618Z,1553802387.618 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T19:46:27.620Z,1553802387.620 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T19:46:27.622Z,1553802387.622 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T19:46:27.624Z,1553802387.624 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T19:46:27.627Z,1553802387.627 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T19:46:27.629Z,1553802387.629 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T19:46:27.672Z,1553802387.672 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T19:46:27.674Z,1553802387.674 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T19:46:27.686Z,1553802387.686 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T19:46:27.687Z,1553802387.687 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T19:46:27.715Z,1553802387.715 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T19:46:27.717Z,1553802387.717 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T19:46:27.740Z,1553802387.740 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T19:46:27.741Z,1553802387.741 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T19:46:27.754Z,1553802387.754 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T19:46:27.780Z,1553802387.780 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T19:46:27.853Z,1553802387.853 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T19:46:27.864Z,1553802387.864 [Reporter](INFO): HorizontalControl.headingCmd 3.178395 rad
2019-03-28T19:46:27.943Z,1553802387.943 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T19:46:27.966Z,1553802387.966 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T19:46:27.968Z,1553802387.968 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T19:46:27.977Z,1553802387.977 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T19:46:27.995Z,1553802387.995 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T19:46:27.997Z,1553802387.997 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T19:46:28.004Z,1553802388.004 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T19:46:28.017Z,1553802388.017 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:46:28.138Z,1553802388.138 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T19:46:28.141Z,1553802388.141 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T19:46:28.164Z,1553802388.164 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T19:46:28.171Z,1553802388.171 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T19:46:28.241Z,1553802388.241 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T19:46:28.252Z,1553802388.252 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T19:46:28.335Z,1553802388.335 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:46:28.362Z,1553802388.362 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Construct.
2019-03-28T19:46:28.388Z,1553802388.388 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T19:46:28.393Z,1553802388.393 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T19:46:28.403Z,1553802388.403 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:46:28.418Z,1553802388.418 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T19:46:28.466Z,1553802388.466 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="cameraRange"><Description>
        Range to activate the camera payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

    <Aggregate Id="SurfaceComms">

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

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


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

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

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

<!-- Request desired engineering data -->

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

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

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

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

    <Aggregate Id="DiveCmd">

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

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

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

        <When>
            <Called/>
        </When>

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

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

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

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

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

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
            </While>

            <Call RefId="RequestPing"/>
        </Aggregate>
        
<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
   
        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

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

            <Timeout Duration="TerminalGuidanceTimeout"/>

            <Aggregate Id="UpdateHeading">            
                <While>
                    <Estimation:TrackAcousticContact.range_to_contact/>
                    <Gt><Arg Name="DockRange"/></Gt>
                </While>

            <!--<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>
            
            <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> <!-- End of terminal guidance -->            

        <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>


2019-03-28T19:46:28.467Z,1553802388.467 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:46:38.664Z,1553802398.664 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T19:46:38.665Z,1553802398.665 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T19:46:38.666Z,1553802398.666 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T19:46:38.667Z,1553802398.667 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T19:46:51.466Z,1553802411.466 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T19:46:51.467Z,1553802411.467 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T19:46:51.468Z,1553802411.468 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T19:46:51.468Z,1553802411.468 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T19:46:55.635Z,1553802415.635 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T19:46:55.636Z,1553802415.636 [CommandLine](IMPORTANT): got command run 
2019-03-28T19:46:55.638Z,1553802415.638 [CommandLine](IMPORTANT): Running 
2019-03-28T19:46:55.707Z,1553802415.707 [Default] Stopped
2019-03-28T19:46:55.707Z,1553802415.707 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T19:46:55.707Z,1553802415.707 [Default:B.GoToSurface] Stopped
2019-03-28T19:46:55.707Z,1553802415.707 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:46:55.707Z,1553802415.707 [Default:CheckIn] Stopped
2019-03-28T19:46:55.708Z,1553802415.708 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T19:46:55.708Z,1553802415.708 [Default:CheckIn:C.Wait] Stopped
2019-03-28T19:46:55.708Z,1553802415.708 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:46:55.708Z,1553802415.708 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T19:46:55.708Z,1553802415.708 [lineCaptureHoming] Running Loop=1
2019-03-28T19:46:55.708Z,1553802415.708 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T19:46:55.708Z,1553802415.708 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:46:55.708Z,1553802415.708 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:46:55.709Z,1553802415.709 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T19:46:55.710Z,1553802415.710 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:46:55.710Z,1553802415.710 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T19:46:55.710Z,1553802415.710 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:46:55.710Z,1553802415.710 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:46:55.710Z,1553802415.710 [lineCaptureHoming:B] Running Loop=1
2019-03-28T19:46:55.711Z,1553802415.711 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:46:55.711Z,1553802415.711 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T19:46:55.712Z,1553802415.712 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:46:55.712Z,1553802415.712 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T19:46:55.712Z,1553802415.712 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:46:55.712Z,1553802415.712 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:46:55.713Z,1553802415.713 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:46:55.713Z,1553802415.713 [lineCaptureHoming:B] Stopped
2019-03-28T19:46:55.713Z,1553802415.713 [lineCaptureHoming:C] Running Loop=1
2019-03-28T19:46:55.713Z,1553802415.713 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:46:55.713Z,1553802415.713 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:46:55.714Z,1553802415.714 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:46:55.714Z,1553802415.714 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:46:56.118Z,1553802416.118 [lineCaptureHoming:C] Stopped
2019-03-28T19:46:56.118Z,1553802416.118 [lineCaptureHoming:D] Running Loop=1
2019-03-28T19:46:56.525Z,1553802416.525 [lineCaptureHoming:D] Stopped
2019-03-28T19:46:56.526Z,1553802416.526 [lineCaptureHoming:F] Running Loop=1
2019-03-28T19:46:56.923Z,1553802416.923 [lineCaptureHoming:F] Stopped
2019-03-28T19:46:56.923Z,1553802416.923 [lineCaptureHoming:G] Running Loop=1
2019-03-28T19:46:57.373Z,1553802417.373 [lineCaptureHoming:G] Stopped
2019-03-28T19:46:57.373Z,1553802417.373 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T19:46:57.373Z,1553802417.373 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T19:46:57.384Z,1553802417.384 [Reporter](INFO): acoustic_contact_range 53.700005 m
2019-03-28T19:46:57.385Z,1553802417.385 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.500119 rad
2019-03-28T19:46:57.747Z,1553802417.747 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T19:46:57.747Z,1553802417.747 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T19:46:57.747Z,1553802417.747 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T19:46:57.747Z,1553802417.747 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T19:46:57.747Z,1553802417.747 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T19:46:57.748Z,1553802417.748 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:46:58.162Z,1553802418.162 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T19:46:58.162Z,1553802418.162 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T19:46:58.162Z,1553802418.162 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T19:46:58.162Z,1553802418.162 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:46:58.163Z,1553802418.163 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T19:46:58.163Z,1553802418.163 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T19:46:58.163Z,1553802418.163 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T19:46:58.164Z,1553802418.164 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:46:58.164Z,1553802418.164 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:46:58.164Z,1553802418.164 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T19:46:58.173Z,1553802418.173 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553801825.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T19:46:58.173Z,1553802418.173 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T19:46:58.585Z,1553802418.585 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T19:46:58.959Z,1553802418.959 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:47:00.138Z,1553802420.138 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:47:16.327Z,1553802436.327 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-28T19:47:16.327Z,1553802436.327 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +17,   -28,  :BE,   +17,   -28,    -8,A
2019-03-28T19:47:16.337Z,1553802436.337 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:47:16.337Z,1553802436.337 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:47:16.380Z,1553802436.380 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:47:16.729Z,1553802436.729 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:47:16.729Z,1553802436.729 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:47:33.253Z,1553802453.253 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T19:47:33.253Z,1553802453.253 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T19:47:44.047Z,1553802464.047 [CommandLine](IMPORTANT): got command report
2019-03-28T19:47:44.048Z,1553802464.048 [Reporter](INFO): acoustic_contact_range reporting when touched
2019-03-28T19:47:44.048Z,1553802464.048 [Reporter](INFO): SpeedControl.speedCmd reporting changes
2019-03-28T19:47:44.048Z,1553802464.048 [Reporter](INFO): HorizontalControl.headingCmd reporting changes
2019-03-28T19:47:44.048Z,1553802464.048 [Reporter](INFO): TrackAcousticContact.heading_to_contact reporting when touched
2019-03-28T19:47:54.267Z,1553802474.267 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553802496.000000 second
2019-03-28T19:47:54.342Z,1553802474.342 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T19:47:54.343Z,1553802474.343 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T19:47:54.718Z,1553802474.718 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:48:01.093Z,1553802481.093 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190328T190542/Courier0052.lzma
2019-03-28T19:48:01.899Z,1553802481.899 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0052.lzma.bak
2019-03-28T19:48:01.900Z,1553802481.900 [DataOverHttps](INFO): SBD MOMSN=10272269
2019-03-28T19:48:17.795Z,1553802497.795 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T19:48:24.486Z,1553802504.486 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0055.lzma
2019-03-28T19:48:25.293Z,1553802505.293 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0055.lzma.bak
2019-03-28T19:48:25.293Z,1553802505.293 [DataOverHttps](INFO): SBD MOMSN=10272272
2019-03-28T19:48:31.596Z,1553802511.596 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553802496.000000 second
2019-03-28T19:48:42.882Z,1553802522.882 [DataOverHttps](INFO): Sending 725 bytes from file Logs/20190328T190542/Express0053.lzma
2019-03-28T19:48:43.687Z,1553802523.687 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0053.lzma.bak
2019-03-28T19:48:43.688Z,1553802523.688 [DataOverHttps](INFO): SBD MOMSN=10272274
2019-03-28T19:48:57.746Z,1553802537.746 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20190328T190542/Express0054.lzma
2019-03-28T19:48:58.552Z,1553802538.552 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0054.lzma.bak
2019-03-28T19:48:58.553Z,1553802538.553 [DataOverHttps](INFO): SBD MOMSN=10272305
2019-03-28T19:49:12.461Z,1553802552.461 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Express0056.lzma
2019-03-28T19:49:13.268Z,1553802553.268 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0056.lzma.bak
2019-03-28T19:49:13.268Z,1553802553.268 [DataOverHttps](INFO): SBD MOMSN=10272307
2019-03-28T19:49:15.550Z,1553802555.550 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T19:49:15.550Z,1553802555.550 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T19:49:15.939Z,1553802555.939 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:49:16.347Z,1553802556.347 [RDI_Pathfinder](ERROR): only read 2 of 5 data items
2019-03-28T19:49:16.347Z,1553802556.347 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   +32,    +5,   S,   +26,   -19,    -4,A
2019-03-28T19:49:22.368Z,1553802562.368 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553802496.000000 second
2019-03-28T19:49:22.412Z,1553802562.411 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T19:49:22.412Z,1553802562.412 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T19:49:22.412Z,1553802562.412 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T19:49:22.412Z,1553802562.412 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T19:49:22.412Z,1553802562.412 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T19:49:22.413Z,1553802562.413 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:49:22.802Z,1553802562.802 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T19:49:22.802Z,1553802562.802 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T19:49:22.802Z,1553802562.802 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:49:22.802Z,1553802562.802 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T19:49:23.206Z,1553802563.206 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T19:49:23.206Z,1553802563.206 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T19:49:23.631Z,1553802563.631 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T19:49:23.631Z,1553802563.631 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T19:49:23.631Z,1553802563.631 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T19:49:23.631Z,1553802563.631 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:49:24.022Z,1553802564.022 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:49:24.023Z,1553802564.023 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T19:49:24.444Z,1553802564.444 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T19:49:24.444Z,1553802564.444 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T19:49:24.444Z,1553802564.444 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T19:49:24.445Z,1553802564.445 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:49:24.450Z,1553802564.450 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:49:24.450Z,1553802564.450 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:49:24.450Z,1553802564.450 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:49:24.450Z,1553802564.450 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:49:24.450Z,1553802564.450 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:49:24.451Z,1553802564.451 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T19:49:24.451Z,1553802564.451 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T19:49:24.451Z,1553802564.451 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T19:49:24.452Z,1553802564.452 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:49:24.453Z,1553802564.453 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:49:24.458Z,1553802564.458 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:49:24.458Z,1553802564.458 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:49:24.458Z,1553802564.458 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:49:24.458Z,1553802564.458 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:49:24.459Z,1553802564.459 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T19:49:24.460Z,1553802564.460 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T19:49:24.460Z,1553802564.460 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:49:24.495Z,1553802564.495 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T19:49:24.787Z,1553802564.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:24.788Z,1553802564.788 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:24.876Z,1553802564.876 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T19:49:24.876Z,1553802564.876 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:49:24.876Z,1553802564.876 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T19:49:24.876Z,1553802564.876 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:49:24.876Z,1553802564.876 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:49:24.877Z,1553802564.877 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:49:24.877Z,1553802564.877 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T19:49:24.886Z,1553802564.886 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T19:49:24.886Z,1553802564.886 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T19:49:24.886Z,1553802564.886 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T19:49:24.887Z,1553802564.887 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T19:49:24.888Z,1553802564.888 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:49:24.888Z,1553802564.888 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T19:49:24.888Z,1553802564.888 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:49:24.888Z,1553802564.888 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T19:49:24.888Z,1553802564.888 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:49:24.888Z,1553802564.888 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:49:25.192Z,1553802565.192 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:49:25.274Z,1553802565.274 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T19:49:25.274Z,1553802565.274 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T19:49:25.276Z,1553802565.276 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:49:25.276Z,1553802565.276 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:49:25.277Z,1553802565.277 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:49:25.277Z,1553802565.277 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:49:25.282Z,1553802565.282 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:49:25.282Z,1553802565.282 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:49:25.283Z,1553802565.283 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:49:25.283Z,1553802565.283 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:49:25.283Z,1553802565.283 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:49:25.284Z,1553802565.284 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:49:25.284Z,1553802565.284 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:49:25.284Z,1553802565.284 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:49:25.290Z,1553802565.290 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:49:25.291Z,1553802565.291 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:49:25.383Z,1553802565.383 [Reporter](INFO): HorizontalControl.headingCmd 3.500119 rad
2019-03-28T19:49:28.828Z,1553802568.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:28.832Z,1553802568.832 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:28.837Z,1553802568.837 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T19:49:29.228Z,1553802569.228 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-28T19:49:32.872Z,1553802572.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:32.877Z,1553802572.877 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:36.912Z,1553802576.912 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:36.916Z,1553802576.916 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:37.325Z,1553802577.325 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:49:40.952Z,1553802580.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:40.957Z,1553802580.957 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:41.349Z,1553802581.349 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,1B,FF
2019-03-28T19:49:44.988Z,1553802584.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:44.993Z,1553802584.993 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:45.487Z,1553802585.487 [Reporter](INFO): acoustic_contact_range 58.680004 m
2019-03-28T19:49:45.488Z,1553802585.488 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.351941 rad
2019-03-28T19:49:49.028Z,1553802589.028 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:49.048Z,1553802589.048 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:49.435Z,1553802589.435 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,18A,80,81,0A,FF
2019-03-28T19:49:53.076Z,1553802593.076 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:49:53.081Z,1553802593.081 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:49:53.472Z,1553802593.472 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-28T19:49:55.367Z,1553802595.367 [CommandLine](IMPORTANT): got command stop
2019-03-28T19:49:55.368Z,1553802595.368 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T19:49:55.533Z,1553802595.533 [MissionManager](INFO): MissionManager is completed.
2019-03-28T19:49:55.533Z,1553802595.533 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T19:49:55.533Z,1553802595.533 [lineCaptureHoming] Stopped
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T19:49:55.534Z,1553802595.534 [lineCaptureHoming:I.] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:L] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:M] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:49:55.535Z,1553802595.535 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:Lap] Stopped
2019-03-28T19:49:55.536Z,1553802595.536 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T19:49:55.537Z,1553802595.537 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:49:55.538Z,1553802595.538 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T19:49:55.538Z,1553802595.538 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T19:49:55.538Z,1553802595.538 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T19:49:55.643Z,1553802595.643 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T19:49:55.929Z,1553802595.929 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T19:49:55.929Z,1553802595.929 [Default] Running Loop=1
2019-03-28T19:49:55.929Z,1553802595.929 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T19:49:55.929Z,1553802595.929 [Default:B.GoToSurface] Running Loop=1
2019-03-28T19:49:55.929Z,1553802595.929 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:49:55.930Z,1553802595.930 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T19:49:55.930Z,1553802595.930 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T19:49:55.930Z,1553802595.930 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T19:49:55.931Z,1553802595.931 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:49:55.931Z,1553802595.931 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:49:55.932Z,1553802595.932 [Default:A.Wait] Running Loop=1
2019-03-28T19:49:55.932Z,1553802595.932 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:49:55.975Z,1553802595.975 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T19:49:59.532Z,1553802599.532 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:50:09.259Z,1553802609.259 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T19:50:09.259Z,1553802609.259 [Default:A.Wait] Stopped
2019-03-28T19:50:09.259Z,1553802609.259 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:50:09.673Z,1553802609.673 [Default:CheckIn] Running Loop=1
2019-03-28T19:50:09.673Z,1553802609.673 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T19:50:09.674Z,1553802609.674 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T19:50:11.266Z,1553802611.266 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:50:11.658Z,1553802611.658 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194249.00,A,3648.17434,N,12147.28404,W,0.292,351.36,280319,,,A*72
2019-03-28T19:50:11.660Z,1553802611.660 [NAL9602](INFO): GPS fix at 20190328T194249: (36.802906, -121.788067)
2019-03-28T19:50:11.738Z,1553802611.738 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T19:50:11.738Z,1553802611.738 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T19:50:18.489Z,1553802618.489 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190328T190542/Courier0057.lzma
2019-03-28T19:50:19.299Z,1553802619.299 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0057.lzma.bak
2019-03-28T19:50:19.299Z,1553802619.299 [DataOverHttps](INFO): SBD MOMSN=10272309
2019-03-28T19:50:32.546Z,1553802632.546 [DataOverHttps](INFO): Sending 376 bytes from file Logs/20190328T190542/Express0058.lzma
2019-03-28T19:50:33.351Z,1553802633.351 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0058.lzma.bak
2019-03-28T19:50:33.352Z,1553802633.352 [DataOverHttps](INFO): SBD MOMSN=10272312
2019-03-28T19:50:35.161Z,1553802635.161 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T19:50:35.166Z,1553802635.166 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-28T19:50:35.166Z,1553802635.166 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:53:08.924Z,1553802788.924 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T194547
2019-03-28T19:53:14.658Z,1553802794.658 [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" 4b86y 1 3
2019-03-28T19:53:14.713Z,1553802794.713 [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" 4b86y 1 3.000000
2019-03-28T19:53:14.714Z,1553802794.714 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b86y
2019-03-28T19:53:14.715Z,1553802794.715 [CommandLine](IMPORTANT): Scheduled #15 (#1 of 3 with id='4b86y'): "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
2019-03-28T19:53:15.464Z,1553802795.464 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T194554
2019-03-28T19:53:25.202Z,1553802805.202 [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" 4b86y 2 3
2019-03-28T19:53:25.272Z,1553802805.272 [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" 4b86y 2 3.000000
2019-03-28T19:53:25.272Z,1553802805.272 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b86y
2019-03-28T19:53:25.273Z,1553802805.273 [CommandLine](IMPORTANT): Scheduled #16 (#2 of 3 with id='4b86y'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T19:53:26.007Z,1553802806.007 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T194604
2019-03-28T19:53:36.390Z,1553802816.390 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b86y 3 3
2019-03-28T19:53:36.396Z,1553802816.396 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b86y 3 3.000000
2019-03-28T19:53:36.397Z,1553802816.397 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b86y
2019-03-28T19:53:36.398Z,1553802816.398 [CommandLine](IMPORTANT): Scheduled #17 (#3 of 3 with id='4b86y'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T19:53:36.661Z,1553802816.661 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:53:36.662Z,1553802816.662 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:53:36.886Z,1553802816.886 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T19:53:36.889Z,1553802816.889 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T19:53:36.892Z,1553802816.892 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T19:53:36.895Z,1553802816.895 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T19:53:36.897Z,1553802816.897 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T19:53:36.900Z,1553802816.900 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T19:53:36.903Z,1553802816.903 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T19:53:36.905Z,1553802816.905 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T19:53:36.908Z,1553802816.908 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T19:53:36.911Z,1553802816.911 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T19:53:36.913Z,1553802816.913 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T19:53:36.915Z,1553802816.915 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T19:53:36.918Z,1553802816.918 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T19:53:36.920Z,1553802816.920 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T19:53:36.922Z,1553802816.922 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T19:53:36.925Z,1553802816.925 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T19:53:36.927Z,1553802816.927 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T19:53:36.960Z,1553802816.960 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T19:53:36.980Z,1553802816.980 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T19:53:37.018Z,1553802817.018 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T19:53:37.021Z,1553802817.021 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T19:53:37.027Z,1553802817.027 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T19:53:37.029Z,1553802817.029 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T19:53:37.043Z,1553802817.043 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T19:53:37.050Z,1553802817.050 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T19:53:37.052Z,1553802817.052 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T19:53:37.056Z,1553802817.056 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T19:53:37.066Z,1553802817.066 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T19:53:37.068Z,1553802817.068 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T19:53:37.072Z,1553802817.072 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T19:53:37.072Z,1553802817.072 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T19:53:37.129Z,1553802817.129 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T19:53:37.140Z,1553802817.140 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T19:53:37.150Z,1553802817.150 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T19:53:37.151Z,1553802817.151 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T19:53:37.165Z,1553802817.165 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T19:53:37.176Z,1553802817.176 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T19:53:37.192Z,1553802817.192 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T19:53:37.294Z,1553802817.294 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T19:53:37.310Z,1553802817.310 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T19:53:37.327Z,1553802817.327 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T19:53:37.402Z,1553802817.402 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T19:53:37.405Z,1553802817.405 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T19:53:37.407Z,1553802817.407 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T19:53:37.409Z,1553802817.409 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T19:53:37.441Z,1553802817.441 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T19:53:37.495Z,1553802817.495 [Reporter](INFO): HorizontalControl.headingCmd 3.500119 rad
2019-03-28T19:53:37.542Z,1553802817.542 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T19:53:37.545Z,1553802817.545 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T19:53:37.560Z,1553802817.560 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T19:53:37.567Z,1553802817.567 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T19:53:37.590Z,1553802817.590 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T19:53:37.592Z,1553802817.592 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T19:53:37.625Z,1553802817.625 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:53:37.641Z,1553802817.641 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Construct.
2019-03-28T19:53:37.664Z,1553802817.664 [lineCaptureHoming:Lap:TerminalGuidance:C.Wait](DEBUG): Construct Wait.
2019-03-28T19:53:37.672Z,1553802817.672 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T19:53:37.684Z,1553802817.684 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T19:53:37.695Z,1553802817.695 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T19:53:37.705Z,1553802817.705 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T19:53:37.828Z,1553802817.828 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="cameraRange"><Description>
        Range to activate the camera payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

