2019-05-29T06:02:25.324Z,1559109745.324 [CommandLine](IMPORTANT): got command restart logs
2019-05-29T06:02:29.578Z,1559109749.578 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-05-29T06:02:29.578Z,1559109749.578 [Default:CheckIn:C.Wait] Stopped
2019-05-29T06:02:29.578Z,1559109749.578 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-05-29T06:02:29.578Z,1559109749.578 [Default:CheckIn:D] Running Loop=1
2019-05-29T06:02:29.997Z,1559109749.997 [Default:CheckIn:D] Stopped
2019-05-29T06:02:29.997Z,1559109749.997 [Default:CheckIn:E] Running Loop=1
2019-05-29T06:02:30.386Z,1559109750.386 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 8.876645 min 
2019-05-29T06:02:30.386Z,1559109750.386 [Default:CheckIn:E] Stopped
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn] Stopped
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn](INFO): Running loop #2
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn] Running Loop=2
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-29T06:02:30.391Z,1559109750.391 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-29T06:02:31.987Z,1559109751.987 [NAL9602](DEBUG): Fix Requested
2019-05-29T06:02:32.382Z,1559109752.382 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,060141.00,A,3648.16637,N,12147.28270,W,0.058,238.18,290519,,,A*77
2019-05-29T06:02:32.385Z,1559109752.385 [NAL9602](INFO): GPS fix at 20190529T060141: (36.802773, -121.788045)
2019-05-29T06:02:32.414Z,1559109752.414 [Default:CheckIn:Read_GPS] Stopped
2019-05-29T06:02:32.414Z,1559109752.414 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-05-29T06:02:38.150Z,1559109758.150 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190529T054326/Courier0021.lzma
2019-05-29T06:02:38.956Z,1559109758.956 [DataOverHttps](INFO): Moved sent file to Logs/20190529T054326/Courier0021.lzma.bak
2019-05-29T06:02:38.956Z,1559109758.956 [DataOverHttps](INFO): SBD MOMSN=11210783
2019-05-29T06:02:49.990Z,1559109769.990 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20190529T060225/Courier0000.lzma
2019-05-29T06:02:50.796Z,1559109770.796 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Courier0000.lzma.bak
2019-05-29T06:02:50.796Z,1559109770.796 [DataOverHttps](INFO): SBD MOMSN=11210785
2019-05-29T06:03:02.849Z,1559109782.849 [DataOverHttps](INFO): Sending 668 bytes from file Logs/20190529T054326/Express0022.lzma
2019-05-29T06:03:03.085Z,1559109783.085 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-05-29T06:03:03.167Z,1559109783.167 [NAL9602](FAULT): received: 
+CSQ:0