    <Aggregate Id="SurfaceComms">

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

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


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

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

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

<!-- Request desired engineering data -->

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

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

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

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

    <Aggregate Id="DiveCmd">

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

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

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

        <When>
            <Called/>
        </When>

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

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

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

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

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

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
            </While>

            <Call RefId="RequestPing"/>
        </Aggregate>
        
<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
   
        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

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

<!--            <Timeout Duration="TerminalGuidanceTimeout"/>-->

            <Aggregate Id="UpdateHeading">            
                <While>
                    <Estimation:TrackAcousticContact.range_to_contact/>
                    <Gt><Arg Name="DockRange"/></Gt>
                </While>

            <!--<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>

            </Aggregate>
                        
            <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>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="TerminalGuidanceTimeout"/></Setting>
            </Guidance:Wait>            
            
        </Aggregate> <!-- End of terminal guidance -->            

        <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>


2019-03-28T19:53:37.829Z,1553802817.829 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T19:53:48.122Z,1553802828.122 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T19:53:48.122Z,1553802828.122 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T19:53:48.123Z,1553802828.123 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T19:53:48.124Z,1553802828.124 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T19:53:53.917Z,1553802833.917 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T19:53:53.917Z,1553802833.917 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T19:54:01.467Z,1553802841.467 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T19:54:01.467Z,1553802841.467 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T19:54:01.468Z,1553802841.468 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T19:54:01.469Z,1553802841.469 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T19:54:09.336Z,1553802849.336 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T19:54:09.336Z,1553802849.336 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  98.92,   0.42,  96.42
2019-03-28T19:54:09.367Z,1553802849.367 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:54:09.367Z,1553802849.367 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:54:09.443Z,1553802849.443 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:54:09.802Z,1553802849.802 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:54:09.802Z,1553802849.802 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:54:09.932Z,1553802849.932 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T19:54:09.933Z,1553802849.933 [CommandLine](IMPORTANT): got command run 
2019-03-28T19:54:09.935Z,1553802849.935 [CommandLine](IMPORTANT): Running 
2019-03-28T19:54:10.115Z,1553802850.115 [Default] Stopped
2019-03-28T19:54:10.115Z,1553802850.115 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T19:54:10.115Z,1553802850.115 [Default:B.GoToSurface] Stopped
2019-03-28T19:54:10.115Z,1553802850.115 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:54:10.115Z,1553802850.115 [Default:CheckIn] Stopped
2019-03-28T19:54:10.116Z,1553802850.116 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T19:54:10.116Z,1553802850.116 [Default:CheckIn:C.Wait] Stopped
2019-03-28T19:54:10.116Z,1553802850.116 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T19:54:10.116Z,1553802850.116 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T19:54:10.116Z,1553802850.116 [lineCaptureHoming] Running Loop=1
2019-03-28T19:54:10.116Z,1553802850.116 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T19:54:10.116Z,1553802850.116 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:54:10.116Z,1553802850.116 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:54:10.117Z,1553802850.117 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T19:54:10.122Z,1553802850.122 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:54:10.122Z,1553802850.122 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T19:54:10.122Z,1553802850.122 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:54:10.122Z,1553802850.122 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:54:10.122Z,1553802850.122 [lineCaptureHoming:B] Running Loop=1
2019-03-28T19:54:10.123Z,1553802850.123 [lineCaptureHoming:M] Running Loop=1
2019-03-28T19:54:10.123Z,1553802850.123 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T19:54:10.124Z,1553802850.124 [lineCaptureHoming:L] Running Loop=1
2019-03-28T19:54:10.124Z,1553802850.124 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T19:54:10.124Z,1553802850.124 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T19:54:10.124Z,1553802850.124 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T19:54:10.125Z,1553802850.125 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T19:54:10.125Z,1553802850.125 [lineCaptureHoming:B] Stopped
2019-03-28T19:54:10.125Z,1553802850.125 [lineCaptureHoming:C] Running Loop=1
2019-03-28T19:54:10.125Z,1553802850.125 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T19:54:10.125Z,1553802850.125 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T19:54:10.130Z,1553802850.130 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T19:54:10.130Z,1553802850.130 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T19:54:10.545Z,1553802850.545 [lineCaptureHoming:C] Stopped
2019-03-28T19:54:10.545Z,1553802850.545 [lineCaptureHoming:D] Running Loop=1
2019-03-28T19:54:10.931Z,1553802850.931 [lineCaptureHoming:D] Stopped
2019-03-28T19:54:10.931Z,1553802850.931 [lineCaptureHoming:F] Running Loop=1
2019-03-28T19:54:11.354Z,1553802851.354 [lineCaptureHoming:F] Stopped
2019-03-28T19:54:11.354Z,1553802851.354 [lineCaptureHoming:G] Running Loop=1
2019-03-28T19:54:11.751Z,1553802851.751 [lineCaptureHoming:G] Stopped
2019-03-28T19:54:11.751Z,1553802851.751 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T19:54:11.751Z,1553802851.751 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T19:54:12.162Z,1553802852.162 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T19:54:12.162Z,1553802852.162 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T19:54:12.162Z,1553802852.162 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T19:54:12.163Z,1553802852.163 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T19:54:12.163Z,1553802852.163 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T19:54:12.163Z,1553802852.163 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:54:12.537Z,1553802852.537 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T19:54:12.537Z,1553802852.537 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T19:54:12.538Z,1553802852.538 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T19:54:12.538Z,1553802852.538 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T19:54:12.538Z,1553802852.538 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T19:54:12.539Z,1553802852.539 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T19:54:12.539Z,1553802852.539 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T19:54:12.539Z,1553802852.539 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T19:54:12.540Z,1553802852.540 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T19:54:12.540Z,1553802852.540 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T19:54:12.560Z,1553802852.560 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553802169.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T19:54:12.560Z,1553802852.560 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T19:54:12.939Z,1553802852.939 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T19:54:13.360Z,1553802853.360 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:54:28.967Z,1553802868.967 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553802880.000000 second
2019-03-28T19:54:29.108Z,1553802869.108 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T19:54:29.109Z,1553802869.109 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T19:54:29.519Z,1553802869.519 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T19:54:35.697Z,1553802875.697 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190328T190542/Courier0061.lzma
2019-03-28T19:54:36.504Z,1553802876.504 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0061.lzma.bak
2019-03-28T19:54:36.504Z,1553802876.504 [DataOverHttps](INFO): SBD MOMSN=10272354
2019-03-28T19:54:47.332Z,1553802887.332 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T19:54:52.153Z,1553802892.153 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T190542/Courier0064.lzma
2019-03-28T19:54:52.960Z,1553802892.960 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0064.lzma.bak
2019-03-28T19:54:52.960Z,1553802892.960 [DataOverHttps](INFO): SBD MOMSN=10272357
2019-03-28T19:55:05.931Z,1553802905.931 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553802880.000000 second
2019-03-28T19:55:08.035Z,1553802908.035 [DataOverHttps](INFO): Sending 671 bytes from file Logs/20190328T190542/Express0062.lzma
2019-03-28T19:55:08.839Z,1553802908.839 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0062.lzma.bak
2019-03-28T19:55:08.840Z,1553802908.840 [DataOverHttps](INFO): SBD MOMSN=10272359
2019-03-28T19:55:13.908Z,1553802913.908 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T19:55:24.605Z,1553802924.605 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T190542/Express0066.lzma
2019-03-28T19:55:25.411Z,1553802925.411 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0066.lzma.bak
2019-03-28T19:55:25.412Z,1553802925.412 [DataOverHttps](INFO): SBD MOMSN=10272388
2019-03-28T19:55:27.292Z,1553802927.292 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T19:55:27.293Z,1553802927.293 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T19:55:27.699Z,1553802927.699 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T19:55:28.870Z,1553802928.870 [NAL9602](DEBUG): Fix Requested
2019-03-28T19:55:29.266Z,1553802929.266 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194808.00,A,3648.16658,N,12147.27929,W,0.486,334.60,280319,,,A*7A
2019-03-28T19:55:29.269Z,1553802929.269 [NAL9602](INFO): GPS fix at 20190328T194808: (36.802776, -121.787988)
2019-03-28T19:55:29.403Z,1553802929.403 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T19:55:29.404Z,1553802929.404 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T19:55:29.404Z,1553802929.404 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T19:55:29.404Z,1553802929.404 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T19:55:29.404Z,1553802929.404 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T19:55:29.404Z,1553802929.404 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T19:55:29.735Z,1553802929.735 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T19:55:29.735Z,1553802929.735 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T19:55:29.735Z,1553802929.735 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T19:55:29.735Z,1553802929.735 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T19:55:30.103Z,1553802930.103 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T19:55:30.103Z,1553802930.103 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T19:55:30.540Z,1553802930.540 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553802880.000000 second
2019-03-28T19:55:30.563Z,1553802930.563 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T19:55:30.563Z,1553802930.563 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T19:55:30.563Z,1553802930.563 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T19:55:30.563Z,1553802930.563 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T19:55:30.910Z,1553802930.910 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T19:55:30.910Z,1553802930.910 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T19:55:30.911Z,1553802930.911 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:55:30.912Z,1553802930.912 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T19:55:30.912Z,1553802930.912 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T19:55:30.912Z,1553802930.912 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T19:55:30.912Z,1553802930.912 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T19:55:31.405Z,1553802931.405 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T19:55:31.405Z,1553802931.405 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T19:55:31.414Z,1553802931.414 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:55:31.414Z,1553802931.414 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T19:55:31.414Z,1553802931.414 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T19:55:31.414Z,1553802931.414 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T19:55:31.414Z,1553802931.414 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T19:55:31.414Z,1553802931.414 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T19:55:31.415Z,1553802931.415 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T19:55:31.422Z,1553802931.422 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T19:55:31.422Z,1553802931.422 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:55:31.423Z,1553802931.423 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:55:31.424Z,1553802931.424 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:55:31.425Z,1553802931.425 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:55:31.425Z,1553802931.425 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:55:31.425Z,1553802931.425 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T19:55:31.425Z,1553802931.425 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:55:31.425Z,1553802931.425 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T19:55:31.425Z,1553802931.425 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:55:31.430Z,1553802931.430 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T19:55:31.430Z,1553802931.430 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T19:55:31.430Z,1553802931.430 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:55:31.430Z,1553802931.430 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T19:55:31.430Z,1553802931.430 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T19:55:31.430Z,1553802931.430 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T19:55:31.431Z,1553802931.431 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T19:55:31.431Z,1553802931.431 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T19:55:31.431Z,1553802931.431 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T19:55:31.467Z,1553802931.467 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T19:55:31.683Z,1553802931.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:31.684Z,1553802931.684 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:31.761Z,1553802931.761 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T19:55:31.778Z,1553802931.778 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T19:55:31.779Z,1553802931.779 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T19:55:31.779Z,1553802931.779 [lineCaptureHoming:Lap:TerminalGuidance:C.Wait] Running Loop=1
2019-03-28T19:55:31.779Z,1553802931.779 [lineCaptureHoming:Lap:TerminalGuidance:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T19:55:31.780Z,1553802931.780 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T19:55:31.780Z,1553802931.780 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:55:31.780Z,1553802931.780 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T19:55:31.780Z,1553802931.780 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T19:55:31.781Z,1553802931.781 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T19:55:31.781Z,1553802931.781 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T19:55:31.781Z,1553802931.781 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T19:55:32.087Z,1553802932.087 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T19:55:32.170Z,1553802932.170 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T19:55:32.170Z,1553802932.170 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:55:32.172Z,1553802932.172 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T19:55:32.173Z,1553802932.173 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T19:55:32.173Z,1553802932.173 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T19:55:32.173Z,1553802932.173 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T19:55:32.173Z,1553802932.173 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T19:55:32.173Z,1553802932.173 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T19:55:32.343Z,1553802932.343 [Reporter](INFO): HorizontalControl.headingCmd 3.351941 rad
2019-03-28T19:55:35.724Z,1553802935.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:35.728Z,1553802935.728 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:36.335Z,1553802936.335 [Reporter](INFO): acoustic_contact_range 166.080002 m
2019-03-28T19:55:36.336Z,1553802936.336 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.696108 rad
2019-03-28T19:55:39.764Z,1553802939.764 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:39.764Z,1553802939.764 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:40.167Z,1553802940.167 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-28T19:55:43.808Z,1553802943.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:43.812Z,1553802943.812 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:44.211Z,1553802944.211 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,19,FF
2019-03-28T19:55:47.848Z,1553802947.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:47.852Z,1553802947.852 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:48.244Z,1553802948.244 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,19,FF
2019-03-28T19:55:48.667Z,1553802948.667 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T19:55:48.667Z,1553802948.667 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032812570078,35.0, -00,1448.9,  0
2019-03-28T19:55:51.884Z,1553802951.884 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:51.889Z,1553802951.889 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:55.928Z,1553802955.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:55.933Z,1553802955.933 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:55:56.451Z,1553802956.451 [Reporter](INFO): acoustic_contact_range 167.100006 m
2019-03-28T19:55:56.452Z,1553802956.452 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.539244 rad
2019-03-28T19:55:59.970Z,1553802959.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:55:59.975Z,1553802959.975 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:00.368Z,1553802960.368 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,18,FF
2019-03-28T19:56:01.984Z,1553802961.984 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T19:56:04.004Z,1553802964.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:04.009Z,1553802964.009 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:04.405Z,1553802964.405 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,16,FF
2019-03-28T19:56:08.044Z,1553802968.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:08.048Z,1553802968.048 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:08.451Z,1553802968.451 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:56:12.083Z,1553802972.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:12.084Z,1553802972.084 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:12.319Z,1553802972.319 [CommandLine](IMPORTANT): got command get HorizontalControl.headingCmd
2019-03-28T19:56:12.319Z,1553802972.319 [CommandLine](IMPORTANT): HorizontalControl.headingCmd 3.351941 rad
2019-03-28T19:56:12.488Z,1553802972.488 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:56:16.142Z,1553802976.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:16.148Z,1553802976.148 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:16.527Z,1553802976.527 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T19:56:20.168Z,1553802980.168 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:20.172Z,1553802980.172 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:20.567Z,1553802980.567 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-28T19:56:24.204Z,1553802984.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:24.208Z,1553802984.208 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:24.611Z,1553802984.611 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:56:28.244Z,1553802988.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:28.250Z,1553802988.250 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:28.647Z,1553802988.647 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,16,FF
2019-03-28T19:56:30.711Z,1553802990.711 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T19:56:30.712Z,1553802990.712 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  97.92,  94.42,  95.42
2019-03-28T19:56:32.309Z,1553802992.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:32.314Z,1553802992.314 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:32.687Z,1553802992.687 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:56:36.336Z,1553802996.336 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:36.340Z,1553802996.340 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:36.728Z,1553802996.728 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:56:40.364Z,1553803000.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:40.364Z,1553803000.364 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:40.764Z,1553803000.764 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-28T19:56:44.401Z,1553803004.401 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:44.406Z,1553803004.406 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:44.911Z,1553803004.911 [Reporter](INFO): acoustic_contact_range 59.640003 m
2019-03-28T19:56:44.912Z,1553803004.912 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.522018 rad
2019-03-28T19:56:48.443Z,1553803008.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:48.444Z,1553803008.444 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:48.886Z,1553803008.886 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-03-28T19:56:48.887Z,1553803008.887 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:56:48.887Z,1553803008.887 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:56:48.888Z,1553803008.888 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-03-28T19:56:48.888Z,1553803008.888 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-03-28T19:56:48.892Z,1553803008.892 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-03-28T19:56:48.903Z,1553803008.903 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 8.939999 m .
2019-03-28T19:56:48.903Z,1553803008.903 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-03-28T19:56:48.903Z,1553803008.903 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-03-28T19:56:48.979Z,1553803008.979 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-28T19:56:48.981Z,1553803008.981 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.121126 rad
2019-03-28T19:56:49.281Z,1553803009.281 [PowerOnly](INFO): Powering up
2019-03-28T19:56:49.334Z,1553803009.334 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-03-28T19:56:49.335Z,1553803009.335 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:56:49.335Z,1553803009.335 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-03-28T19:56:49.335Z,1553803009.335 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-03-28T19:56:49.335Z,1553803009.335 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-03-28T19:56:52.484Z,1553803012.484 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:52.489Z,1553803012.489 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:52.971Z,1553803012.971 [Reporter](INFO): acoustic_contact_range 8.400000 m
2019-03-28T19:56:52.972Z,1553803012.972 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.130291 rad
2019-03-28T19:56:56.524Z,1553803016.524 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:56:56.544Z,1553803016.544 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:56:56.933Z,1553803016.933 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0D,FF
2019-03-28T19:57:00.564Z,1553803020.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:00.574Z,1553803020.574 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:00.968Z,1553803020.968 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-28T19:57:04.604Z,1553803024.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:04.609Z,1553803024.609 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:08.647Z,1553803028.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:08.652Z,1553803028.652 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:08.703Z,1553803028.703 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T19:57:08.703Z,1553803028.703 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  68.31,   0.00,  98.22
2019-03-28T19:57:10.308Z,1553803030.308 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:57:10.308Z,1553803030.308 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,  +151,   -1,-32768,A
2019-03-28T19:57:10.319Z,1553803030.319 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T19:57:10.319Z,1553803030.319 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T19:57:10.430Z,1553803030.430 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T19:57:10.774Z,1553803030.774 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T19:57:10.774Z,1553803030.774 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T19:57:12.684Z,1553803032.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:12.688Z,1553803032.688 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:16.724Z,1553803036.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:16.729Z,1553803036.729 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:20.768Z,1553803040.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:20.772Z,1553803040.772 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:21.167Z,1553803041.167 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,19,FF
2019-03-28T19:57:24.823Z,1553803044.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:24.827Z,1553803044.827 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:25.208Z,1553803045.208 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:57:28.844Z,1553803048.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:28.849Z,1553803048.849 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:29.251Z,1553803049.251 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:57:32.888Z,1553803052.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:32.938Z,1553803052.938 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:33.411Z,1553803053.411 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-28T19:57:33.412Z,1553803053.412 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.114190 rad
2019-03-28T19:57:36.921Z,1553803056.921 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:36.925Z,1553803056.925 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:37.427Z,1553803057.427 [Reporter](INFO): acoustic_contact_range 11.339997 m
2019-03-28T19:57:37.428Z,1553803057.428 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.144141 rad
2019-03-28T19:57:40.964Z,1553803060.964 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:40.971Z,1553803060.971 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:41.507Z,1553803061.507 [Reporter](INFO): acoustic_contact_range 25.140001 m
2019-03-28T19:57:41.508Z,1553803061.508 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.487093 rad
2019-03-28T19:57:45.019Z,1553803065.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:45.025Z,1553803065.025 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:45.531Z,1553803065.531 [Reporter](INFO): acoustic_contact_range 23.400002 m
2019-03-28T19:57:45.532Z,1553803065.532 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.138098 rad
2019-03-28T19:57:49.044Z,1553803069.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:49.048Z,1553803069.048 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:49.567Z,1553803069.567 [Reporter](INFO): acoustic_contact_range 63.240005 m
2019-03-28T19:57:49.568Z,1553803069.568 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.132697 rad
2019-03-28T19:57:50.671Z,1553803070.671 [PowerOnly](INFO): Powering down
2019-03-28T19:57:53.081Z,1553803073.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:53.085Z,1553803073.085 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:53.611Z,1553803073.611 [Reporter](INFO): acoustic_contact_range 12.419999 m
2019-03-28T19:57:53.612Z,1553803073.612 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.266154 rad
2019-03-28T19:57:57.123Z,1553803077.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:57:57.124Z,1553803077.124 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:57:57.527Z,1553803077.527 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0D,FF
2019-03-28T19:58:01.163Z,1553803081.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:01.164Z,1553803081.164 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:01.847Z,1553803081.847 [Reporter](INFO): acoustic_contact_range 112.140007 m
2019-03-28T19:58:01.849Z,1553803081.849 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.815247 rad
2019-03-28T19:58:05.208Z,1553803085.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:05.213Z,1553803085.213 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:05.611Z,1553803085.611 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-28T19:58:09.244Z,1553803089.244 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:09.249Z,1553803089.249 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:09.763Z,1553803089.763 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-28T19:58:09.764Z,1553803089.764 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.135245 rad
2019-03-28T19:58:13.308Z,1553803093.308 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:13.315Z,1553803093.315 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:13.835Z,1553803093.835 [Reporter](INFO): acoustic_contact_range 8.820000 m
2019-03-28T19:58:13.836Z,1553803093.836 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.137228 rad
2019-03-28T19:58:17.323Z,1553803097.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:17.324Z,1553803097.324 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:17.742Z,1553803097.742 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T19:58:21.363Z,1553803101.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:21.364Z,1553803101.364 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:21.767Z,1553803101.767 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0C,FF
2019-03-28T19:58:25.403Z,1553803105.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:25.404Z,1553803105.404 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:25.985Z,1553803105.985 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-28T19:58:25.986Z,1553803105.986 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.141135 rad
2019-03-28T19:58:29.448Z,1553803109.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:29.453Z,1553803109.453 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:29.931Z,1553803109.931 [Reporter](INFO): acoustic_contact_range 59.820000 m
2019-03-28T19:58:29.932Z,1553803109.932 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.159472 rad
2019-03-28T19:58:33.483Z,1553803113.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:33.484Z,1553803113.484 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:33.887Z,1553803113.887 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T19:58:37.524Z,1553803117.524 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:37.528Z,1553803117.528 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:38.011Z,1553803118.011 [Reporter](INFO): acoustic_contact_range 13.919997 m
2019-03-28T19:58:38.012Z,1553803118.012 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.264634 rad
2019-03-28T19:58:41.568Z,1553803121.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:41.575Z,1553803121.575 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:41.971Z,1553803121.971 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T19:58:45.604Z,1553803125.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:45.615Z,1553803125.615 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:46.106Z,1553803126.106 [Reporter](INFO): acoustic_contact_range 8.939999 m
2019-03-28T19:58:46.108Z,1553803126.108 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.139613 rad
2019-03-28T19:58:49.644Z,1553803129.644 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:49.648Z,1553803129.648 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:50.048Z,1553803130.048 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,0,188,80,81,0C,FF
2019-03-28T19:58:53.317Z,1553803133.317 [RDI_Pathfinder](ERROR): only read 3 of 5 data items
2019-03-28T19:58:53.317Z,1553803133.317 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -3,    -4,    -7,A
2019-03-28T19:58:53.700Z,1553803133.700 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:53.705Z,1553803133.705 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:54.175Z,1553803134.175 [Reporter](INFO): acoustic_contact_range 11.999999 m
2019-03-28T19:58:54.176Z,1553803134.176 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.151344 rad
2019-03-28T19:58:57.724Z,1553803137.724 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:58:57.728Z,1553803137.728 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:58:58.210Z,1553803138.210 [Reporter](INFO): acoustic_contact_range 11.940001 m
2019-03-28T19:58:58.212Z,1553803138.212 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.131999 rad
2019-03-28T19:59:01.768Z,1553803141.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:01.791Z,1553803141.791 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:02.265Z,1553803142.265 [Reporter](INFO): acoustic_contact_range 203.580002 m
2019-03-28T19:59:02.266Z,1553803142.266 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.198535 rad
2019-03-28T19:59:05.804Z,1553803145.804 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:05.809Z,1553803145.809 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:06.323Z,1553803146.323 [Reporter](INFO): acoustic_contact_range 103.800003 m
2019-03-28T19:59:06.324Z,1553803146.324 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.842444 rad
2019-03-28T19:59:09.843Z,1553803149.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:09.844Z,1553803149.844 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:10.247Z,1553803150.247 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:59:13.888Z,1553803153.888 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:13.892Z,1553803153.892 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:14.307Z,1553803154.307 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EC1,000,00307,F
2019-03-28T19:59:17.924Z,1553803157.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:17.929Z,1553803157.929 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:18.331Z,1553803158.331 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0A,FF
2019-03-28T19:59:21.964Z,1553803161.964 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:21.968Z,1553803161.968 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:22.371Z,1553803162.371 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-28T19:59:26.004Z,1553803166.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:26.008Z,1553803166.008 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:26.408Z,1553803166.408 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T19:59:30.046Z,1553803170.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:30.051Z,1553803170.051 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:30.455Z,1553803170.455 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-28T19:59:34.081Z,1553803174.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:34.085Z,1553803174.085 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:34.484Z,1553803174.484 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-28T19:59:34.531Z,1553803174.531 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-03-28T19:59:38.124Z,1553803178.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:38.128Z,1553803178.128 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:38.528Z,1553803178.528 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T19:59:42.172Z,1553803182.172 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:42.177Z,1553803182.177 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:42.567Z,1553803182.567 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-28T19:59:46.211Z,1553803186.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:46.216Z,1553803186.216 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:46.750Z,1553803186.750 [Reporter](INFO): acoustic_contact_range 59.880005 m
2019-03-28T19:59:46.752Z,1553803186.752 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.122889 rad
2019-03-28T19:59:50.240Z,1553803190.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:50.245Z,1553803190.245 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:50.648Z,1553803190.648 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T19:59:52.692Z,1553803192.692 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2019-03-28T19:59:54.304Z,1553803194.304 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:54.309Z,1553803194.309 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T19:59:54.691Z,1553803194.691 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T19:59:58.332Z,1553803198.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T19:59:58.366Z,1553803198.366 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:02.368Z,1553803202.368 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:02.374Z,1553803202.374 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:02.772Z,1553803202.772 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,11,FF
2019-03-28T20:00:06.405Z,1553803206.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:06.410Z,1553803206.410 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:06.815Z,1553803206.815 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T20:00:09.668Z,1553803209.668 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-03-28T20:00:09.668Z,1553803209.668 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +5.31,        +1.42,0.00
2019-03-28T20:00:10.448Z,1553803210.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:10.526Z,1553803210.526 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:10.851Z,1553803210.851 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0F,FF
2019-03-28T20:00:14.492Z,1553803214.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:14.496Z,1553803214.496 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:15.083Z,1553803215.083 [Reporter](INFO): acoustic_contact_range 7.080001 m
2019-03-28T20:00:15.084Z,1553803215.084 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.146154 rad
2019-03-28T20:00:18.528Z,1553803218.528 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:18.533Z,1553803218.533 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:19.031Z,1553803219.031 [Reporter](INFO): acoustic_contact_range 103.800003 m
2019-03-28T20:00:19.032Z,1553803219.032 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.787598 rad
2019-03-28T20:00:22.568Z,1553803222.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:22.572Z,1553803222.572 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:23.070Z,1553803223.070 [Reporter](INFO): acoustic_contact_range 103.739998 m
2019-03-28T20:00:23.071Z,1553803223.071 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.832567 rad
2019-03-28T20:00:26.616Z,1553803226.616 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:26.620Z,1553803226.620 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:27.012Z,1553803227.012 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,11,FF
2019-03-28T20:00:30.648Z,1553803230.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:30.654Z,1553803230.654 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:31.049Z,1553803231.049 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T20:00:34.688Z,1553803234.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:34.692Z,1553803234.692 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:35.091Z,1553803235.091 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-28T20:00:38.744Z,1553803238.744 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:38.749Z,1553803238.749 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:39.135Z,1553803239.135 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T20:00:42.768Z,1553803242.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:42.774Z,1553803242.774 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:43.175Z,1553803243.175 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-28T20:00:44.443Z,1553803244.443 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T20:00:44.443Z,1553803244.443 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T20:00:44.562Z,1553803244.562 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T20:00:44.882Z,1553803244.882 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T20:00:44.882Z,1553803244.882 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T20:00:46.808Z,1553803246.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:46.812Z,1553803246.812 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:47.211Z,1553803247.211 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-28T20:00:50.852Z,1553803250.852 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:00:50.856Z,1553803250.856 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:00:51.252Z,1553803251.252 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T20:00:53.102Z,1553803253.102 [CommandLine](IMPORTANT): got command stop
2019-03-28T20:00:53.103Z,1553803253.103 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T20:00:53.366Z,1553803253.366 [MissionManager](INFO): MissionManager is completed.
2019-03-28T20:00:53.366Z,1553803253.366 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T20:00:53.366Z,1553803253.366 [lineCaptureHoming] Stopped
2019-03-28T20:00:53.366Z,1553803253.366 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T20:00:53.366Z,1553803253.366 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T20:00:53.366Z,1553803253.366 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:00:53.366Z,1553803253.366 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:I.] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:L] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:M] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T20:00:53.367Z,1553803253.367 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:00:53.368Z,1553803253.368 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:00:53.369Z,1553803253.369 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:00:53.374Z,1553803253.374 [lineCaptureHoming:Lap:TerminalGuidance:C.Wait] Stopped
2019-03-28T20:00:53.375Z,1553803253.375 [lineCaptureHoming:Lap:TerminalGuidance:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:00:53.523Z,1553803253.523 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T20:00:53.708Z,1553803253.708 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T20:00:53.709Z,1553803253.709 [Default] Running Loop=1
2019-03-28T20:00:53.709Z,1553803253.709 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T20:00:53.709Z,1553803253.709 [Default:B.GoToSurface] Running Loop=1
2019-03-28T20:00:53.709Z,1553803253.709 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:00:53.709Z,1553803253.709 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T20:00:53.718Z,1553803253.718 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T20:00:53.718Z,1553803253.718 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T20:00:53.718Z,1553803253.718 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:00:53.719Z,1553803253.719 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:00:53.719Z,1553803253.719 [Default:A.Wait] Running Loop=1
2019-03-28T20:00:53.719Z,1553803253.719 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:00:53.767Z,1553803253.767 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T20:01:07.053Z,1553803267.053 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T20:01:07.053Z,1553803267.053 [Default:A.Wait] Stopped
2019-03-28T20:01:07.058Z,1553803267.058 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:01:07.487Z,1553803267.487 [Default:CheckIn] Running Loop=1
2019-03-28T20:01:07.487Z,1553803267.487 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T20:01:07.487Z,1553803267.487 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T20:01:09.058Z,1553803269.058 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:01:09.450Z,1553803269.450 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195348.00,A,3648.16258,N,12147.27857,W,0.078,165.93,280319,,,A*77
2019-03-28T20:01:09.452Z,1553803269.452 [NAL9602](INFO): GPS fix at 20190328T195348: (36.802710, -121.787976)
2019-03-28T20:01:09.526Z,1553803269.526 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T20:01:09.526Z,1553803269.526 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T20:01:16.373Z,1553803276.373 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0065.lzma
2019-03-28T20:01:17.179Z,1553803277.179 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0065.lzma.bak
2019-03-28T20:01:17.180Z,1553803277.180 [DataOverHttps](INFO): SBD MOMSN=10272390
2019-03-28T20:01:24.687Z,1553803284.687 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T195403
2019-03-28T20:01:30.625Z,1553803290.625 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Express0067.lzma
2019-03-28T20:01:30.627Z,1553803290.627 [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" 4b8l3 1 3
2019-03-28T20:01:30.636Z,1553803290.636 [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" 4b8l3 1 3.000000
2019-03-28T20:01:30.637Z,1553803290.637 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b8l3
2019-03-28T20:01:30.638Z,1553803290.638 [CommandLine](IMPORTANT): Scheduled #18 (#1 of 3 with id='4b8l3'): "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
2019-03-28T20:01:31.432Z,1553803291.432 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0067.lzma.bak
2019-03-28T20:01:31.433Z,1553803291.433 [DataOverHttps](IMPORTANT): SBD MOMSN=10272393, MTMSN=20190328T195410
2019-03-28T20:01:37.494Z,1553803297.494 [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" 4b8l3 2 3
2019-03-28T20:01:37.541Z,1553803297.541 [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" 4b8l3 2 3.000000
2019-03-28T20:01:37.541Z,1553803297.541 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b8l3
2019-03-28T20:01:37.542Z,1553803297.542 [CommandLine](IMPORTANT): Scheduled #19 (#2 of 3 with id='4b8l3'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T20:01:38.303Z,1553803298.303 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T195417
2019-03-28T20:01:40.152Z,1553803300.152 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T20:01:40.226Z,1553803300.226 [NAL9602](FAULT): received: 
+CSQ:0