OK18, 2, 0, 0, 0

OK
2019-05-29T06:03:03.167Z,1559109783.167 [NAL9602] Data Fault, FailCount= 2
2019-05-29T06:03:03.167Z,1559109783.167 [NAL9602](ERROR): Data Fault
2019-05-29T06:03:03.244Z,1559109783.244 [CBIT](ERROR): Data Fault in component: NAL9602
2019-05-29T06:03:03.484Z,1559109783.484 [NAL9602](INFO): Powering down
2019-05-29T06:03:03.652Z,1559109783.652 [DataOverHttps](INFO): Moved sent file to Logs/20190529T054326/Express0022.lzma.bak
2019-05-29T06:03:03.652Z,1559109783.652 [DataOverHttps](INFO): SBD MOMSN=11210789
2019-05-29T06:03:04.368Z,1559109784.368 [CBIT](INFO): Clearing failed state for component NAL9602
2019-05-29T06:03:04.368Z,1559109784.368 [NAL9602] No Fault, FailCount= 2
2019-05-29T06:03:14.944Z,1559109794.944 [DataOverHttps](INFO): Sending 461 bytes from file Logs/20190529T060225/Express0001.lzma
2019-05-29T06:03:15.744Z,1559109795.744 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Express0001.lzma.bak
2019-05-29T06:03:15.744Z,1559109795.744 [DataOverHttps](INFO): SBD MOMSN=11210791
2019-05-29T06:03:16.846Z,1559109796.846 [Default:CheckIn:Read_Iridium] Stopped
2019-05-29T06:03:16.846Z,1559109796.846 [Default:CheckIn:C.Wait] Running Loop=1
2019-05-29T06:03:16.846Z,1559109796.846 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-05-29T06:03:33.783Z,1559109813.783 [NAL9602](INFO): Powering up NAL9602
2019-05-29T06:03:44.697Z,1559109824.697 [NAL9602](INFO): NAL9602 initialized
2019-05-29T06:04:15.805Z,1559109855.805 [NAL9602](INFO): Not Powering down - fast GPS
2019-05-29T06:06:59.768Z,1559110019.768 [DataOverHttps](IMPORTANT): SBD MTMSN=20190529T060610
2019-05-29T06:07:05.063Z,1559110025.063 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 2 count;set lineCaptureHoming.DockRange 20 meter;set lineCaptureHoming.UpdateNav 0 bool;set lineCaptureHoming.DockTimeout 10 second" 2bsxf 1 3
2019-05-29T06:07:05.081Z,1559110025.081 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 2 count;set lineCaptureHoming.DockRange 20 meter;set lineCaptureHoming.UpdateNav 0 bool;set lineCaptureHoming.DockTimeout 10 second" 2bsxf 1 3.000000
2019-05-29T06:07:05.081Z,1559110025.081 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=2bsxf
2019-05-29T06:07:05.082Z,1559110025.082 [CommandLine](IMPORTANT): Scheduled #20 (#1 of 3 with id='2bsxf'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 2 count;set lineCaptureHoming.DockRange 20 meter;set lineCaptureHoming.UpdateNav 0 bool;set lineCaptureHoming.DockTimeout 10 second" ASAP
2019-05-29T06:07:05.872Z,1559110025.872 [DataOverHttps](IMPORTANT): SBD MTMSN=20190529T060616
2019-05-29T06:07:11.478Z,1559110031.478 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 2 second;set lineCaptureHoming.Speed 0 meter_per_second;set lineCaptureHoming.MinOffshore 0 kilometer" 2bsxf 2 3
2019-05-29T06:07:11.508Z,1559110031.508 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 2 second;set lineCaptureHoming.Speed 0 meter_per_second;set lineCaptureHoming.MinOffshore 0 kilometer" 2bsxf 2 3.000000
2019-05-29T06:07:11.508Z,1559110031.508 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=2bsxf
2019-05-29T06:07:11.509Z,1559110031.509 [CommandLine](IMPORTANT): Scheduled #21 (#2 of 3 with id='2bsxf'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 2 second;set lineCaptureHoming.Speed 0 meter_per_second;set lineCaptureHoming.MinOffshore 0 kilometer" ASAP
2019-05-29T06:07:12.284Z,1559110032.284 [DataOverHttps](IMPORTANT): SBD MTMSN=20190529T060622
2019-05-29T06:07:17.846Z,1559110037.846 [DataOverHttps](INFO): Received command:sched asap "run " 2bsxf 3 3
2019-05-29T06:07:17.913Z,1559110037.913 [CommandLine](IMPORTANT): got command schedule asap "run " 2bsxf 3 3.000000
2019-05-29T06:07:17.913Z,1559110037.913 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=2bsxf
2019-05-29T06:07:17.914Z,1559110037.914 [CommandLine](IMPORTANT): Scheduled #22 (#3 of 3 with id='2bsxf'): "run " ASAP
2019-05-29T06:07:18.057Z,1559110038.057 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-05-29T06:07:18.058Z,1559110038.058 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-05-29T06:07:18.354Z,1559110038.354 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-05-29T06:07:18.357Z,1559110038.357 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-05-29T06:07:18.377Z,1559110038.377 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-05-29T06:07:18.380Z,1559110038.380 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-05-29T06:07:18.382Z,1559110038.382 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-05-29T06:07:18.384Z,1559110038.384 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-05-29T06:07:18.386Z,1559110038.386 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-05-29T06:07:18.389Z,1559110038.389 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-05-29T06:07:18.391Z,1559110038.391 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-05-29T06:07:18.393Z,1559110038.393 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-05-29T06:07:18.395Z,1559110038.395 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-05-29T06:07:18.397Z,1559110038.397 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-05-29T06:07:18.432Z,1559110038.432 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-05-29T06:07:18.440Z,1559110038.440 