OK93, 2, 0, 0, 0

OK
2019-03-28T20:01:40.226Z,1553803300.226 [NAL9602] Data Fault, FailCount= 1
2019-03-28T20:01:40.226Z,1553803300.226 [NAL9602](ERROR): Data Fault
2019-03-28T20:01:40.380Z,1553803300.380 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-28T20:01:40.560Z,1553803300.560 [NAL9602](INFO): Powering down
2019-03-28T20:01:41.477Z,1553803301.477 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-28T20:01:41.477Z,1553803301.477 [NAL9602] No Fault, FailCount= 1
2019-03-28T20:01:43.965Z,1553803303.965 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0070.lzma
2019-03-28T20:01:43.967Z,1553803303.967 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b8l3 3 3
2019-03-28T20:01:44.047Z,1553803304.047 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b8l3 3 3.000000
2019-03-28T20:01:44.047Z,1553803304.047 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b8l3
2019-03-28T20:01:44.048Z,1553803304.048 [CommandLine](IMPORTANT): Scheduled #20 (#3 of 3 with id='4b8l3'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T20:01:44.104Z,1553803304.104 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:01:44.105Z,1553803304.105 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:01:44.573Z,1553803304.573 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T20:01:44.596Z,1553803304.596 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T20:01:44.603Z,1553803304.603 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T20:01:44.605Z,1553803304.605 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T20:01:44.613Z,1553803304.613 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T20:01:44.695Z,1553803304.695 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T20:01:44.707Z,1553803304.707 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T20:01:44.709Z,1553803304.709 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T20:01:44.716Z,1553803304.716 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T20:01:44.730Z,1553803304.730 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T20:01:44.733Z,1553803304.733 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T20:01:44.743Z,1553803304.743 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T20:01:44.745Z,1553803304.745 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T20:01:44.760Z,1553803304.760 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T20:01:44.770Z,1553803304.770 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T20:01:44.772Z,1553803304.772 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T20:01:44.783Z,1553803304.783 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T20:01:44.785Z,1553803304.785 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T20:01:44.796Z,1553803304.796 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T20:01:44.806Z,1553803304.806 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T20:01:44.808Z,1553803304.808 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T20:01:44.815Z,1553803304.815 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T20:01:44.817Z,1553803304.817 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T20:01:44.832Z,1553803304.832 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T20:01:44.861Z,1553803304.861 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T20:01:44.863Z,1553803304.863 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T20:01:44.865Z,1553803304.865 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T20:01:44.895Z,1553803304.895 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0070.lzma.bak
2019-03-28T20:01:44.895Z,1553803304.895 [DataOverHttps](INFO): SBD MOMSN=10272397
2019-03-28T20:01:44.899Z,1553803304.899 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T20:01:44.902Z,1553803304.902 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T20:01:44.904Z,1553803304.904 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T20:01:44.904Z,1553803304.904 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T20:01:44.953Z,1553803304.953 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T20:01:44.955Z,1553803304.955 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T20:01:44.974Z,1553803304.974 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T20:01:44.975Z,1553803304.975 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T20:01:45.051Z,1553803305.051 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T20:01:45.083Z,1553803305.083 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T20:01:45.104Z,1553803305.104 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T20:01:45.222Z,1553803305.222 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T20:01:45.224Z,1553803305.224 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T20:01:45.231Z,1553803305.231 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T20:01:45.233Z,1553803305.233 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T20:01:45.246Z,1553803305.246 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T20:01:45.249Z,1553803305.249 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T20:01:45.251Z,1553803305.251 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T20:01:45.288Z,1553803305.288 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T20:01:45.552Z,1553803305.552 [Reporter](INFO): HorizontalControl.headingCmd 3.351941 rad
2019-03-28T20:01:45.566Z,1553803305.566 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T20:01:45.569Z,1553803305.569 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T20:01:45.593Z,1553803305.593 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T20:01:45.601Z,1553803305.601 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T20:01:45.640Z,1553803305.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T20:01:45.651Z,1553803305.651 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T20:01:45.716Z,1553803305.716 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:01:45.749Z,1553803305.749 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Construct.
2019-03-28T20:01:45.783Z,1553803305.783 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T20:01:45.817Z,1553803305.817 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:01:45.862Z,1553803305.862 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:01:45.881Z,1553803305.881 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T20:01:45.959Z,1553803305.959 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="cameraRange"><Description>
        Range to activate the camera payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

    <Aggregate Id="SurfaceComms">

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

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


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

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

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

<!-- Request desired engineering data -->

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

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

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

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

    <Aggregate Id="DiveCmd">

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

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

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

        <When>
            <Called/>
        </When>

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

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

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

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

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

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
            </While>

            <Call RefId="RequestPing"/>
        </Aggregate>
        
<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
   
        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

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

<!--            <Timeout Duration="TerminalGuidanceTimeout"/>-->

            <Aggregate Id="UpdateHeading">            
                <While>
                    <Estimation:TrackAcousticContact.range_to_contact/>
                    <Gt><Arg Name="DockRange"/></Gt>
                </While>

            <!--<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>

            </Aggregate>
 <!--                       
            <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>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="TerminalGuidanceTimeout"/></Setting>
            </Guidance:Wait>            
     -->       
        </Aggregate> <!-- End of terminal guidance -->            