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-05-29T06:07:18.447Z,1559110038.447 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-05-29T06:07:18.449Z,1559110038.449 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-05-29T06:07:18.455Z,1559110038.455 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-05-29T06:07:18.458Z,1559110038.458 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-05-29T06:07:18.488Z,1559110038.488 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-05-29T06:07:18.490Z,1559110038.490 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-05-29T06:07:18.500Z,1559110038.500 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-05-29T06:07:18.507Z,1559110038.507 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-05-29T06:07:18.509Z,1559110038.509 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-05-29T06:07:18.515Z,1559110038.515 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-05-29T06:07:18.518Z,1559110038.518 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-05-29T06:07:18.544Z,1559110038.544 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-05-29T06:07:18.546Z,1559110038.546 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-05-29T06:07:18.550Z,1559110038.550 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-05-29T06:07:18.564Z,1559110038.564 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-05-29T06:07:18.567Z,1559110038.567 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-05-29T06:07:18.569Z,1559110038.569 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-05-29T06:07:18.574Z,1559110038.574 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-05-29T06:07:18.585Z,1559110038.585 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-05-29T06:07:18.588Z,1559110038.588 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-05-29T06:07:18.589Z,1559110038.589 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-05-29T06:07:18.659Z,1559110038.659 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-05-29T06:07:18.662Z,1559110038.662 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-05-29T06:07:18.669Z,1559110038.669 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-05-29T06:07:18.670Z,1559110038.670 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-05-29T06:07:18.683Z,1559110038.683 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-05-29T06:07:18.689Z,1559110038.689 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-05-29T06:07:18.710Z,1559110038.710 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-05-29T06:07:18.829Z,1559110038.829 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-05-29T06:07:18.877Z,1559110038.877 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-05-29T06:07:18.907Z,1559110038.907 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-05-29T06:07:18.909Z,1559110038.909 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-05-29T06:07:18.927Z,1559110038.927 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-05-29T06:07:18.930Z,1559110038.930 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-05-29T06:07:18.936Z,1559110038.936 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-05-29T06:07:18.949Z,1559110038.949 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-05-29T06:07:19.011Z,1559110039.011 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-05-29T06:07:19.017Z,1559110039.017 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-29T06:07:19.042Z,1559110039.042 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-05-29T06:07:19.045Z,1559110039.045 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-05-29T06:07:19.067Z,1559110039.067 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-05-29T06:07:19.070Z,1559110039.070 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-05-29T06:07:19.072Z,1559110039.072 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-05-29T06:07:19.099Z,1559110039.099 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-05-29T06:07:19.102Z,1559110039.102 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-05-29T06:07:19.127Z,1559110039.127 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-05-29T06:07:19.151Z,1559110039.151 [lineCaptureHoming:Lap:D.Wait](DEBUG): Construct Wait.
2019-05-29T06:07:19.165Z,1559110039.165 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-05-29T06:07:19.172Z,1559110039.172 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-05-29T06:07:19.194Z,1559110039.194 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-05-29T06:07:19.255Z,1559110039.255 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-05-29T06:07:19.263Z,1559110039.263 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-05-29T06:07:19.277Z,1559110039.277 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-05-29T06:07:19.300Z,1559110039.300 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-05-29T06:07:19.320Z,1559110039.320 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-05-29T06:07:19.321Z,1559110039.321 [lineCaptureHoming:Lap:I.Wait](DEBUG): Construct Wait.
2019-05-29T06:07:19.383Z,1559110039.383 [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: break off from dock, then 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>60</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>36.7436</Value></DefineArg>
    