        <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>


2019-03-28T20:01:45.960Z,1553803305.960 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:01:50.679Z,1553803310.679 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T20:01:50.679Z,1553803310.679 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  66.98,   0.00,  96.59
2019-03-28T20:02:03.472Z,1553803323.472 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T20:02:03.473Z,1553803323.473 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T20:02:03.478Z,1553803323.478 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T20:02:03.479Z,1553803323.479 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T20:02:07.097Z,1553803327.097 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0073.lzma
2019-03-28T20:02:07.903Z,1553803327.903 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0073.lzma.bak
2019-03-28T20:02:07.904Z,1553803327.904 [DataOverHttps](INFO): SBD MOMSN=10272400
2019-03-28T20:02:10.855Z,1553803330.855 [NAL9602](INFO): Powering up NAL9602
2019-03-28T20:02:21.763Z,1553803341.763 [NAL9602](INFO): NAL9602 initialized
2019-03-28T20:02:25.318Z,1553803345.318 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T20:02:25.319Z,1553803345.319 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T20:02:25.320Z,1553803345.320 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T20:02:25.321Z,1553803345.321 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T20:02:28.660Z,1553803348.660 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0076.lzma
2019-03-28T20:02:29.420Z,1553803349.420 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0076.lzma.bak
2019-03-28T20:02:29.420Z,1553803349.420 [DataOverHttps](INFO): SBD MOMSN=10272402
2019-03-28T20:02:32.218Z,1553803352.218 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T20:02:32.218Z,1553803352.218 [CommandLine](IMPORTANT): got command run 
2019-03-28T20:02:32.220Z,1553803352.220 [CommandLine](IMPORTANT): Running 
2019-03-28T20:02:32.378Z,1553803352.378 [Default] Stopped
2019-03-28T20:02:32.378Z,1553803352.378 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T20:02:32.378Z,1553803352.378 [Default:B.GoToSurface] Stopped
2019-03-28T20:02:32.378Z,1553803352.378 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:02:32.378Z,1553803352.378 [Default:CheckIn] Stopped
2019-03-28T20:02:32.378Z,1553803352.378 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T20:02:32.378Z,1553803352.378 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T20:02:32.379Z,1553803352.379 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming] Running Loop=1
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:02:32.379Z,1553803352.379 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:02:32.380Z,1553803352.380 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:02:32.383Z,1553803352.383 [lineCaptureHoming:B] Running Loop=1
2019-03-28T20:02:32.384Z,1553803352.384 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:02:32.384Z,1553803352.384 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T20:02:32.384Z,1553803352.384 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:02:32.385Z,1553803352.385 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T20:02:32.385Z,1553803352.385 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:02:32.385Z,1553803352.385 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:02:32.385Z,1553803352.385 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:02:32.394Z,1553803352.394 [lineCaptureHoming:B] Stopped
2019-03-28T20:02:32.394Z,1553803352.394 [lineCaptureHoming:C] Running Loop=1
2019-03-28T20:02:32.394Z,1553803352.394 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:02:32.394Z,1553803352.394 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:02:32.395Z,1553803352.395 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:02:32.395Z,1553803352.395 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:02:32.710Z,1553803352.710 [lineCaptureHoming:C] Stopped
2019-03-28T20:02:32.710Z,1553803352.710 [lineCaptureHoming:D] Running Loop=1
2019-03-28T20:02:33.114Z,1553803353.114 [lineCaptureHoming:D] Stopped
2019-03-28T20:02:33.115Z,1553803353.115 [lineCaptureHoming:F] Running Loop=1
2019-03-28T20:02:33.541Z,1553803353.541 [lineCaptureHoming:F] Stopped
2019-03-28T20:02:33.541Z,1553803353.541 [lineCaptureHoming:G] Running Loop=1
2019-03-28T20:02:33.922Z,1553803353.922 [lineCaptureHoming:G] Stopped
2019-03-28T20:02:33.922Z,1553803353.922 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T20:02:33.923Z,1553803353.923 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T20:02:34.369Z,1553803354.369 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T20:02:34.374Z,1553803354.374 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T20:02:34.374Z,1553803354.374 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T20:02:34.374Z,1553803354.374 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T20:02:34.374Z,1553803354.374 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T20:02:34.374Z,1553803354.374 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:02:34.738Z,1553803354.738 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T20:02:34.738Z,1553803354.738 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T20:02:34.738Z,1553803354.738 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T20:02:34.738Z,1553803354.738 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:02:34.739Z,1553803354.739 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T20:02:34.739Z,1553803354.739 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T20:02:34.739Z,1553803354.739 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T20:02:34.740Z,1553803354.740 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:02:34.740Z,1553803354.740 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:02:34.740Z,1553803354.740 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T20:02:34.749Z,1553803354.749 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553802828.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T20:02:34.758Z,1553803354.758 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T20:02:35.158Z,1553803355.158 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T20:02:35.572Z,1553803355.572 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:02:36.734Z,1553803356.734 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:02:45.115Z,1553803365.115 [DataOverHttps](INFO): Sending 305 bytes from file Logs/20190328T190542/Express0071.lzma
2019-03-28T20:02:45.919Z,1553803365.919 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0071.lzma.bak
2019-03-28T20:02:45.920Z,1553803365.920 [DataOverHttps](INFO): SBD MOMSN=10272404
2019-03-28T20:03:21.578Z,1553803401.578 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T20:03:21.578Z,1553803401.578 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T20:05:07.192Z,1553803507.192 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553803392.000000 second
2019-03-28T20:05:07.456Z,1553803507.456 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T20:05:07.456Z,1553803507.456 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T20:05:07.858Z,1553803507.858 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T20:05:13.833Z,1553803513.833 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190328T190542/Courier0079.lzma
2019-03-28T20:05:14.639Z,1553803514.639 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0079.lzma.bak
2019-03-28T20:05:14.640Z,1553803514.640 [DataOverHttps](INFO): SBD MOMSN=10272424
2019-03-28T20:05:30.366Z,1553803530.366 [DataOverHttps](INFO): Sending 309 bytes from file Logs/20190328T190542/Express0074.lzma
2019-03-28T20:05:31.172Z,1553803531.172 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0074.lzma.bak
2019-03-28T20:05:31.172Z,1553803531.172 [DataOverHttps](INFO): SBD MOMSN=10272427
2019-03-28T20:05:33.330Z,1553803533.330 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T20:05:33.330Z,1553803533.330 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T20:05:34.892Z,1553803534.892 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T20:05:46.458Z,1553803546.458 [DataOverHttps](INFO): Sending 330 bytes from file Logs/20190328T190542/Express0077.lzma
2019-03-28T20:05:47.171Z,1553803547.171 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553803520.000000 second
2019-03-28T20:05:47.264Z,1553803547.264 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0077.lzma.bak
2019-03-28T20:05:47.264Z,1553803547.264 [DataOverHttps](INFO): SBD MOMSN=10272433
2019-03-28T20:06:00.746Z,1553803560.746 [DataOverHttps](INFO): Sending 375 bytes from file Logs/20190328T190542/Express0080.lzma
2019-03-28T20:06:01.552Z,1553803561.552 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0080.lzma.bak
2019-03-28T20:06:01.552Z,1553803561.552 [DataOverHttps](INFO): SBD MOMSN=10272441
2019-03-28T20:06:03.315Z,1553803563.315 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T20:06:03.316Z,1553803563.316 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T20:06:03.712Z,1553803563.712 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:06:11.708Z,1553803571.708 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T20:06:12.526Z,1553803572.526 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:14.950Z,1553803574.950 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:17.778Z,1553803577.778 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:21.010Z,1553803581.010 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:23.838Z,1553803583.838 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:27.078Z,1553803587.078 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:29.902Z,1553803589.902 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:33.134Z,1553803593.134 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:35.958Z,1553803595.958 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:38.668Z,1553803598.668 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553803520.000000 second
2019-03-28T20:06:38.786Z,1553803598.786 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:06:38.817Z,1553803598.817 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T20:06:38.819Z,1553803598.819 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T20:06:38.819Z,1553803598.819 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T20:06:38.819Z,1553803598.819 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T20:06:38.819Z,1553803598.819 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T20:06:38.819Z,1553803598.819 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:06:39.223Z,1553803599.223 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T20:06:39.223Z,1553803599.223 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T20:06:39.223Z,1553803599.223 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:06:39.223Z,1553803599.223 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T20:06:39.632Z,1553803599.632 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T20:06:39.632Z,1553803599.632 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T20:06:40.021Z,1553803600.021 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T20:06:40.022Z,1553803600.022 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T20:06:40.022Z,1553803600.022 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T20:06:40.022Z,1553803600.022 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T20:06:40.436Z,1553803600.436 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T20:06:40.436Z,1553803600.436 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:06:40.437Z,1553803600.437 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:06:40.438Z,1553803600.438 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:06:40.438Z,1553803600.438 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T20:06:40.438Z,1553803600.438 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:06:40.438Z,1553803600.438 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T20:06:40.833Z,1553803600.833 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T20:06:40.833Z,1553803600.833 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T20:06:40.833Z,1553803600.833 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T20:06:40.834Z,1553803600.834 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T20:06:40.834Z,1553803600.834 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T20:06:40.834Z,1553803600.834 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:06:40.834Z,1553803600.834 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:06:40.834Z,1553803600.834 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T20:06:40.835Z,1553803600.835 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T20:06:40.836Z,1553803600.836 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T20:06:40.836Z,1553803600.836 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T20:06:40.836Z,1553803600.836 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T20:06:40.837Z,1553803600.837 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T20:06:40.838Z,1553803600.838 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:06:40.839Z,1553803600.839 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:06:40.840Z,1553803600.840 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:06:40.841Z,1553803600.841 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T20:06:40.841Z,1553803600.841 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T20:06:40.841Z,1553803600.841 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T20:06:40.841Z,1553803600.841 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T20:06:40.855Z,1553803600.855 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T20:06:41.196Z,1553803601.196 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:06:41.201Z,1553803601.201 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:06:41.339Z,1553803601.339 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T20:06:41.339Z,1553803601.339 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T20:06:41.339Z,1553803601.339 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T20:06:41.339Z,1553803601.339 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T20:06:41.340Z,1553803601.340 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T20:06:41.340Z,1553803601.340 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:06:41.340Z,1553803601.340 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:06:41.340Z,1553803601.340 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:06:41.340Z,1553803601.340 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:06:41.340Z,1553803601.340 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:06:41.355Z,1553803601.355 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T20:06:41.355Z,1553803601.355 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:06:41.355Z,1553803601.355 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T20:06:41.356Z,1553803601.356 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:06:41.356Z,1553803601.356 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T20:06:41.356Z,1553803601.356 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:06:41.356Z,1553803601.356 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:06:41.600Z,1553803601.600 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T20:06:41.682Z,1553803601.682 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:06:41.682Z,1553803601.682 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:06:41.683Z,1553803601.683 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:06:41.683Z,1553803601.683 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:06:41.683Z,1553803601.683 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:06:41.684Z,1553803601.684 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:06:41.685Z,1553803601.685 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:06:41.685Z,1553803601.685 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:06:41.739Z,1553803601.739 [Reporter](INFO): HorizontalControl.headingCmd 3.832567 rad
2019-03-28T20:06:45.240Z,1553803605.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:06:45.246Z,1553803605.246 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:06:45.639Z,1553803605.639 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T20:06:49.287Z,1553803609.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:06:49.295Z,1553803609.295 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:06:49.685Z,1553803609.685 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,16,FF
2019-03-28T20:06:53.328Z,1553803613.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:06:53.332Z,1553803613.332 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:06:53.719Z,1553803613.719 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T20:06:57.353Z,1553803617.353 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:06:57.359Z,1553803617.359 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:06:57.756Z,1553803617.756 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T20:07:01.393Z,1553803621.393 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:01.397Z,1553803621.397 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:01.820Z,1553803621.820 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,15,FF
2019-03-28T20:07:05.444Z,1553803625.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:05.449Z,1553803625.449 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:05.839Z,1553803625.839 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0E,FF
2019-03-28T20:07:09.480Z,1553803629.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:09.503Z,1553803629.503 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:09.879Z,1553803629.879 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T20:07:11.900Z,1553803631.900 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T20:07:13.516Z,1553803633.516 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:13.520Z,1553803633.520 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:14.139Z,1553803634.139 [Reporter](INFO): acoustic_contact_range 81.239998 m
2019-03-28T20:07:14.140Z,1553803634.140 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.164173 rad
2019-03-28T20:07:17.560Z,1553803637.560 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:17.564Z,1553803637.564 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:18.050Z,1553803638.050 [Reporter](INFO): acoustic_contact_range 80.820000 m
2019-03-28T20:07:18.051Z,1553803638.051 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.142150 rad
2019-03-28T20:07:21.596Z,1553803641.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:21.602Z,1553803641.602 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:21.999Z,1553803641.999 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T20:07:25.635Z,1553803645.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:25.636Z,1553803645.636 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:26.040Z,1553803646.040 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EC4,000,00304,F
2019-03-28T20:07:29.676Z,1553803649.676 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:29.680Z,1553803649.680 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:30.079Z,1553803650.079 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EC4,000,00304,F
2019-03-28T20:07:33.713Z,1553803653.713 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:33.719Z,1553803653.719 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:34.116Z,1553803654.116 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EC6,000,00305,F
2019-03-28T20:07:37.756Z,1553803657.756 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:37.761Z,1553803657.761 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:38.175Z,1553803658.175 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T20:07:41.804Z,1553803661.804 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:41.808Z,1553803661.808 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:42.371Z,1553803662.371 [Reporter](INFO): acoustic_contact_range 80.820000 m
2019-03-28T20:07:42.372Z,1553803662.372 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.122576 rad
2019-03-28T20:07:45.840Z,1553803665.840 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:45.865Z,1553803665.865 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:46.239Z,1553803666.239 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0E,FF
2019-03-28T20:07:49.876Z,1553803669.876 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:49.880Z,1553803669.880 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:50.291Z,1553803670.291 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,E9F,000,00301FF
2019-03-28T20:07:53.916Z,1553803673.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:53.920Z,1553803673.920 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:54.321Z,1553803674.321 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !0000,186,80,81,0F,FF
2019-03-28T20:07:57.959Z,1553803677.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:07:57.965Z,1553803677.965 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:07:58.359Z,1553803678.359 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,187,80,81,0D,FF
2019-03-28T20:08:02.001Z,1553803682.001 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:02.005Z,1553803682.005 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:02.574Z,1553803682.574 [Reporter](INFO): acoustic_contact_range 62.580006 m
2019-03-28T20:08:02.575Z,1553803682.575 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.132833 rad
2019-03-28T20:08:06.033Z,1553803686.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:06.038Z,1553803686.038 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:06.440Z,1553803686.440 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0D,FF
2019-03-28T20:08:10.073Z,1553803690.073 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:10.079Z,1553803690.079 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:10.483Z,1553803690.483 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0B,FF
2019-03-28T20:08:14.120Z,1553803694.120 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:14.125Z,1553803694.125 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:14.521Z,1553803694.521 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,0E,FF
2019-03-28T20:08:18.160Z,1553803698.160 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:18.165Z,1553803698.165 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:22.207Z,1553803702.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:22.209Z,1553803702.209 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:22.611Z,1553803702.611 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,186,80,81,0B,FF
2019-03-28T20:08:26.279Z,1553803706.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:26.284Z,1553803706.284 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:26.739Z,1553803706.739 [Reporter](INFO): acoustic_contact_range 8.999999 m
2019-03-28T20:08:26.740Z,1553803706.740 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.129017 rad
2019-03-28T20:08:30.312Z,1553803710.312 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:30.317Z,1553803710.317 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:34.323Z,1553803714.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:34.325Z,1553803714.325 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:34.727Z,1553803714.727 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T20:08:38.370Z,1553803718.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:38.375Z,1553803718.375 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:38.871Z,1553803718.871 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-28T20:08:38.872Z,1553803718.872 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.131896 rad
2019-03-28T20:08:42.404Z,1553803722.404 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:42.408Z,1553803722.408 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:42.919Z,1553803722.919 [Reporter](INFO): acoustic_contact_range 8.400000 m
2019-03-28T20:08:42.920Z,1553803722.920 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.140456 rad
2019-03-28T20:08:46.448Z,1553803726.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:46.454Z,1553803726.454 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:46.863Z,1553803726.863 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,17,FF
2019-03-28T20:08:47.693Z,1553803727.693 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T20:08:47.693Z,1553803727.693 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032813090, -0.1,   0.0,1448.9,  0
2019-03-28T20:08:47.704Z,1553803727.704 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T20:08:47.704Z,1553803727.704 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T20:08:47.834Z,1553803727.834 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T20:08:48.170Z,1553803728.170 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T20:08:48.170Z,1553803728.170 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T20:08:50.488Z,1553803730.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:50.522Z,1553803730.522 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:50.891Z,1553803730.891 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,14,FF
2019-03-28T20:08:54.530Z,1553803734.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:54.535Z,1553803734.535 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:55.031Z,1553803735.031 [Reporter](INFO): acoustic_contact_range 10.260000 m
2019-03-28T20:08:55.032Z,1553803735.032 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.188316 rad
2019-03-28T20:08:58.564Z,1553803738.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:08:58.570Z,1553803738.570 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:08:58.967Z,1553803738.967 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U1,R,EDE,80,81,08,FF
2019-03-28T20:09:02.604Z,1553803742.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:09:02.686Z,1553803742.686 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:09:03.083Z,1553803743.083 [Reporter](INFO): acoustic_contact_range 28.860003 m
2019-03-28T20:09:03.084Z,1553803743.084 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.311766 rad
2019-03-28T20:09:06.648Z,1553803746.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:09:06.653Z,1553803746.653 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:09:07.131Z,1553803747.131 [Reporter](INFO): acoustic_contact_range 27.359999 m
2019-03-28T20:09:07.132Z,1553803747.132 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.221985 rad
2019-03-28T20:09:10.683Z,1553803750.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:09:10.684Z,1553803750.684 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:09:14.778Z,1553803754.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:09:14.783Z,1553803754.783 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:09:14.907Z,1553803754.907 [CommandLine](IMPORTANT): got command stop
2019-03-28T20:09:14.908Z,1553803754.908 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T20:09:15.182Z,1553803755.182 [MissionManager](INFO): MissionManager is completed.
2019-03-28T20:09:15.182Z,1553803755.182 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T20:09:15.182Z,1553803755.182 [lineCaptureHoming] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:I.] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T20:09:15.183Z,1553803755.183 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:L] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:M] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:09:15.184Z,1553803755.184 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:Lap] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T20:09:15.185Z,1553803755.185 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:09:15.186Z,1553803755.186 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:09:15.187Z,1553803755.187 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:09:15.187Z,1553803755.187 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:09:15.247Z,1553803755.247 [Reporter](INFO): acoustic_contact_range 55.740002 m
2019-03-28T20:09:15.247Z,1553803755.247 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T20:09:15.248Z,1553803755.248 [Reporter](INFO): TrackAcousticContact.heading_to_contact no_value
2019-03-28T20:09:15.579Z,1553803755.579 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T20:09:15.579Z,1553803755.579 [Default] Running Loop=1
2019-03-28T20:09:15.579Z,1553803755.579 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T20:09:15.579Z,1553803755.579 [Default:B.GoToSurface] Running Loop=1
2019-03-28T20:09:15.579Z,1553803755.579 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:09:15.580Z,1553803755.580 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T20:09:15.580Z,1553803755.580 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T20:09:15.580Z,1553803755.580 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T20:09:15.581Z,1553803755.581 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:09:15.581Z,1553803755.581 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:09:15.582Z,1553803755.582 [Default:A.Wait] Running Loop=1
2019-03-28T20:09:15.582Z,1553803755.582 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:09:15.619Z,1553803755.619 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T20:09:28.907Z,1553803768.907 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T20:09:28.907Z,1553803768.907 [Default:A.Wait] Stopped
2019-03-28T20:09:28.907Z,1553803768.907 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:09:29.328Z,1553803769.328 [Default:CheckIn] Running Loop=1
2019-03-28T20:09:29.328Z,1553803769.328 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T20:09:29.328Z,1553803769.328 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T20:09:30.902Z,1553803770.902 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:09:31.329Z,1553803771.329 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200210.00,A,3648.16336,N,12147.28336,W,0.544,276.78,280319,,,A*70
2019-03-28T20:09:31.335Z,1553803771.335 [NAL9602](INFO): GPS fix at 20190328T200210: (36.802723, -121.788056)
2019-03-28T20:09:31.383Z,1553803771.383 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T20:09:31.383Z,1553803771.383 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T20:09:38.161Z,1553803778.161 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190328T190542/Courier0082.lzma
2019-03-28T20:09:38.967Z,1553803778.967 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0082.lzma.bak
2019-03-28T20:09:38.968Z,1553803778.968 [DataOverHttps](INFO): SBD MOMSN=10272457
2019-03-28T20:09:40.312Z,1553803780.312 [RDI_Pathfinder](ERROR): Failed to parse:-56,    +5,   +17,   +37,A
2019-03-28T20:09:53.078Z,1553803793.078 [DataOverHttps](INFO): Sending 545 bytes from file Logs/20190328T190542/Express0083.lzma
2019-03-28T20:09:53.884Z,1553803793.884 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0083.lzma.bak
2019-03-28T20:09:53.884Z,1553803793.884 [DataOverHttps](INFO): SBD MOMSN=10272460
2019-03-28T20:09:55.673Z,1553803795.673 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T20:09:55.673Z,1553803795.673 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-28T20:09:55.678Z,1553803795.678 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:10:02.088Z,1553803802.088 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T20:10:02.162Z,1553803802.162 [NAL9602](FAULT): received: 
+CSQ:0

OK93, 2, 0, 0, 0

OK
2019-03-28T20:10:02.162Z,1553803802.162 [NAL9602] Data Fault, FailCount= 1
2019-03-28T20:10:02.162Z,1553803802.162 [NAL9602](ERROR): Data Fault
2019-03-28T20:10:02.261Z,1553803802.261 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-28T20:10:02.492Z,1553803802.492 [NAL9602](INFO): Powering down
2019-03-28T20:10:03.388Z,1553803803.388 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-28T20:10:03.388Z,1553803803.388 [NAL9602] No Fault, FailCount= 1
2019-03-28T20:10:32.800Z,1553803832.800 [NAL9602](INFO): Powering up NAL9602
2019-03-28T20:10:43.700Z,1553803843.700 [NAL9602](INFO): NAL9602 initialized
2019-03-28T20:11:14.807Z,1553803874.807 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T20:12:01.323Z,1553803921.323 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-03-28T20:12:01.323Z,1553803921.323 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +3.76,     ,        +8.73,   9.72,  0.00
2019-03-28T20:12:01.342Z,1553803921.342 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T20:12:01.342Z,1553803921.342 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T20:12:01.404Z,1553803921.404 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T20:12:01.717Z,1553803921.717 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T20:12:01.717Z,1553803921.717 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T20:12:29.104Z,1553803949.104 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T200507
2019-03-28T20:12:34.598Z,1553803954.598 [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" 4b92x 1 3
2019-03-28T20:12:34.693Z,1553803954.693 [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" 4b92x 1 3.000000
2019-03-28T20:12:34.693Z,1553803954.693 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b92x
2019-03-28T20:12:34.694Z,1553803954.694 [CommandLine](IMPORTANT): Scheduled #21 (#1 of 3 with id='4b92x'): "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
2019-03-28T20:12:35.404Z,1553803955.404 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T200514
2019-03-28T20:12:41.070Z,1553803961.070 [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" 4b92x 2 3
2019-03-28T20:12:41.117Z,1553803961.117 [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" 4b92x 2 3.000000
2019-03-28T20:12:41.117Z,1553803961.117 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b92x
2019-03-28T20:12:41.119Z,1553803961.119 [CommandLine](IMPORTANT): Scheduled #22 (#2 of 3 with id='4b92x'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T20:12:41.875Z,1553803961.875 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T200520
2019-03-28T20:12:47.374Z,1553803967.374 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b92x 3 3
2019-03-28T20:12:47.428Z,1553803967.428 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b92x 3 3.000000
2019-03-28T20:12:47.429Z,1553803967.429 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b92x
2019-03-28T20:12:47.430Z,1553803967.430 [CommandLine](IMPORTANT): Scheduled #23 (#3 of 3 with id='4b92x'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T20:12:47.520Z,1553803967.520 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:12:47.521Z,1553803967.521 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:12:47.760Z,1553803967.760 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T20:12:47.766Z,1553803967.766 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T20:12:47.769Z,1553803967.769 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T20:12:47.781Z,1553803967.781 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T20:12:47.783Z,1553803967.783 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T20:12:47.786Z,1553803967.786 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T20:12:47.789Z,1553803967.789 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T20:12:47.791Z,1553803967.791 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T20:12:47.793Z,1553803967.793 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T20:12:47.796Z,1553803967.796 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T20:12:47.798Z,1553803967.798 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T20:12:47.800Z,1553803967.800 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T20:12:47.803Z,1553803967.803 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T20:12:47.805Z,1553803967.805 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T20:12:47.808Z,1553803967.808 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T20:12:47.826Z,1553803967.826 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T20:12:47.828Z,1553803967.828 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T20:12:47.835Z,1553803967.835 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T20:12:47.837Z,1553803967.837 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T20:12:47.844Z,1553803967.844 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T20:12:47.850Z,1553803967.850 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T20:12:47.853Z,1553803967.853 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T20:12:47.859Z,1553803967.859 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T20:12:47.861Z,1553803967.861 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T20:12:47.872Z,1553803967.872 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T20:12:47.878Z,1553803967.878 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T20:12:47.880Z,1553803967.880 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T20:12:47.887Z,1553803967.887 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T20:12:47.889Z,1553803967.889 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T20:12:47.899Z,1553803967.899 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T20:12:47.900Z,1553803967.900 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T20:12:47.940Z,1553803967.940 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T20:12:47.947Z,1553803967.947 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T20:12:47.949Z,1553803967.949 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T20:12:47.954Z,1553803967.954 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T20:12:47.964Z,1553803967.964 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T20:12:47.980Z,1553803967.980 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T20:12:47.997Z,1553803967.997 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T20:12:48.183Z,1553803968.183 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T20:12:48.188Z,1553803968.188 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T20:12:48.199Z,1553803968.199 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T20:12:48.222Z,1553803968.222 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T20:12:48.224Z,1553803968.224 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T20:12:48.238Z,1553803968.238 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T20:12:48.241Z,1553803968.241 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T20:12:48.244Z,1553803968.244 [Reporter](INFO): HorizontalControl.headingCmd 3.832567 rad
2019-03-28T20:12:48.266Z,1553803968.266 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T20:12:48.355Z,1553803968.355 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T20:12:48.362Z,1553803968.362 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T20:12:48.369Z,1553803968.369 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T20:12:48.372Z,1553803968.372 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T20:12:48.394Z,1553803968.394 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T20:12:48.396Z,1553803968.396 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T20:12:48.435Z,1553803968.435 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:12:48.443Z,1553803968.443 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Construct.
2019-03-28T20:12:48.473Z,1553803968.473 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:12:48.476Z,1553803968.476 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T20:12:48.488Z,1553803968.488 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:12:48.495Z,1553803968.495 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:12:48.501Z,1553803968.501 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T20:12:48.591Z,1553803968.591 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="cameraRange"><Description>
        Range to activate the camera payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

    <Aggregate Id="SurfaceComms">

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

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


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

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

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

<!-- Request desired engineering data -->

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

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

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

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

    <Aggregate Id="DiveCmd">

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

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

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

        <When>
            <Called/>
        </When>

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

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

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

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

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

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
            </While>

            <Call RefId="RequestPing"/>
        </Aggregate>
        
<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
   
        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

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

<!--            <Timeout Duration="TerminalGuidanceTimeout"/>-->

            <Aggregate Id="UpdateHeading">            
                <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>
 <!--                       
            <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> <!-- End of terminal guidance -->            

        <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>


2019-03-28T20:12:48.592Z,1553803968.592 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:12:59.165Z,1553803979.165 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T20:12:59.166Z,1553803979.166 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T20:12:59.167Z,1553803979.167 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T20:12:59.168Z,1553803979.168 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T20:13:02.313Z,1553803982.313 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-03-28T20:13:02.342Z,1553803982.342 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +17,   -1,A
2019-03-28T20:13:16.998Z,1553803996.998 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T20:13:16.999Z,1553803996.999 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T20:13:16.000Z,1553803997.000 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T20:13:17.001Z,1553803997.001 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T20:13:29.939Z,1553804009.939 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T20:13:29.939Z,1553804009.939 [CommandLine](IMPORTANT): got command run 
2019-03-28T20:13:29.941Z,1553804009.941 [CommandLine](IMPORTANT): Running 
2019-03-28T20:13:30.324Z,1553804010.324 [Default] Stopped
2019-03-28T20:13:30.324Z,1553804010.324 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T20:13:30.324Z,1553804010.324 [Default:B.GoToSurface] Stopped
2019-03-28T20:13:30.324Z,1553804010.324 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:13:30.324Z,1553804010.324 [Default:CheckIn] Stopped
2019-03-28T20:13:30.324Z,1553804010.324 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T20:13:30.325Z,1553804010.325 [Default:CheckIn:C.Wait] Stopped
2019-03-28T20:13:30.325Z,1553804010.325 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:13:30.325Z,1553804010.325 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T20:13:30.325Z,1553804010.325 [lineCaptureHoming] Running Loop=1
2019-03-28T20:13:30.325Z,1553804010.325 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T20:13:30.325Z,1553804010.325 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:13:30.325Z,1553804010.325 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:13:30.325Z,1553804010.325 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:13:30.326Z,1553804010.326 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:13:30.327Z,1553804010.327 [lineCaptureHoming:B] Running Loop=1
2019-03-28T20:13:30.328Z,1553804010.328 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:13:30.328Z,1553804010.328 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T20:13:30.329Z,1553804010.329 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:13:30.329Z,1553804010.329 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T20:13:30.329Z,1553804010.329 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:13:30.329Z,1553804010.329 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:13:30.346Z,1553804010.346 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:13:30.346Z,1553804010.346 [lineCaptureHoming:B] Stopped
2019-03-28T20:13:30.346Z,1553804010.346 [lineCaptureHoming:C] Running Loop=1
2019-03-28T20:13:30.347Z,1553804010.347 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:13:30.347Z,1553804010.347 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:13:30.347Z,1553804010.347 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:13:30.347Z,1553804010.347 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:13:30.679Z,1553804010.679 [lineCaptureHoming:C] Stopped
2019-03-28T20:13:30.679Z,1553804010.679 [lineCaptureHoming:D] Running Loop=1
2019-03-28T20:13:31.011Z,1553804011.011 [lineCaptureHoming:D] Stopped
2019-03-28T20:13:31.011Z,1553804011.011 [lineCaptureHoming:F] Running Loop=1
2019-03-28T20:13:31.414Z,1553804011.414 [lineCaptureHoming:F] Stopped
2019-03-28T20:13:31.414Z,1553804011.414 [lineCaptureHoming:G] Running Loop=1
2019-03-28T20:13:31.814Z,1553804011.814 [lineCaptureHoming:G] Stopped
2019-03-28T20:13:31.814Z,1553804011.814 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T20:13:31.815Z,1553804011.815 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T20:13:32.214Z,1553804012.214 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T20:13:32.214Z,1553804012.214 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T20:13:32.214Z,1553804012.214 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T20:13:32.215Z,1553804012.215 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T20:13:32.215Z,1553804012.215 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T20:13:32.215Z,1553804012.215 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:13:32.626Z,1553804012.626 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T20:13:32.626Z,1553804012.626 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T20:13:32.626Z,1553804012.626 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T20:13:32.627Z,1553804012.627 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:13:32.627Z,1553804012.627 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T20:13:32.627Z,1553804012.627 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T20:13:32.628Z,1553804012.628 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T20:13:32.628Z,1553804012.628 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:13:32.628Z,1553804012.628 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:13:32.629Z,1553804012.629 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T20:13:32.637Z,1553804012.637 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553803330.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T20:13:32.637Z,1553804012.637 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T20:13:33.035Z,1553804013.035 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T20:13:33.447Z,1553804013.447 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:13:34.622Z,1553804014.622 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:13:44.767Z,1553804024.767 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553804032.000000 second
2019-03-28T20:13:45.214Z,1553804025.214 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T20:13:45.214Z,1553804025.214 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T20:13:45.698Z,1553804025.698 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T20:13:52.286Z,1553804032.286 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190328T190542/Courier0085.lzma
2019-03-28T20:13:53.083Z,1553804033.083 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0085.lzma.bak
2019-03-28T20:13:53.084Z,1553804033.084 [DataOverHttps](INFO): SBD MOMSN=10272512
2019-03-28T20:14:04.360Z,1553804044.360 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T20:14:08.169Z,1553804048.169 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T190542/Courier0088.lzma
2019-03-28T20:14:08.976Z,1553804048.976 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0088.lzma.bak
2019-03-28T20:14:08.976Z,1553804048.976 [DataOverHttps](INFO): SBD MOMSN=10272515
2019-03-28T20:14:16.001Z,1553804056.001 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T20:14:16.001Z,1553804056.001 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T20:14:22.455Z,1553804062.455 [DataOverHttps](INFO): Sending 695 bytes from file Logs/20190328T190542/Express0086.lzma
2019-03-28T20:14:23.253Z,1553804063.253 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0086.lzma.bak
2019-03-28T20:14:23.253Z,1553804063.253 [DataOverHttps](INFO): SBD MOMSN=10272517
2019-03-28T20:14:33.792Z,1553804073.792 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T20:14:38.153Z,1553804078.153 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T190542/Express0090.lzma
2019-03-28T20:14:38.961Z,1553804078.961 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0090.lzma.bak
2019-03-28T20:14:38.961Z,1553804078.961 [DataOverHttps](INFO): SBD MOMSN=10272547
2019-03-28T20:14:39.615Z,1553804079.615 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553804032.000000 second
2019-03-28T20:14:40.699Z,1553804080.699 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T20:14:40.699Z,1553804080.699 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T20:14:41.087Z,1553804081.087 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:14:42.286Z,1553804082.286 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:14:42.666Z,1553804082.666 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200720.00,A,3648.16614,N,12147.28019,W,0.641,0.00,280319,,,A*77
2019-03-28T20:14:42.668Z,1553804082.668 [NAL9602](INFO): GPS fix at 20190328T200720: (36.802769, -121.788003)
2019-03-28T20:14:42.739Z,1553804082.739 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T20:14:42.739Z,1553804082.739 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T20:14:42.740Z,1553804082.740 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T20:14:42.740Z,1553804082.740 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T20:14:42.740Z,1553804082.740 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T20:14:42.740Z,1553804082.740 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:14:43.147Z,1553804083.147 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T20:14:43.147Z,1553804083.147 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T20:14:43.147Z,1553804083.147 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:14:43.147Z,1553804083.147 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T20:14:43.543Z,1553804083.543 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T20:14:43.543Z,1553804083.543 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T20:14:43.907Z,1553804083.907 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T20:14:43.907Z,1553804083.907 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T20:14:43.907Z,1553804083.907 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T20:14:43.907Z,1553804083.907 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T20:14:44.395Z,1553804084.395 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T20:14:44.395Z,1553804084.395 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T20:14:44.395Z,1553804084.395 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:14:44.396Z,1553804084.396 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:14:44.397Z,1553804084.397 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T20:14:44.397Z,1553804084.397 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:14:44.397Z,1553804084.397 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T20:14:44.720Z,1553804084.720 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:14:44.721Z,1553804084.721 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T20:14:44.726Z,1553804084.726 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T20:14:44.726Z,1553804084.726 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T20:14:44.726Z,1553804084.726 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T20:14:44.726Z,1553804084.726 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T20:14:44.726Z,1553804084.726 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T20:14:44.726Z,1553804084.726 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T20:14:44.727Z,1553804084.727 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T20:14:44.727Z,1553804084.727 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T20:14:44.728Z,1553804084.728 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:14:44.729Z,1553804084.729 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:14:44.734Z,1553804084.734 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T20:14:44.734Z,1553804084.734 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:14:44.734Z,1553804084.734 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T20:14:44.734Z,1553804084.734 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:14:44.735Z,1553804084.735 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T20:14:44.736Z,1553804084.736 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T20:14:44.736Z,1553804084.736 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T20:14:44.736Z,1553804084.736 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T20:14:44.784Z,1553804084.784 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T20:14:45.087Z,1553804085.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:14:45.093Z,1553804085.093 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:14:45.209Z,1553804085.209 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T20:14:45.209Z,1553804085.209 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T20:14:45.209Z,1553804085.209 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T20:14:45.214Z,1553804085.214 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T20:14:45.214Z,1553804085.214 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T20:14:45.214Z,1553804085.214 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:14:45.216Z,1553804085.216 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T20:14:45.216Z,1553804085.217 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:14:45.217Z,1553804085.217 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T20:14:45.217Z,1553804085.217 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:14:45.217Z,1553804085.217 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T20:14:45.217Z,1553804085.217 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:14:45.217Z,1553804085.217 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:14:45.492Z,1553804085.492 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U000,187,80,81,0C,FF
2019-03-28T20:14:45.606Z,1553804085.606 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:14:45.607Z,1553804085.607 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:14:45.607Z,1553804085.607 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:14:45.607Z,1553804085.607 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:14:45.607Z,1553804085.607 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:14:45.607Z,1553804085.607 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:14:45.607Z,1553804085.607 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:14:45.609Z,1553804085.609 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T20:14:45.618Z,1553804085.618 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:14:45.618Z,1553804085.618 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:14:45.618Z,1553804085.618 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:14:45.618Z,1553804085.618 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:14:45.619Z,1553804085.619 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:14:45.667Z,1553804085.667 [Reporter](INFO): HorizontalControl.headingCmd 3.183979 rad
2019-03-28T20:14:49.125Z,1553804089.125 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:14:49.131Z,1553804089.131 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:14:49.535Z,1553804089.535 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T20:14:53.172Z,1553804093.172 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:14:53.179Z,1553804093.179 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:14:53.728Z,1553804093.728 [Reporter](INFO): acoustic_contact_range 8.339999 m
2019-03-28T20:14:53.729Z,1553804093.729 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.174290 rad
2019-03-28T20:14:57.214Z,1553804097.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:14:57.220Z,1553804097.220 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:14:57.715Z,1553804097.715 [Reporter](INFO): acoustic_contact_range 10.260000 m
2019-03-28T20:14:57.716Z,1553804097.716 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.196109 rad
2019-03-28T20:15:01.250Z,1553804101.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:01.255Z,1553804101.255 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:01.649Z,1553804101.649 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,16,FF
2019-03-28T20:15:05.314Z,1553804105.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:05.324Z,1553804105.324 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:06.007Z,1553804106.007 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-28T20:15:06.009Z,1553804106.009 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.147989 rad
2019-03-28T20:15:09.328Z,1553804109.328 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:09.332Z,1553804109.332 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:09.815Z,1553804109.815 [Reporter](INFO): acoustic_contact_range 80.940002 m
2019-03-28T20:15:09.816Z,1553804109.816 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.150678 rad
2019-03-28T20:15:13.376Z,1553804113.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:13.435Z,1553804113.435 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:13.775Z,1553804113.775 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T20:15:14.988Z,1553804114.988 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T20:15:17.412Z,1553804117.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:17.416Z,1553804117.416 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:17.971Z,1553804117.971 [Reporter](INFO): acoustic_contact_range 153.180008 m
2019-03-28T20:15:17.972Z,1553804117.972 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.916178 rad
2019-03-28T20:15:21.452Z,1553804121.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:21.458Z,1553804121.458 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:21.855Z,1553804121.855 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,11,FF
2019-03-28T20:15:25.488Z,1553804125.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:25.492Z,1553804125.492 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:25.903Z,1553804125.903 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T20:15:29.536Z,1553804129.536 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:29.540Z,1553804129.540 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:29.939Z,1553804129.939 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T20:15:33.572Z,1553804133.572 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:33.577Z,1553804133.577 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:34.075Z,1553804134.075 [Reporter](INFO): acoustic_contact_range 8.880000 m
2019-03-28T20:15:34.076Z,1553804134.076 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.141140 rad
2019-03-28T20:15:37.612Z,1553804137.612 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:37.630Z,1553804137.630 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:38.009Z,1553804138.009 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0C,FF
2019-03-28T20:15:41.646Z,1553804141.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:41.651Z,1553804141.651 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:41.691Z,1553804141.691 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T20:15:41.691Z,1553804141.691 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,190328131653 -0.1,   0.0,1448.9,  0
2019-03-28T20:15:41.729Z,1553804141.729 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T20:15:41.729Z,1553804141.729 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T20:15:41.808Z,1553804141.808 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T20:15:42.170Z,1553804142.170 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T20:15:42.170Z,1553804142.170 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T20:15:42.171Z,1553804142.171 [Reporter](INFO): acoustic_contact_range 8.759999 m
2019-03-28T20:15:42.173Z,1553804142.173 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.140453 rad
2019-03-28T20:15:45.692Z,1553804145.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:45.697Z,1553804145.697 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:46.095Z,1553804146.095 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,187,80,81,0C,FF
2019-03-28T20:15:49.732Z,1553804149.732 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:49.737Z,1553804149.737 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:50.131Z,1553804150.131 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,0F,FF
2019-03-28T20:15:53.768Z,1553804153.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:53.772Z,1553804153.772 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:54.169Z,1553804154.169 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: !U100,185,80,81,12,FF
2019-03-28T20:15:57.808Z,1553804157.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:15:57.814Z,1553804157.814 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:15:58.395Z,1553804158.395 [Reporter](INFO): acoustic_contact_range 8.999999 m
2019-03-28T20:15:58.396Z,1553804158.396 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.135629 rad
2019-03-28T20:16:01.848Z,1553804161.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:01.853Z,1553804161.853 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:02.263Z,1553804162.263 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T20:16:05.468Z,1553804165.468 [CommandLine](IMPORTANT): got command show stack
2019-03-28T20:16:05.469Z,1553804165.469 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-28T20:16:05.470Z,1553804165.470 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-28T20:16:05.470Z,1553804165.470 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-28T20:16:05.470Z,1553804165.470 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-28T20:16:05.471Z,1553804165.471 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:I.
2019-03-28T20:16:05.471Z,1553804165.471 [lineCaptureHoming](IMPORTANT): Priority 4: lineCaptureHoming:J.Mass
2019-03-28T20:16:05.471Z,1553804165.471 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:K.Buoyancy
2019-03-28T20:16:05.471Z,1553804165.471 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:L
2019-03-28T20:16:05.472Z,1553804165.472 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:M
2019-03-28T20:16:05.472Z,1553804165.472 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 8: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-03-28T20:16:05.472Z,1553804165.472 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 9: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed
2019-03-28T20:16:05.473Z,1553804165.473 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 10: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo
2019-03-28T20:16:05.473Z,1553804165.473 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 11: lineCaptureHoming:RequestPing:A
2019-03-28T20:16:05.473Z,1553804165.473 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 12: lineCaptureHoming:RequestPing:B
2019-03-28T20:16:05.510Z,1553804165.510 [lineCaptureHoming:RequestPing](IMPORTANT): Priority 13: lineCaptureHoming:RequestPing:C
2019-03-28T20:16:05.511Z,1553804165.511 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](IMPORTANT): Priority 14: lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point
2019-03-28T20:16:05.511Z,1553804165.511 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](IMPORTANT): Priority 15: lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait
2019-03-28T20:16:05.892Z,1553804165.892 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:05.896Z,1553804165.896 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:09.928Z,1553804169.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:09.933Z,1553804169.933 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:10.335Z,1553804170.335 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T20:16:13.972Z,1553804173.972 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:13.977Z,1553804173.977 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:14.369Z,1553804174.369 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,12,FF
2019-03-28T20:16:18.012Z,1553804178.012 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:18.016Z,1553804178.016 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:18.503Z,1553804178.503 [Reporter](INFO): acoustic_contact_range 17.280001 m
2019-03-28T20:16:18.504Z,1553804178.504 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.962315 rad
2019-03-28T20:16:22.052Z,1553804182.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:22.058Z,1553804182.058 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:22.667Z,1553804182.667 [Reporter](INFO): acoustic_contact_range 10.260000 m
2019-03-28T20:16:22.668Z,1553804182.668 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.143760 rad
2019-03-28T20:16:26.092Z,1553804186.092 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:26.111Z,1553804186.111 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:26.655Z,1553804186.655 [Reporter](INFO): acoustic_contact_range 7.080001 m
2019-03-28T20:16:26.656Z,1553804186.656 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.149122 rad
2019-03-28T20:16:30.132Z,1553804190.132 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:30.136Z,1553804190.136 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:30.529Z,1553804190.529 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,19,FF
2019-03-28T20:16:34.165Z,1553804194.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:34.171Z,1553804194.171 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:34.711Z,1553804194.711 [Reporter](INFO): acoustic_contact_range 23.459999 m
2019-03-28T20:16:34.712Z,1553804194.712 [Reporter](INFO): TrackAcousticContact.heading_to_contact 2.622156 rad
2019-03-28T20:16:38.208Z,1553804198.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:38.212Z,1553804198.212 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:38.623Z,1553804198.623 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T20:16:42.260Z,1553804202.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:42.265Z,1553804202.265 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:42.306Z,1553804202.306 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T20:16:42.307Z,1553804202.307 [RDI_Pathfinder](ERROR): Failed to parse:
:RA, 67.97,  94.92,  98.42,  96.42
2019-03-28T20:16:42.743Z,1553804202.743 [Reporter](INFO): acoustic_contact_range 38.579998 m
2019-03-28T20:16:42.744Z,1553804202.744 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.201973 rad
2019-03-28T20:16:43.583Z,1553804203.583 [Reporter](INFO): acoustic_contact_range 44.220001 m
2019-03-28T20:16:43.584Z,1553804203.584 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.203504 rad
2019-03-28T20:16:46.303Z,1553804206.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:46.328Z,1553804206.328 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:50.332Z,1553804210.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:50.337Z,1553804210.337 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:50.835Z,1553804210.835 [Reporter](INFO): acoustic_contact_range 89.220009 m
2019-03-28T20:16:50.836Z,1553804210.836 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.233912 rad
2019-03-28T20:16:54.372Z,1553804214.372 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:54.376Z,1553804214.376 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:58.408Z,1553804218.408 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:16:58.415Z,1553804218.415 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:16:58.816Z,1553804218.816 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,10,FF
2019-03-28T20:17:02.452Z,1553804222.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:17:02.470Z,1553804222.470 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:17:02.947Z,1553804222.947 [Reporter](INFO): acoustic_contact_range 6.059999 m
2019-03-28T20:17:02.948Z,1553804222.948 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.207518 rad
2019-03-28T20:17:06.492Z,1553804226.492 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:17:06.496Z,1553804226.496 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:17:06.895Z,1553804226.895 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T20:17:10.527Z,1553804230.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:17:10.533Z,1553804230.533 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:17:11.051Z,1553804231.051 [Reporter](INFO): acoustic_contact_range 13.139999 m
2019-03-28T20:17:11.052Z,1553804231.052 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.145844 rad
2019-03-28T20:17:14.580Z,1553804234.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:17:14.585Z,1553804234.585 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:17:15.071Z,1553804235.071 [Reporter](INFO): acoustic_contact_range 59.820000 m
2019-03-28T20:17:15.072Z,1553804235.072 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.511753 rad
2019-03-28T20:17:16.734Z,1553804236.734 [CommandLine](IMPORTANT): got command stop
2019-03-28T20:17:16.735Z,1553804236.735 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T20:17:17.059Z,1553804237.059 [MissionManager](INFO): MissionManager is completed.
2019-03-28T20:17:17.060Z,1553804237.060 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming] Stopped
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T20:17:17.060Z,1553804237.060 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:I.] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:L] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:M] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:17:17.061Z,1553804237.061 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T20:17:17.062Z,1553804237.062 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:17:17.063Z,1553804237.063 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:17:17.064Z,1553804237.064 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:17:17.123Z,1553804237.123 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T20:17:17.434Z,1553804237.434 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T20:17:17.435Z,1553804237.435 [Default] Running Loop=1
2019-03-28T20:17:17.435Z,1553804237.435 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T20:17:17.435Z,1553804237.435 [Default:B.GoToSurface] Running Loop=1
2019-03-28T20:17:17.435Z,1553804237.435 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:17:17.435Z,1553804237.435 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T20:17:17.436Z,1553804237.436 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T20:17:17.436Z,1553804237.436 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T20:17:17.436Z,1553804237.436 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:17:17.437Z,1553804237.437 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:17:17.437Z,1553804237.437 [Default:A.Wait] Running Loop=1
2019-03-28T20:17:17.438Z,1553804237.438 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:17:17.495Z,1553804237.495 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T20:17:30.812Z,1553804250.812 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T20:17:30.812Z,1553804250.812 [Default:A.Wait] Stopped
2019-03-28T20:17:30.812Z,1553804250.812 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:17:31.372Z,1553804251.372 [Default:CheckIn] Running Loop=1
2019-03-28T20:17:31.372Z,1553804251.372 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T20:17:31.372Z,1553804251.372 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T20:17:32.762Z,1553804252.762 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:17:33.161Z,1553804253.161 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201010.00,A,3648.16475,N,12147.27847,W,0.330,0.00,280319,,,A*78
2019-03-28T20:17:33.164Z,1553804253.164 [NAL9602](INFO): GPS fix at 20190328T201010: (36.802746, -121.787975)
2019-03-28T20:17:33.227Z,1553804253.227 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T20:17:33.227Z,1553804253.227 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T20:17:40.777Z,1553804260.777 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0089.lzma
2019-03-28T20:17:41.584Z,1553804261.584 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0089.lzma.bak
2019-03-28T20:17:41.584Z,1553804261.584 [DataOverHttps](INFO): SBD MOMSN=10272555
2019-03-28T20:17:55.181Z,1553804275.181 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Express0091.lzma
2019-03-28T20:17:55.988Z,1553804275.988 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0091.lzma.bak
2019-03-28T20:17:55.988Z,1553804275.988 [DataOverHttps](INFO): SBD MOMSN=10272557
2019-03-28T20:17:57.829Z,1553804277.829 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T20:17:57.829Z,1553804277.829 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-28T20:17:57.829Z,1553804277.829 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:18:03.856Z,1553804283.856 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T20:18:03.930Z,1553804283.930 [NAL9602](FAULT): received: 
+CSQ:0