    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</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="AcousticContactTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will boot out of the homing sequance.
    </Description><Units:minute/><Value>15</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="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>0.1</Value></DefineArg>
    
    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></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="DiveMode"><Description>
        Mission variable (don't change). The mission sets this variable to switch
        between dive modes.
    </Description><Units:count/><Value>0</Value></DefineOutput>
    
    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change). The mission will run in this to mode when
        running surface comms.
    </Description><Units:count/><Value>0</Value></DefineOutput>
    
    <DefineOutput Name="InitialDive"><Description>
        Mission variable (don't change). The mission will run in this mode when
        surface comms are done to dive the vehicle to DVL bottom range.
    </Description><Units:count/><Value>1</Value></DefineOutput>
    
    <DefineOutput Name="MaintainAltitude"><Description>
        Mission variable (don't change). The mission will run in this mode to
        dive the vehicle at a commanded altitude.
    </Description><Units:count/><Value>2</Value></DefineOutput>
    
    <DefineOutput Name="DetachFromDock"><Description>
        Mission variable (don't change). The mission will run in this mode to
        drift away from the dock after is unlatches.
    </Description><Units:count/><Value>3</Value></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="DiveMode"/><Arg Name="DoingComms"/></Assign>
        
        <Call RefId="NeedComms"/>
        
        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="InitialDive"/></Assign>
        
    </Aggregate>
    
    <!-- Add track acoustic contact directive high in the stack. -->
    
    <Aggregate Id="TrackTransponder">
        
        <While>
            <Arg Name="HomingActive"/>
        </While>
        
        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>
        
    </Aggregate>
    
    <!-- Set default mass position -->
    
    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>
    
    <!-- Callable aggregates (priority matters, so these are done below important safety directives -->
    
    <Aggregate Id="DiveCmd">
        
        <Description>
            Called when the vehicle should be underwater. Arbitrates
            between 3 dive modes: 1) descend from the surface to initial
            depth. 2) follow commanded altitude. 3) drift away from dock
            to initial depth.
        </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="DiveMode"/><Eq><Arg Name="InitialDive"/></Eq>
            </While>
            
            <Aggregate Id="dive">
                
                <Sequence/>
                
                <Guidance:Buoyancy>
                    <Parallel/>
                    <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
                </Guidance:Buoyancy>
                
                <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="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>
                
            </Aggregate>
            
        </Aggregate>
        
        <Aggregate Id="AltitudeServo">
            
            <Description>
                Follow commanded altitude.
            </Description>
            
            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="MaintainAltitude"/></Eq>
            </While>
            
            <Aggregate Id="dive">
                
                <Parallel/>
                
                <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>
                
                <Guidance:Buoyancy>
                    <Parallel/>
                    <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
                </Guidance:Buoyancy>
                
                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
                </Guidance:SetSpeed>
                
                <Guidance:AltitudeServo>
                    <Parallel/>
                    <Setting><Guidance:AltitudeServo.targetAltitude/><Arg Name="HoldAltitude"/></Setting>
                    <Setting><Guidance:AltitudeServo.invalidAltitudeTimeout/><Arg Name="InvalidAltitudeTimeout"/></Setting>
                </Guidance:AltitudeServo>
                
            </Aggregate>
            
        </Aggregate>
        
        <Aggregate Id="DriftAwayFromDock">
            
            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>
            
            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>
            
            <Aggregate Id="dive">
                
                <Sequence/>
                
                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>
                
                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                        
                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>
                    
                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>
                
                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>
                
            </Aggregate>
            
        </Aggregate>
        
    </Aggregate>
    
    
    
    <!-- Start mission sequence. -->
    
    <Call Id="StartingMission" RefId="SurfaceComms"/>
    
    <Aggregate Id="Lap">
        
        <Sequence Repeat="Repeat"/>
        
        <Aggregate Id="Dive">
            
            <While>
                <Not><Arg Name="DiveMode"/><Eq><Arg Name="DoingComms"/></Eq></Not>
            </While>
            
            <Call RefId="DiveCmd"/>
            
        </Aggregate>
        
        <Syslog Severity="Important">Intiating homing sequence.</Syslog>
        
        <Assign><Sequence/><Arg Name="HomingActive"/><True/></Assign>
        
        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>60</Value></Setting>
        </Guidance:Wait>
        
        <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>
            
            <!-- Even if we're getting acoustic contact, let's not just do this forever -->
            <Timeout Duration="TerminalGuidanceTimeout"/>
            
            <Syslog Severity="Important">Starting terminal guidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
            
            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.forceUpdate/><True/></Setting> <!-- keep adjusting the heading -->
                <Setting><Guidance:Point.heading/><Estimation:TrackAcousticContact.heading_to_contact/></Setting>
            </Guidance:Point>
            
            <Aggregate Id="ActivateCamera">
                
                <When>
                    <Not><Arg Name="CameraRequested"/></Not>
                    <And><Estimation:TrackAcousticContact.range_to_contact/><Le><Arg Name="CameraRange"/></Le></And>
                </When>
                
                <Syslog Severity="Important">Lights, Camera on at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                
                <!-- <ReadData Strategy="MinError">
                        <Sensor:PowerOnly.samplePowerOnly/>
                     </ReadData>  -->

                <Assign><Sequence/><Arg Name="CameraRequested"/><True/></Assign>
                
            </Aggregate>
            
            <!-- Keep running terminal guidance until we're within dock range (or until we time out) -->
            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="TerminalGuidanceTimeout"/></Setting>
            </Guidance:Wait>
            
        </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/>
            
            <!-- No reson to dock if we haven't come within camara range -->
            <Break>
                <Not><Arg Name="CameraRequested"/></Not>
            </Break>

            <Syslog Severity="Important">Final approach. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
            
            <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>
            
            <Aggregate Id="BreakOffDock">
                
                <Sequence/>
                
                <Syslog Severity="Important">Braking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                
                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>
                
                <Aggregate Id="WaitForBreakOff">
                    <When>
                        <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
                    </When>
                    
                    <Guidance:Wait>
                        <Sequence/>
                        <Setting><Guidance:Wait.duration/><Arg Name="InitDepthTimeout" /></Setting>
                    </Guidance:Wait>
                </Aggregate>
                
            </Aggregate>
            
        </Aggregate>
        
        <!-- Homing sequance complete -->
        <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/>
            
            <Assign><Sequence/><Arg Name="CameraRequested"/><False/></Assign>
            
            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>
            
            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>
            
            <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>
        
        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>1</Value></Setting>
        </Guidance:Wait>
        