OK93, 2, 0, 0, 0

OK
2019-03-28T20:18:03.930Z,1553804283.930 [NAL9602] Data Fault, FailCount= 1
2019-03-28T20:18:03.930Z,1553804283.930 [NAL9602](ERROR): Data Fault
2019-03-28T20:18:03.967Z,1553804283.967 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-28T20:18:04.172Z,1553804284.172 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T201042
2019-03-28T20:18:04.267Z,1553804284.267 [NAL9602](INFO): Powering down
2019-03-28T20:18:05.258Z,1553804285.258 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-28T20:18:05.258Z,1553804285.258 [NAL9602] No Fault, FailCount= 1
2019-03-28T20:18:10.894Z,1553804290.894 [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" 4b9cj 1 3
2019-03-28T20:18:10.931Z,1553804290.931 [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" 4b9cj 1 3.000000
2019-03-28T20:18:10.931Z,1553804290.931 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b9cj
2019-03-28T20:18:10.932Z,1553804290.932 [CommandLine](IMPORTANT): Scheduled #24 (#1 of 3 with id='4b9cj'): "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
2019-03-28T20:18:11.696Z,1553804291.696 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T201050
2019-03-28T20:18:21.358Z,1553804301.358 [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" 4b9cj 2 3
2019-03-28T20:18:21.455Z,1553804301.455 [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" 4b9cj 2 3.000000
2019-03-28T20:18:21.455Z,1553804301.455 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b9cj
2019-03-28T20:18:21.456Z,1553804301.456 [CommandLine](IMPORTANT): Scheduled #25 (#2 of 3 with id='4b9cj'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T20:18:22.163Z,1553804302.163 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T201100
2019-03-28T20:18:31.181Z,1553804311.181 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b9cj 3 3
2019-03-28T20:18:31.259Z,1553804311.259 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b9cj 3 3.000000
2019-03-28T20:18:31.260Z,1553804311.260 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b9cj
2019-03-28T20:18:31.264Z,1553804311.264 [CommandLine](IMPORTANT): Scheduled #26 (#3 of 3 with id='4b9cj'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T20:18:31.329Z,1553804311.329 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:18:31.346Z,1553804311.346 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:18:31.649Z,1553804311.649 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T20:18:31.652Z,1553804311.652 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T20:18:31.654Z,1553804311.654 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T20:18:31.657Z,1553804311.657 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T20:18:31.661Z,1553804311.661 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T20:18:31.666Z,1553804311.666 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T20:18:31.669Z,1553804311.669 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T20:18:31.671Z,1553804311.671 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T20:18:31.674Z,1553804311.674 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T20:18:31.677Z,1553804311.677 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T20:18:31.679Z,1553804311.679 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T20:18:31.683Z,1553804311.683 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T20:18:31.685Z,1553804311.685 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T20:18:31.688Z,1553804311.688 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T20:18:31.691Z,1553804311.691 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T20:18:31.694Z,1553804311.694 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T20:18:31.697Z,1553804311.697 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T20:18:31.699Z,1553804311.699 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T20:18:31.702Z,1553804311.702 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T20:18:31.704Z,1553804311.704 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T20:18:31.706Z,1553804311.706 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T20:18:31.709Z,1553804311.709 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T20:18:31.712Z,1553804311.712 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T20:18:31.714Z,1553804311.714 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T20:18:31.716Z,1553804311.716 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T20:18:31.719Z,1553804311.719 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T20:18:31.721Z,1553804311.721 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T20:18:31.723Z,1553804311.723 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T20:18:31.725Z,1553804311.725 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T20:18:31.728Z,1553804311.728 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T20:18:31.728Z,1553804311.728 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T20:18:31.778Z,1553804311.778 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T20:18:31.780Z,1553804311.780 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T20:18:31.783Z,1553804311.783 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T20:18:31.784Z,1553804311.784 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T20:18:31.857Z,1553804311.857 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T20:18:31.869Z,1553804311.869 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T20:18:31.891Z,1553804311.891 [Reporter](INFO): HorizontalControl.headingCmd 3.183979 rad
2019-03-28T20:18:31.902Z,1553804311.902 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T20:18:31.993Z,1553804311.993 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T20:18:32.031Z,1553804312.031 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T20:18:32.050Z,1553804312.050 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T20:18:32.052Z,1553804312.052 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T20:18:32.054Z,1553804312.054 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T20:18:32.056Z,1553804312.056 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T20:18:32.069Z,1553804312.069 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T20:18:32.074Z,1553804312.074 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T20:18:32.139Z,1553804312.139 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T20:18:32.142Z,1553804312.142 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T20:18:32.161Z,1553804312.161 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T20:18:32.163Z,1553804312.163 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T20:18:32.183Z,1553804312.183 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T20:18:32.185Z,1553804312.185 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T20:18:32.338Z,1553804312.338 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:18:32.367Z,1553804312.367 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Construct.
2019-03-28T20:18:32.376Z,1553804312.376 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:18:32.392Z,1553804312.392 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T20:18:32.405Z,1553804312.405 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:18:32.427Z,1553804312.427 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:18:32.442Z,1553804312.442 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T20:18:32.491Z,1553804312.491 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="cameraRange"><Description>
        Range to activate the camera payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

    <Aggregate Id="SurfaceComms">

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

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


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

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

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

<!-- Request desired engineering data -->

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

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

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

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

    <Aggregate Id="DiveCmd">

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

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

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

        <When>
            <Called/>
        </When>

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

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

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

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

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

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
            </While>

            <Call RefId="RequestPing"/>
        </Aggregate>
        
<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
   
        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

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

<!--            <Timeout Duration="TerminalGuidanceTimeout"/>-->

            <Aggregate Id="UpdateHeading">            
                <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> -->
               <Setting><Guidance:Wait.duration/><Units:second/><Value>10</Value></Setting>
            </Guidance:Wait> 
           
            </Aggregate>
 <!--                       
            <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> <!-- End of terminal guidance -->            

        <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>


2019-03-28T20:18:32.492Z,1553804312.492 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:18:33.476Z,1553804313.476 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032813194578,35.0, -0.1,   0.0,1448.9,  0
2019-03-28T20:18:34.640Z,1553804314.640 [NAL9602](INFO): Powering up NAL9602
2019-03-28T20:18:44.093Z,1553804324.093 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T20:18:44.094Z,1553804324.094 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T20:18:44.095Z,1553804324.095 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T20:18:44.096Z,1553804324.096 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T20:18:45.548Z,1553804325.548 [NAL9602](INFO): NAL9602 initialized
2019-03-28T20:18:57.044Z,1553804337.044 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T20:18:57.045Z,1553804337.045 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T20:18:57.046Z,1553804337.046 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T20:18:57.047Z,1553804337.047 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T20:19:05.129Z,1553804345.129 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T20:19:05.129Z,1553804345.129 [CommandLine](IMPORTANT): got command run 
2019-03-28T20:19:05.166Z,1553804345.166 [CommandLine](IMPORTANT): Running 
2019-03-28T20:19:05.400Z,1553804345.400 [Default] Stopped
2019-03-28T20:19:05.400Z,1553804345.400 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T20:19:05.400Z,1553804345.400 [Default:B.GoToSurface] Stopped
2019-03-28T20:19:05.400Z,1553804345.400 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:19:05.400Z,1553804345.400 [Default:CheckIn] Stopped
2019-03-28T20:19:05.400Z,1553804345.400 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T20:19:05.400Z,1553804345.400 [Default:CheckIn:C.Wait] Stopped
2019-03-28T20:19:05.400Z,1553804345.400 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:19:05.400Z,1553804345.400 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming] Running Loop=1
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:19:05.401Z,1553804345.401 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:19:05.406Z,1553804345.406 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T20:19:05.407Z,1553804345.407 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:19:05.407Z,1553804345.407 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:19:05.407Z,1553804345.407 [lineCaptureHoming:B] Running Loop=1
2019-03-28T20:19:05.408Z,1553804345.408 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:19:05.408Z,1553804345.408 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T20:19:05.408Z,1553804345.408 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:19:05.409Z,1553804345.409 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T20:19:05.409Z,1553804345.409 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:19:05.409Z,1553804345.409 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:19:05.409Z,1553804345.409 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:19:05.414Z,1553804345.414 [lineCaptureHoming:B] Stopped
2019-03-28T20:19:05.414Z,1553804345.414 [lineCaptureHoming:C] Running Loop=1
2019-03-28T20:19:05.414Z,1553804345.414 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:19:05.414Z,1553804345.414 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:19:05.414Z,1553804345.414 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:19:05.415Z,1553804345.415 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:19:05.920Z,1553804345.920 [lineCaptureHoming:C] Stopped
2019-03-28T20:19:05.920Z,1553804345.920 [lineCaptureHoming:D] Running Loop=1
2019-03-28T20:19:06.239Z,1553804346.239 [lineCaptureHoming:D] Stopped
2019-03-28T20:19:06.239Z,1553804346.239 [lineCaptureHoming:F] Running Loop=1
2019-03-28T20:19:06.626Z,1553804346.626 [lineCaptureHoming:F] Stopped
2019-03-28T20:19:06.626Z,1553804346.626 [lineCaptureHoming:G] Running Loop=1
2019-03-28T20:19:07.020Z,1553804347.020 [lineCaptureHoming:G] Stopped
2019-03-28T20:19:07.020Z,1553804347.020 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T20:19:07.021Z,1553804347.021 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T20:19:07.402Z,1553804347.402 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T20:19:07.402Z,1553804347.402 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T20:19:07.402Z,1553804347.402 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T20:19:07.402Z,1553804347.402 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T20:19:07.402Z,1553804347.402 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T20:19:07.403Z,1553804347.403 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:19:07.802Z,1553804347.802 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T20:19:07.802Z,1553804347.802 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T20:19:07.802Z,1553804347.802 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T20:19:07.802Z,1553804347.802 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:19:07.802Z,1553804347.802 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T20:19:07.803Z,1553804347.803 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T20:19:07.803Z,1553804347.803 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T20:19:07.804Z,1553804347.804 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:19:07.804Z,1553804347.804 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:19:07.804Z,1553804347.804 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T20:19:07.812Z,1553804347.812 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553803810.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T20:19:07.812Z,1553804347.812 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T20:19:08.206Z,1553804348.206 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T20:19:08.613Z,1553804348.613 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:19:09.802Z,1553804349.802 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:19:16.684Z,1553804356.684 [RDI_Pathfinder](ERROR): Failed to parse:
:2,    +2,    +0,-32768,A
2019-03-28T20:19:16.702Z,1553804356.702 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T20:19:16.702Z,1553804356.702 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T20:19:16.761Z,1553804356.761 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T20:19:16.955Z,1553804356.955 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553804288.000000 second
2019-03-28T20:19:17.140Z,1553804357.140 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T20:19:17.141Z,1553804357.141 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T20:19:17.164Z,1553804357.164 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T20:19:17.164Z,1553804357.164 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T20:19:17.561Z,1553804357.561 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T20:19:24.225Z,1553804364.225 [DataOverHttps](INFO): Sending 42 bytes from file Logs/20190328T190542/Courier0094.lzma
2019-03-28T20:19:26.136Z,1553804366.136 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0094.lzma.bak
2019-03-28T20:19:26.136Z,1553804366.136 [DataOverHttps](INFO): SBD MOMSN=10272563
2019-03-28T20:19:39.037Z,1553804379.037 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Courier0097.lzma
2019-03-28T20:19:39.844Z,1553804379.844 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0097.lzma.bak
2019-03-28T20:19:39.844Z,1553804379.844 [DataOverHttps](INFO): SBD MOMSN=10272566
2019-03-28T20:19:45.777Z,1553804385.777 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-03-28T20:19:45.779Z,1553804385.779 [BPC1](INFO): Received data from all battery sticks.
2019-03-28T20:19:53.346Z,1553804393.346 [DataOverHttps](INFO): Sending 695 bytes from file Logs/20190328T190542/Express0095.lzma
2019-03-28T20:19:54.152Z,1553804394.152 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0095.lzma.bak
2019-03-28T20:19:54.152Z,1553804394.152 [DataOverHttps](INFO): SBD MOMSN=10272568
2019-03-28T20:20:02.757Z,1553804402.757 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +22,   -23,    -7,A
2019-03-28T20:20:07.540Z,1553804407.540 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-03-28T20:20:10.669Z,1553804410.669 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190328T190542/Express0098.lzma
2019-03-28T20:20:11.476Z,1553804411.476 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0098.lzma.bak
2019-03-28T20:20:11.476Z,1553804411.476 [DataOverHttps](INFO): SBD MOMSN=10272598
2019-03-28T20:20:13.258Z,1553804413.258 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T20:20:13.258Z,1553804413.258 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T20:20:13.681Z,1553804413.681 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:20:24.267Z,1553804424.267 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553804416.000000 second
2019-03-28T20:20:24.626Z,1553804424.626 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T20:20:24.627Z,1553804424.627 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T20:20:24.627Z,1553804424.627 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T20:20:24.627Z,1553804424.627 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T20:20:24.627Z,1553804424.627 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T20:20:24.627Z,1553804424.627 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:20:25.008Z,1553804425.008 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T20:20:25.008Z,1553804425.008 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T20:20:25.008Z,1553804425.008 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:20:25.008Z,1553804425.008 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T20:20:25.441Z,1553804425.441 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T20:20:25.441Z,1553804425.441 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T20:20:25.795Z,1553804425.795 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T20:20:25.795Z,1553804425.795 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T20:20:25.795Z,1553804425.795 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T20:20:25.795Z,1553804425.795 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T20:20:26.202Z,1553804426.202 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T20:20:26.202Z,1553804426.202 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T20:20:26.202Z,1553804426.202 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:20:26.203Z,1553804426.203 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:20:26.204Z,1553804426.204 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T20:20:26.204Z,1553804426.204 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:20:26.204Z,1553804426.204 [lineCaptureHoming:Lap:C] Running Loop=1
2019-03-28T20:20:26.630Z,1553804426.630 [lineCaptureHoming:Lap:C] Stopped
2019-03-28T20:20:26.630Z,1553804426.630 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-03-28T20:20:26.630Z,1553804426.630 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T20:20:26.630Z,1553804426.630 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-03-28T20:20:26.630Z,1553804426.630 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::initialize lineCaptureHoming:RequestPing
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing:C] Running Loop=1
2019-03-28T20:20:26.631Z,1553804426.631 [lineCaptureHoming:RequestPing:B] Running Loop=1
2019-03-28T20:20:26.632Z,1553804426.632 [lineCaptureHoming:RequestPing:A] Running Loop=1
2019-03-28T20:20:26.632Z,1553804426.632 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_range
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:RequestPing:A](DEBUG): Initialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-03-28T20:20:26.633Z,1553804426.633 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:20:26.638Z,1553804426.638 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T20:20:26.638Z,1553804426.638 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Initialize.
2019-03-28T20:20:26.638Z,1553804426.638 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Running Loop=1
2019-03-28T20:20:26.638Z,1553804426.638 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Initialize.
2019-03-28T20:20:26.638Z,1553804426.638 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:20:26.638Z,1553804426.638 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:20:26.639Z,1553804426.639 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:20:26.640Z,1553804426.640 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-03-28T20:20:26.641Z,1553804426.641 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch] Stopped
2019-03-28T20:20:26.641Z,1553804426.641 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Running Loop=1
2019-03-28T20:20:26.641Z,1553804426.641 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Running Loop=1
2019-03-28T20:20:26.691Z,1553804426.691 [Reporter](INFO): SpeedControl.speedCmd 1.000000 m/s
2019-03-28T20:20:26.980Z,1553804426.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:26.986Z,1553804426.986 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:27.037Z,1553804427.037 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-03-28T20:20:27.037Z,1553804427.037 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-03-28T20:20:27.037Z,1553804427.037 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-03-28T20:20:27.037Z,1553804427.037 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-03-28T20:20:27.038Z,1553804427.038 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-03-28T20:20:27.038Z,1553804427.038 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:20:27.040Z,1553804427.040 [lineCaptureHoming:DiveCmd:InitialDive:dive:C] Stopped
2019-03-28T20:20:27.040Z,1553804427.040 [lineCaptureHoming:DiveCmd:InitialDive:dive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:20:27.040Z,1553804427.040 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-03-28T20:20:27.041Z,1553804427.041 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-03-28T20:20:27.041Z,1553804427.041 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed] Stopped
2019-03-28T20:20:27.041Z,1553804427.041 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:20:27.041Z,1553804427.041 [lineCaptureHoming:DiveCmd:InitialDive](INFO): Completed lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:20:27.386Z,1553804427.386 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,16,FF
2019-03-28T20:20:27.439Z,1553804427.439 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:20:27.440Z,1553804427.440 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:27.440Z,1553804427.440 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:20:27.440Z,1553804427.440 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:20:27.440Z,1553804427.440 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:20:27.440Z,1553804427.440 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:20:27.440Z,1553804427.440 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Initialize.
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:20:27.442Z,1553804427.442 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](INFO): Initialize.
2019-03-28T20:20:27.443Z,1553804427.443 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-03-28T20:20:27.443Z,1553804427.443 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-03-28T20:20:27.443Z,1553804427.443 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Running Loop=1
2019-03-28T20:20:27.443Z,1553804427.443 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Running Loop=1
2019-03-28T20:20:27.443Z,1553804427.443 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-03-28T20:20:27.563Z,1553804427.563 [Reporter](INFO): HorizontalControl.headingCmd 3.511753 rad
2019-03-28T20:20:31.016Z,1553804431.016 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:31.042Z,1553804431.042 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:35.060Z,1553804435.060 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:35.064Z,1553804435.064 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:35.551Z,1553804435.551 [Reporter](INFO): acoustic_contact_range 150.720001 m
2019-03-28T20:20:35.552Z,1553804435.552 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.776449 rad
2019-03-28T20:20:37.534Z,1553804437.534 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](INFO): Done Waiting.
2019-03-28T20:20:37.534Z,1553804437.534 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:20:37.534Z,1553804437.534 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:20:37.535Z,1553804437.535 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:37.535Z,1553804437.535 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:20:37.535Z,1553804437.535 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:37.535Z,1553804437.535 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:20:37.944Z,1553804437.944 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:20:37.944Z,1553804437.944 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:37.944Z,1553804437.944 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:20:37.944Z,1553804437.944 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:20:37.945Z,1553804437.945 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:20:37.945Z,1553804437.945 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:20:37.999Z,1553804437.999 [Reporter](INFO): HorizontalControl.headingCmd 3.776449 rad
2019-03-28T20:20:39.104Z,1553804439.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:39.109Z,1553804439.109 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:39.502Z,1553804439.502 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,10,FF
2019-03-28T20:20:43.136Z,1553804443.136 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:43.140Z,1553804443.140 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:43.538Z,1553804443.538 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,13,FF
2019-03-28T20:20:43.582Z,1553804443.582 [RDI_Pathfinder](ERROR): Failed to parse:     +7.41,       -1.06,       +11.65,   8.92,  0.00
2019-03-28T20:20:47.180Z,1553804447.180 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:47.203Z,1553804447.203 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:47.579Z,1553804447.579 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T20:20:48.033Z,1553804448.033 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](INFO): Done Waiting.
2019-03-28T20:20:48.034Z,1553804448.034 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:20:48.034Z,1553804448.034 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:20:48.035Z,1553804448.035 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:48.035Z,1553804448.035 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:20:48.035Z,1553804448.035 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:48.035Z,1553804448.035 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:20:48.442Z,1553804448.442 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:20:48.442Z,1553804448.442 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:48.442Z,1553804448.442 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:20:48.442Z,1553804448.442 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:20:48.443Z,1553804448.443 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:20:48.443Z,1553804448.443 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:20:51.216Z,1553804451.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:51.221Z,1553804451.221 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:51.619Z,1553804451.619 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,13,FF
2019-03-28T20:20:55.260Z,1553804455.260 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:55.264Z,1553804455.264 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:55.663Z,1553804455.663 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,15,FF
2019-03-28T20:20:58.567Z,1553804458.567 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](INFO): Done Waiting.
2019-03-28T20:20:58.567Z,1553804458.567 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:20:58.567Z,1553804458.567 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:20:58.568Z,1553804458.568 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:58.568Z,1553804458.568 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:20:58.568Z,1553804458.568 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:58.568Z,1553804458.568 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:20:58.938Z,1553804458.938 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:20:58.938Z,1553804458.938 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:20:58.938Z,1553804458.938 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:20:58.939Z,1553804458.939 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:20:58.939Z,1553804458.939 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:20:58.939Z,1553804458.939 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:20:59.295Z,1553804459.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:20:59.296Z,1553804459.296 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:20:59.699Z,1553804459.699 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-28T20:21:01.739Z,1553804461.739 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-03-28T20:21:01.739Z,1553804461.739 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  98.42,  94.92,  98.42
2019-03-28T20:21:03.355Z,1553804463.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:21:03.361Z,1553804463.361 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:21:03.739Z,1553804463.739 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,17,FF
2019-03-28T20:21:07.380Z,1553804467.380 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:21:07.430Z,1553804467.430 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:21:07.795Z,1553804467.795 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,186,80,81,14,FF
2019-03-28T20:21:09.026Z,1553804469.026 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](INFO): Done Waiting.
2019-03-28T20:21:09.026Z,1553804469.026 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:21:09.026Z,1553804469.026 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:21:09.027Z,1553804469.027 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:09.027Z,1553804469.027 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:21:09.027Z,1553804469.027 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:09.027Z,1553804469.027 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:21:09.434Z,1553804469.434 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:21:09.434Z,1553804469.434 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:09.434Z,1553804469.434 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:21:09.435Z,1553804469.435 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:21:09.435Z,1553804469.435 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:21:09.435Z,1553804469.435 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:21:11.420Z,1553804471.420 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:21:11.424Z,1553804471.424 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:21:11.819Z,1553804471.819 [DUSBL_Hydroid](FAULT): unknown deviceResponse_: 00000,187,80,81,12,FF
2019-03-28T20:21:15.460Z,1553804475.460 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:21:15.466Z,1553804475.466 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:21:15.971Z,1553804475.971 [Reporter](INFO): acoustic_contact_range 15.240002 m
2019-03-28T20:21:15.972Z,1553804475.972 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.315027 rad
2019-03-28T20:21:19.500Z,1553804479.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:21:19.504Z,1553804479.504 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:21:19.603Z,1553804479.603 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](INFO): Done Waiting.
2019-03-28T20:21:19.603Z,1553804479.603 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:21:19.603Z,1553804479.603 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:21:19.603Z,1553804479.603 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:19.603Z,1553804479.603 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:21:19.604Z,1553804479.604 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:19.604Z,1553804479.604 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:21:19.931Z,1553804479.931 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Running Loop=1
2019-03-28T20:21:19.931Z,1553804479.931 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:19.931Z,1553804479.931 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Running Loop=1
2019-03-28T20:21:19.931Z,1553804479.931 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point](DEBUG): Initialize.
2019-03-28T20:21:19.932Z,1553804479.932 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Running Loop=1
2019-03-28T20:21:19.932Z,1553804479.932 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:21:19.975Z,1553804479.975 [Reporter](INFO): HorizontalControl.headingCmd 3.315027 rad
2019-03-28T20:21:20.739Z,1553804480.739 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-03-28T20:21:20.739Z,1553804480.739 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19032813223284,35.0, -00,1448.9,  0
2019-03-28T20:21:20.875Z,1553804480.875 [Reporter](INFO): acoustic_contact_range 8.579998 m
2019-03-28T20:21:20.876Z,1553804480.876 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.096338 rad
2019-03-28T20:21:22.365Z,1553804482.365 [RDI_Pathfinder](ERROR): Failed to parse:
:B,    +7,    +2,    +2,A
2019-03-28T20:21:23.540Z,1553804483.540 [DUSBL_Hydroid](INFO): ****** ping requested ******
2019-03-28T20:21:23.547Z,1553804483.547 [Micromodem](INFO): Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53

2019-03-28T20:21:24.919Z,1553804484.919 [CommandLine](IMPORTANT): got command stop
2019-03-28T20:21:24.919Z,1553804484.919 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-03-28T20:21:24.991Z,1553804484.991 [Reporter](INFO): acoustic_contact_range 6.119999 m
2019-03-28T20:21:24.992Z,1553804484.992 [Reporter](INFO): TrackAcousticContact.heading_to_contact 3.086171 rad
2019-03-28T20:21:25.227Z,1553804485.227 [MissionManager](INFO): MissionManager is completed.
2019-03-28T20:21:25.227Z,1553804485.227 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-03-28T20:21:25.227Z,1553804485.227 [lineCaptureHoming] Stopped
2019-03-28T20:21:25.227Z,1553804485.227 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-03-28T20:21:25.227Z,1553804485.227 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-03-28T20:21:25.227Z,1553804485.227 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:I.] Stopped
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:J.Mass] Stopped
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:K.Buoyancy] Stopped
2019-03-28T20:21:25.228Z,1553804485.228 [lineCaptureHoming:K.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:L] Stopped
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:M] Stopped
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd] Stopped
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-03-28T20:21:25.229Z,1553804485.229 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-03-28T20:21:25.234Z,1553804485.234 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-03-28T20:21:25.234Z,1553804485.234 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-03-28T20:21:25.234Z,1553804485.234 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed] Stopped
2019-03-28T20:21:25.234Z,1553804485.234 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-03-28T20:21:25.234Z,1553804485.234 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo] Stopped
2019-03-28T20:21:25.234Z,1553804485.234 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Uninitialize.
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:RequestPing] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:RequestPing](DEBUG): Aggregate::uninitialize lineCaptureHoming:RequestPing
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:RequestPing:A] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:RequestPing:B] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:RequestPing:C] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap:Dive] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:21:25.235Z,1553804485.235 [lineCaptureHoming:Lap:PingTransponder] Stopped
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:PingTransponder:A] Stopped
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading] Stopped
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point] Stopped
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait] Stopped
2019-03-28T20:21:25.236Z,1553804485.236 [lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:21:25.408Z,1553804485.408 [Reporter](INFO): HorizontalControl.headingCmd no_value
2019-03-28T20:21:25.594Z,1553804485.594 [MissionManager](IMPORTANT): Started mission Default
2019-03-28T20:21:25.594Z,1553804485.594 [Default] Running Loop=1
2019-03-28T20:21:25.594Z,1553804485.594 [Default](DEBUG): Aggregate::initialize Default
2019-03-28T20:21:25.594Z,1553804485.594 [Default:B.GoToSurface] Running Loop=1
2019-03-28T20:21:25.594Z,1553804485.594 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:21:25.595Z,1553804485.595 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-03-28T20:21:25.595Z,1553804485.595 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-03-28T20:21:25.596Z,1553804485.596 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-03-28T20:21:25.596Z,1553804485.596 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:21:25.596Z,1553804485.596 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:21:25.597Z,1553804485.597 [Default:A.Wait] Running Loop=1
2019-03-28T20:21:25.597Z,1553804485.597 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:21:25.667Z,1553804485.667 [Reporter](INFO): SpeedControl.speedCmd 0.000000 m/s
2019-03-28T20:21:38.921Z,1553804498.921 [Default:A.Wait](INFO): Done Waiting.
2019-03-28T20:21:38.921Z,1553804498.921 [Default:A.Wait] Stopped
2019-03-28T20:21:38.921Z,1553804498.921 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:21:39.332Z,1553804499.332 [Default:CheckIn] Running Loop=1
2019-03-28T20:21:39.333Z,1553804499.333 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-03-28T20:21:39.333Z,1553804499.333 [Default:CheckIn:Read_GPS] Running Loop=1
2019-03-28T20:22:19.289Z,1553804539.289 [NAL9602](INFO): SBD MO Status=2, MOMSN=2493, MT Status=2, MTMSN=0
2019-03-28T20:22:19.289Z,1553804539.289 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-03-28T20:22:35.852Z,1553804555.852 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-03-28T20:22:36.674Z,1553804556.674 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:39.102Z,1553804559.102 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:41.926Z,1553804561.926 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:45.158Z,1553804565.158 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:47.986Z,1553804567.986 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:50.814Z,1553804570.814 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:54.050Z,1553804574.050 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:22:56.878Z,1553804576.878 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:00.110Z,1553804580.110 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:02.934Z,1553804582.934 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:06.170Z,1553804586.170 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:08.994Z,1553804588.994 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:12.226Z,1553804592.226 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:15.094Z,1553804595.094 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:17.890Z,1553804597.890 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:21.134Z,1553804601.134 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:23.966Z,1553804603.966 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:26.798Z,1553804606.798 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:30.030Z,1553804610.030 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:32.854Z,1553804612.854 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:36.082Z,1553804616.082 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:38.914Z,1553804618.914 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:42.150Z,1553804622.150 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:44.974Z,1553804624.974 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:48.210Z,1553804628.210 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:51.034Z,1553804631.034 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:53.862Z,1553804633.862 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:23:54.254Z,1553804634.254 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201632.00,A,3648.16838,N,12147.27603,W,0.117,0.00,280319,,,A*72
2019-03-28T20:23:54.256Z,1553804634.256 [NAL9602](INFO): GPS fix at 20190328T201632: (36.802806, -121.787934)
2019-03-28T20:23:54.362Z,1553804634.362 [Default:CheckIn:Read_GPS] Stopped
2019-03-28T20:23:54.363Z,1553804634.363 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-03-28T20:23:58.384Z,1553804638.384 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20190328T190542/Courier0100.lzma
2019-03-28T20:23:59.192Z,1553804639.192 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0100.lzma.bak
2019-03-28T20:23:59.192Z,1553804639.192 [DataOverHttps](INFO): SBD MOMSN=10272624
2019-03-28T20:24:07.376Z,1553804647.376 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-03-28T20:24:07.376Z,1553804647.376 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +7.74,       -    +12.39,   9.68,  0.00
2019-03-28T20:24:07.395Z,1553804647.395 [DeadReckonWithRespectToSeafloor] Software Fault, FailCount= 1
2019-03-28T20:24:07.395Z,1553804647.395 [DeadReckonWithRespectToSeafloor](ERROR): Software Fault
2019-03-28T20:24:07.466Z,1553804647.466 [CBIT](ERROR): Software Fault in component: DeadReckonWithRespectToSeafloor
2019-03-28T20:24:07.781Z,1553804647.781 [CBIT](INFO): Clearing failed state for component DeadReckonWithRespectToSeafloor
2019-03-28T20:24:07.781Z,1553804647.781 [DeadReckonWithRespectToSeafloor] No Fault, FailCount= 1
2019-03-28T20:24:14.923Z,1553804654.923 [DataOverHttps](INFO): Sending 404 bytes from file Logs/20190328T190542/Express0101.lzma
2019-03-28T20:24:15.729Z,1553804655.729 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0101.lzma.bak
2019-03-28T20:24:15.729Z,1553804655.729 [DataOverHttps](IMPORTANT): SBD MOMSN=10272628, MTMSN=20190328T201654
2019-03-28T20:24:17.472Z,1553804657.472 [Default:CheckIn:Read_Iridium] Stopped
2019-03-28T20:24:17.472Z,1553804657.472 [Default:CheckIn:C.Wait] Running Loop=1
2019-03-28T20:24:17.473Z,1553804657.473 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-03-28T20:24:23.406Z,1553804663.406 [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" 4b9mw 1 3
2019-03-28T20:24:23.499Z,1553804663.499 [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" 4b9mw 1 3.000000
2019-03-28T20:24:23.499Z,1553804663.499 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4b9mw
2019-03-28T20:24:23.500Z,1553804663.500 [CommandLine](IMPORTANT): Scheduled #27 (#1 of 3 with id='4b9mw'): "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
2019-03-28T20:24:24.211Z,1553804664.211 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T201702
2019-03-28T20:24:27.112Z,1553804667.112 [NAL9602](INFO): Not Powering down - fast GPS
2019-03-28T20:24:29.572Z,1553804669.572 [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" 4b9mw 2 3
2019-03-28T20:24:29.607Z,1553804669.607 [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" 4b9mw 2 3.000000
2019-03-28T20:24:29.607Z,1553804669.607 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4b9mw
2019-03-28T20:24:29.608Z,1553804669.608 [CommandLine](IMPORTANT): Scheduled #28 (#2 of 3 with id='4b9mw'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer;set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter" ASAP
2019-03-28T20:24:30.334Z,1553804670.334 [DataOverHttps](IMPORTANT): SBD MTMSN=20190328T201709
2019-03-28T20:24:35.962Z,1553804675.962 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b9mw 3 3
2019-03-28T20:24:36.010Z,1553804676.010 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4b9mw 3 3.000000
2019-03-28T20:24:36.010Z,1553804676.010 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4b9mw
2019-03-28T20:24:36.011Z,1553804676.011 [CommandLine](IMPORTANT): Scheduled #29 (#3 of 3 with id='4b9mw'): "set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAP
2019-03-28T20:24:36.244Z,1553804676.244 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:24:36.245Z,1553804676.245 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:24:36.569Z,1553804676.569 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-03-28T20:24:36.571Z,1553804676.571 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min
2019-03-28T20:24:36.573Z,1553804676.573 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-03-28T20:24:36.577Z,1553804676.577 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = nan arcdeg
2019-03-28T20:24:36.579Z,1553804676.579 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = nan arcdeg
2019-03-28T20:24:36.582Z,1553804676.582 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-03-28T20:24:36.584Z,1553804676.584 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-03-28T20:24:36.586Z,1553804676.586 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-03-28T20:24:36.589Z,1553804676.589 [MissionManager](INFO): DefineArg lineCaptureHoming.cameraRange = 25.000000 m
2019-03-28T20:24:36.591Z,1553804676.591 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-03-28T20:24:36.593Z,1553804676.593 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-03-28T20:24:36.596Z,1553804676.596 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-03-28T20:24:36.598Z,1553804676.598 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-03-28T20:24:36.601Z,1553804676.601 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-03-28T20:24:36.603Z,1553804676.603 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-03-28T20:24:36.605Z,1553804676.605 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-03-28T20:24:36.609Z,1553804676.609 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-03-28T20:24:36.612Z,1553804676.612 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-03-28T20:24:36.614Z,1553804676.614 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-03-28T20:24:36.617Z,1553804676.617 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-03-28T20:24:36.619Z,1553804676.619 [MissionManager](INFO): DefineArg lineCaptureHoming.EnabledDUSBL = DUSBL_Hydroid.loadAtStartup
2019-03-28T20:24:36.621Z,1553804676.621 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-03-28T20:24:36.624Z,1553804676.624 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-03-28T20:24:36.626Z,1553804676.626 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-03-28T20:24:36.628Z,1553804676.628 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-03-28T20:24:36.631Z,1553804676.631 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-03-28T20:24:36.633Z,1553804676.633 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-03-28T20:24:36.635Z,1553804676.635 [MissionManager](INFO): DefineOutput lineCaptureHoming.cameraRequested = 0 bool
2019-03-28T20:24:36.637Z,1553804676.637 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 1 bool
2019-03-28T20:24:36.640Z,1553804676.640 [MissionManager](INFO): DefineOutput lineCaptureHoming.StartFromSurface = 1 bool
2019-03-28T20:24:36.640Z,1553804676.640 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-03-28T20:24:36.656Z,1553804676.656 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-03-28T20:24:36.659Z,1553804676.659 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-03-28T20:24:36.661Z,1553804676.661 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-03-28T20:24:36.687Z,1553804676.687 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-03-28T20:24:36.693Z,1553804676.693 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-03-28T20:24:36.716Z,1553804676.716 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-03-28T20:24:36.731Z,1553804676.731 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-03-28T20:24:36.890Z,1553804676.890 [Reporter](INFO): HorizontalControl.headingCmd 3.315027 rad
2019-03-28T20:24:36.891Z,1553804676.891 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-03-28T20:24:36.897Z,1553804676.897 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-03-28T20:24:36.907Z,1553804676.907 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-03-28T20:24:36.914Z,1553804676.914 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-03-28T20:24:36.919Z,1553804676.919 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-03-28T20:24:36.921Z,1553804676.921 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-03-28T20:24:36.924Z,1553804676.924 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-03-28T20:24:36.933Z,1553804676.933 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-03-28T20:24:37.027Z,1553804677.027 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-03-28T20:24:37.029Z,1553804677.029 [lineCaptureHoming:K.Buoyancy](DEBUG): Construct Buoyancy.
2019-03-28T20:24:37.053Z,1553804677.053 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed](DEBUG): Construct.
2019-03-28T20:24:37.064Z,1553804677.064 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch](DEBUG): Construct.
2019-03-28T20:24:37.103Z,1553804677.103 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed](DEBUG): Construct.
2019-03-28T20:24:37.114Z,1553804677.114 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo](DEBUG): Construct.
2019-03-28T20:24:37.164Z,1553804677.164 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:24:37.177Z,1553804677.177 [MissionManager](ERROR): Could not find Arg named "MinRange" in value clause.
2019-03-28T20:24:37.182Z,1553804677.182 [lineCaptureHoming:Lap:TerminalGuidance:A.Point](DEBUG): Construct.
2019-03-28T20:24:37.191Z,1553804677.191 [lineCaptureHoming:Lap:TerminalGuidance:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:24:37.252Z,1553804677.252 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-03-28T20:24:37.264Z,1553804677.264 [lineCaptureHoming:Lap:Dock:B.Wait](DEBUG): Construct Wait.
2019-03-28T20:24:37.285Z,1553804677.285 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-03-28T20:24:37.299Z,1553804677.299 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-03-28T20:24:37.368Z,1553804677.368 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                        Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                        Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                        Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                        Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                        Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                        Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

<!-- Define mission arguments -->

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

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

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

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

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

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

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

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

    <DefineArg Name="cameraRange"><Description>
        Range to activate the camera payload.
    </Description><Units:meter/><Value>25.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>4.0</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><Units:bool/><Value><False/></Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutTimeout"><Description>
        Drive on your last heading for this long after approaching within
        minimum (dock) range.
    </Description><Units:minute/><Value>12</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

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

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

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

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

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

    <Aggregate Id="SurfaceComms">

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

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

        <Call RefId="NeedComms"/>

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

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

    </Aggregate>


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

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

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

<!-- Request desired engineering data -->

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

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

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

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

    <Aggregate Id="DiveCmd">

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

        <When>
            <Called/>
        </When>

        <Aggregate Id="InitialDive">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="AltitudeServo">

            <Description>
                Follow commanded altitude.
            </Description>

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RequestPing">

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

        <When>
            <Called/>
        </When>

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

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

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

    </Aggregate>

<!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

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

            <Call RefId="DiveCmd"/>

        </Aggregate>

        <Aggregate Id="PingTransponder">

            <While>
                <Arg Name="HomingActive"/>
            </While>

            <Call RefId="RequestPing"/>
        </Aggregate>
        
<!-- Start the homing sequence -->

        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
   
        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

<!--
            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="DockRange"/></Lt>
            </Break>
-->
            <While>
                <Sensor:DAT.range/>
                <Gt><Arg Name="MinRange"/></Gt>
            </While>
            
            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Estimation:TrackAcousticContact.heading_to_contact/></Setting>
            </Guidance:Point>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Units:second/><Value>2</Value></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>


2019-03-28T20:24:37.369Z,1553804677.369 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-03-28T20:24:47.654Z,1553804687.654 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 3.000000 count
2019-03-28T20:24:47.655Z,1553804687.655 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.100000 meter
2019-03-28T20:24:47.656Z,1553804687.656 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-03-28T20:24:47.657Z,1553804687.657 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-03-28T20:25:00.918Z,1553804700.918 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepthTimeout 1.000000 minute
2019-03-28T20:25:00.919Z,1553804700.919 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 0.000000 meter
2019-03-28T20:25:00.920Z,1553804700.920 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-03-28T20:25:00.921Z,1553804700.921 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinAltitude 0.000000 meter
2019-03-28T20:25:05.585Z,1553804705.585 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 0.000000 meter
2019-03-28T20:25:05.586Z,1553804705.586 [CommandLine](IMPORTANT): got command run 
2019-03-28T20:25:05.588Z,1553804705.588 [CommandLine](IMPORTANT): Running 
2019-03-28T20:25:05.930Z,1553804705.930 [Default] Stopped
2019-03-28T20:25:05.930Z,1553804705.930 [Default](DEBUG): Aggregate::uninitialize Default
2019-03-28T20:25:05.930Z,1553804705.930 [Default:B.GoToSurface] Stopped
2019-03-28T20:25:05.930Z,1553804705.930 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:25:05.930Z,1553804705.930 [Default:CheckIn] Stopped
2019-03-28T20:25:05.931Z,1553804705.931 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-03-28T20:25:05.931Z,1553804705.931 [Default:CheckIn:C.Wait] Stopped
2019-03-28T20:25:05.931Z,1553804705.931 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-03-28T20:25:05.931Z,1553804705.931 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-03-28T20:25:05.931Z,1553804705.931 [lineCaptureHoming] Running Loop=1
2019-03-28T20:25:05.931Z,1553804705.931 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-03-28T20:25:05.931Z,1553804705.931 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:25:05.931Z,1553804705.931 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:I.](INFO): Initializing TrackAcousticContact.
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:25:05.932Z,1553804705.932 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-03-28T20:25:05.933Z,1553804705.933 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:25:05.933Z,1553804705.933 [lineCaptureHoming:K.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-03-28T20:25:05.933Z,1553804705.933 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:25:05.933Z,1553804705.933 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:25:05.933Z,1553804705.933 [lineCaptureHoming:B] Running Loop=1
2019-03-28T20:25:05.950Z,1553804705.950 [lineCaptureHoming:M] Running Loop=1
2019-03-28T20:25:05.951Z,1553804705.951 [lineCaptureHoming:M](DEBUG): Initialize ReadDataComponent to sense platform_orientation
2019-03-28T20:25:05.951Z,1553804705.951 [lineCaptureHoming:L] Running Loop=1
2019-03-28T20:25:05.951Z,1553804705.951 [lineCaptureHoming:L](DEBUG): Initialize ReadDataComponent to sense height_above_sea_floor
2019-03-28T20:25:05.951Z,1553804705.951 [lineCaptureHoming:K.Buoyancy] Running Loop=1
2019-03-28T20:25:05.952Z,1553804705.952 [lineCaptureHoming:J.Mass] Running Loop=1
2019-03-28T20:25:05.952Z,1553804705.952 [lineCaptureHoming:I.] Running Loop=1
2019-03-28T20:25:05.952Z,1553804705.952 [lineCaptureHoming:B] Stopped
2019-03-28T20:25:05.952Z,1553804705.952 [lineCaptureHoming:C] Running Loop=1
2019-03-28T20:25:05.952Z,1553804705.952 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-03-28T20:25:05.952Z,1553804705.952 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-03-28T20:25:05.953Z,1553804705.953 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-03-28T20:25:05.953Z,1553804705.953 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-03-28T20:25:06.373Z,1553804706.373 [lineCaptureHoming:C] Stopped
2019-03-28T20:25:06.373Z,1553804706.373 [lineCaptureHoming:D] Running Loop=1
2019-03-28T20:25:06.771Z,1553804706.771 [lineCaptureHoming:D] Stopped
2019-03-28T20:25:06.771Z,1553804706.771 [lineCaptureHoming:F] Running Loop=1
2019-03-28T20:25:07.173Z,1553804707.173 [lineCaptureHoming:F] Stopped
2019-03-28T20:25:07.173Z,1553804707.173 [lineCaptureHoming:G] Running Loop=1
2019-03-28T20:25:07.586Z,1553804707.586 [lineCaptureHoming:G] Stopped
2019-03-28T20:25:07.587Z,1553804707.587 [lineCaptureHoming:StartingMission] Running Loop=1
2019-03-28T20:25:07.587Z,1553804707.587 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-03-28T20:25:07.986Z,1553804707.986 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-03-28T20:25:07.986Z,1553804707.986 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-03-28T20:25:07.987Z,1553804707.987 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-03-28T20:25:07.987Z,1553804707.987 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-03-28T20:25:07.987Z,1553804707.987 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-03-28T20:25:07.987Z,1553804707.987 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:25:08.418Z,1553804708.418 [lineCaptureHoming:NeedComms] Running Loop=1
2019-03-28T20:25:08.419Z,1553804708.419 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-03-28T20:25:08.419Z,1553804708.419 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-03-28T20:25:08.419Z,1553804708.419 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-03-28T20:25:08.419Z,1553804708.419 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-03-28T20:25:08.420Z,1553804708.420 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-03-28T20:25:08.420Z,1553804708.420 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-03-28T20:25:08.420Z,1553804708.420 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-03-28T20:25:08.421Z,1553804708.421 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-03-28T20:25:08.421Z,1553804708.421 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-03-28T20:25:08.433Z,1553804708.433 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1553804192.000000 second since 1970/01/01T00:00:00Z 
2019-03-28T20:25:08.433Z,1553804708.433 [lineCaptureHoming:NeedComms:A] Stopped
2019-03-28T20:25:08.763Z,1553804708.763 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-03-28T20:25:09.187Z,1553804709.187 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:25:10.386Z,1553804710.386 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:25:10.746Z,1553804710.746 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201748.00,A,3648.16343,N,12147.28087,W,0.078,0.00,280319,,,A*74
2019-03-28T20:25:10.748Z,1553804710.748 [NAL9602](INFO): GPS fix at 20190328T201748: (36.802724, -121.788015)
2019-03-28T20:25:10.799Z,1553804710.799 [lineCaptureHoming:NeedComms:C] Stopped
2019-03-28T20:25:10.799Z,1553804710.799 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-03-28T20:25:11.211Z,1553804711.211 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-03-28T20:25:12.483Z,1553804712.483 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20190328T190542/Courier0103.lzma
2019-03-28T20:25:13.292Z,1553804713.292 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0103.lzma.bak
2019-03-28T20:25:13.292Z,1553804713.292 [DataOverHttps](INFO): SBD MOMSN=10272648
2019-03-28T20:25:25.905Z,1553804725.905 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T190542/Courier0106.lzma
2019-03-28T20:25:26.712Z,1553804726.712 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Courier0106.lzma.bak
2019-03-28T20:25:26.712Z,1553804726.712 [DataOverHttps](INFO): SBD MOMSN=10272651
2019-03-28T20:25:40.055Z,1553804740.055 [DataOverHttps](INFO): Sending 635 bytes from file Logs/20190328T190542/Express0104.lzma
2019-03-28T20:25:40.938Z,1553804740.938 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0104.lzma.bak
2019-03-28T20:25:40.938Z,1553804740.938 [DataOverHttps](INFO): SBD MOMSN=10272653
2019-03-28T20:25:41.448Z,1553804741.448 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-03-28T20:25:41.522Z,1553804741.522 [NAL9602](FAULT): received: 
+CSQ:1

OK93, 2, 0, 0, 0

OK
2019-03-28T20:25:41.522Z,1553804741.522 [NAL9602] Data Fault, FailCount= 1
2019-03-28T20:25:41.522Z,1553804741.522 [NAL9602](ERROR): Data Fault
2019-03-28T20:25:41.685Z,1553804741.685 [CBIT](ERROR): Data Fault in component: NAL9602
2019-03-28T20:25:41.853Z,1553804741.853 [NAL9602](INFO): Powering down
2019-03-28T20:25:42.725Z,1553804742.725 [CBIT](INFO): Clearing failed state for component NAL9602
2019-03-28T20:25:42.725Z,1553804742.725 [NAL9602] No Fault, FailCount= 1
2019-03-28T20:25:54.549Z,1553804754.549 [DataOverHttps](INFO): Sending 18 bytes from file Logs/20190328T190542/Express0108.lzma
2019-03-28T20:25:55.359Z,1553804755.359 [DataOverHttps](INFO): Moved sent file to Logs/20190328T190542/Express0108.lzma.bak
2019-03-28T20:25:55.359Z,1553804755.359 [DataOverHttps](INFO): SBD MOMSN=10272681
2019-03-28T20:25:56.866Z,1553804756.866 [lineCaptureHoming:NeedComms:D] Stopped
2019-03-28T20:25:56.867Z,1553804756.867 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-03-28T20:25:57.247Z,1553804757.247 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-03-28T20:26:12.152Z,1553804772.152 [NAL9602](INFO): Powering up NAL9602
2019-03-28T20:26:23.064Z,1553804783.064 [NAL9602](INFO): NAL9602 initialized
2019-03-28T20:26:23.882Z,1553804783.882 [NAL9602](DEBUG): Fix Requested
2019-03-28T20:26:53.403Z,1553804813.403 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-03-28T20:26:53.403Z,1553804813.403 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +6.15,      0.00
2019-03-28T20:27:25.147Z,1553804845.147 [CommandLine](IMPORTANT): got command show stack
2019-03-28T20:27:25.148Z,1553804845.148 [CommandLine](IMPORTANT): Behavior Stack:

2019-03-28T20:27:25.148Z,1553804845.148 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-03-28T20:27:25.148Z,1553804845.148 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-03-28T20:27:25.149Z,1553804845.149 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-03-28T20:27:25.149Z,1553804845.149 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-03-28T20:27:25.149Z,1553804845.149 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-03-28T20:27:25.150Z,1553804845.150 [lineCaptureHoming](IMPORTANT): Priority 5: lineCaptureHoming:I.
2019-03-28T20:27:25.150Z,1553804845.150 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J.Mass
2019-03-28T20:27:25.150Z,1553804845.150 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Buoyancy
2019-03-28T20:27:25.151Z,1553804845.151 [lineCaptureHoming](IMPORTANT): Priority 8: lineCaptureHoming:L
2019-03-28T20:27:25.151Z,1553804845.151 [lineCaptureHoming](IMPORTANT): Priority 9: lineCaptureHoming:M
2019-03-28T20:27:33.483Z,1553804853.483 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1553804800.000000 second
2019-03-28T20:27:33.803Z,1553804853.803 [lineCaptureHoming:NeedComms:E] Stopped
2019-03-28T20:27:33.804Z,1553804853.804 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-03-28T20:27:33.804Z,1553804853.804 [lineCaptureHoming:NeedComms] Stopped
2019-03-28T20:27:33.804Z,1553804853.804 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-03-28T20:27:33.804Z,1553804853.804 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-03-28T20:27:33.804Z,1553804853.804 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-03-28T20:27:34.214Z,1553804854.214 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-03-28T20:27:34.214Z,1553804854.214 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-03-28T20:27:34.215Z,1553804854.215 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-03-28T20:27:34.215Z,1553804854.215 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-03-28T20:27:34.655Z,1553804854.655 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-03-28T20:27:34.655Z,1553804854.655 [lineCaptureHoming:SurfaceComms:D] Running Loop=1
2019-03-28T20:27:35.022Z,1553804855.022 [lineCaptureHoming:SurfaceComms:D] Stopped
2019-03-28T20:27:35.023Z,1553804855.023 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-03-28T20:27:35.023Z,1553804855.023 [lineCaptureHoming:SurfaceComms] Stopped
2019-03-28T20:27:35.023Z,1553804855.023 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-03-28T20:27:35.417Z,1553804855.417 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-03-28T20:27:35.417Z,1553804855.417 [lineCaptureHoming:StartingMission] Stopped
2019-03-28T20:27:35.417Z,1553804855.417 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap] Running Loop=1
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-03-28T20:27:35.418Z,1553804855.418 [lineCaptureHoming:Lap:PingTransponder] Running Loop=1
2019-03-28T20:27:35.419Z,1553804855.419 [lineCaptureHoming:Lap:PingTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder
2019-03-28T20:27:35.419Z,1553804855.419 [lineCaptureHoming:Lap:PingTransponder:A] Running Loop=1
2019-03-28T20:27:35.419Z,1553804855.419 [lineCaptureHoming:Lap:PingTransponder:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PingTransponder:A
2019-03-28T20:27:35.419Z,15