        <Call Id="PhoneHome" RefId="SurfaceComms"/>
        
    </Aggregate>
    
</Mission>


2019-05-29T06:07:19.384Z,1559110039.384 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-05-29T06:07:29.596Z,1559110049.596 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 2.000000 count
2019-05-29T06:07:29.597Z,1559110049.597 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 20.000000 meter
2019-05-29T06:07:29.598Z,1559110049.598 [CommandLine](IMPORTANT): got command set lineCaptureHoming.UpdateNav 0.000000 bool
2019-05-29T06:07:29.603Z,1559110049.603 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockTimeout 10.000000 second
2019-05-29T06:07:43.658Z,1559110063.658 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-05-29T06:07:43.659Z,1559110063.659 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-05-29T06:07:43.660Z,1559110063.660 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.000000 second
2019-05-29T06:07:43.661Z,1559110063.661 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-05-29T06:07:43.662Z,1559110063.662 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000000 kilometer
2019-05-29T06:07:43.876Z,1559110063.876 [CommandLine](IMPORTANT): got command run 
2019-05-29T06:07:43.878Z,1559110063.878 [CommandLine](IMPORTANT): Running 
2019-05-29T06:07:43.932Z,1559110063.932 [Default] Stopped
2019-05-29T06:07:43.933Z,1559110063.933 [Default](DEBUG): Aggregate::uninitialize Default
2019-05-29T06:07:43.933Z,1559110063.933 [Default:B.GoToSurface] Stopped
2019-05-29T06:07:43.933Z,1559110063.933 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-29T06:07:43.933Z,1559110063.933 [Default:CheckIn] Stopped
2019-05-29T06:07:43.933Z,1559110063.933 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-05-29T06:07:43.933Z,1559110063.933 [Default:CheckIn:C.Wait] Stopped
2019-05-29T06:07:43.933Z,1559110063.933 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-05-29T06:07:43.934Z,1559110063.934 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-05-29T06:07:43.934Z,1559110063.934 [lineCaptureHoming] Running Loop=1
2019-05-29T06:07:43.934Z,1559110063.934 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-05-29T06:07:43.934Z,1559110063.934 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-05-29T06:07:43.934Z,1559110063.934 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-05-29T06:07:43.934Z,1559110063.934 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-05-29T06:07:43.935Z,1559110063.935 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-05-29T06:07:43.936Z,1559110063.936 [lineCaptureHoming:J.Mass] Running Loop=1
2019-05-29T06:07:43.936Z,1559110063.936 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-05-29T06:07:43.936Z,1559110063.936 [lineCaptureHoming:B] Running Loop=1
2019-05-29T06:07:43.937Z,1559110063.937 [lineCaptureHoming:J.Mass] Running Loop=1
2019-05-29T06:07:43.937Z,1559110063.937 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-05-29T06:07:43.937Z,1559110063.937 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-05-29T06:07:43.937Z,1559110063.937 [lineCaptureHoming:B] Stopped
2019-05-29T06:07:43.938Z,1559110063.938 [lineCaptureHoming:C] Running Loop=1
2019-05-29T06:07:43.938Z,1559110063.938 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-05-29T06:07:43.938Z,1559110063.938 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-05-29T06:07:43.945Z,1559110063.945 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-05-29T06:07:43.946Z,1559110063.946 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-05-29T06:07:44.318Z,1559110064.318 [lineCaptureHoming:C] Stopped
2019-05-29T06:07:44.318Z,1559110064.318 [lineCaptureHoming:D] Running Loop=1
2019-05-29T06:07:44.713Z,1559110064.713 [lineCaptureHoming:D] Stopped
2019-05-29T06:07:44.713Z,1559110064.713 [lineCaptureHoming:F] Running Loop=1
2019-05-29T06:07:45.137Z,1559110065.137 [lineCaptureHoming:F] Stopped
2019-05-29T06:07:45.138Z,1559110065.138 [lineCaptureHoming:G] Running Loop=1
2019-05-29T06:07:45.507Z,1559110065.507 [lineCaptureHoming:G] Stopped
2019-05-29T06:07:45.507Z,1559110065.507 [lineCaptureHoming:StartingMission] Running Loop=1
2019-05-29T06:07:45.507Z,1559110065.507 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-05-29T06:07:45.967Z,1559110065.967 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:07:45.967Z,1559110065.967 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-05-29T06:07:45.967Z,1559110065.967 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-05-29T06:07:45.967Z,1559110065.967 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-05-29T06:07:45.968Z,1559110065.968 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-05-29T06:07:45.968Z,1559110065.968 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-05-29T06:07:45.968Z,1559110065.968 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-05-29T06:07:46.327Z,1559110066.327 [lineCaptureHoming:NeedComms] Running Loop=1
2019-05-29T06:07:46.327Z,1559110066.327 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-05-29T06:07:46.327Z,1559110066.327 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-05-29T06:07:46.327Z,1559110066.327 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-29T06:07:46.327Z,1559110066.327 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-05-29T06:07:46.328Z,1559110066.328 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-05-29T06:07:46.328Z,1559110066.328 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-05-29T06:07:46.328Z,1559110066.328 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-29T06:07:46.329Z,1559110066.329 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-29T06:07:46.329Z,1559110066.329 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-05-29T06:07:46.330Z,1559110066.330 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1559109701.000000 second since 1970/01/01T00:00:00Z 
2019-05-29T06:07:46.330Z,1559110066.330 [lineCaptureHoming:NeedComms:A] Stopped
2019-05-29T06:07:46.744Z,1559110066.744 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-05-29T06:07:47.155Z,1559110067.155 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-05-29T06:07:47.564Z,1559110067.564 [Reporter](INFO): acoustic_contact_range 28.860003 m
2019-05-29T06:07:48.327Z,1559110068.327 [NAL9602](DEBUG): Fix Requested
2019-05-29T06:07:48.722Z,1559110068.722 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,060659.00,A,3648.16514,N,12147.28110,W,0.214,299.57,290519,,,A*74
2019-05-29T06:07:48.724Z,1559110068.724 [NAL9602](INFO): GPS fix at 20190529T060659: (36.802752, -121.788018)
2019-05-29T06:07:48.759Z,1559110068.759 [lineCaptureHoming:NeedComms:C] Stopped
2019-05-29T06:07:48.759Z,1559110068.759 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-05-29T06:07:49.178Z,1559110069.178 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-05-29T06:07:49.822Z,1559110069.822 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:07:50.967Z,1559110070.967 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-29T06:07:51.440Z,1559110071.440 [Reporter](INFO): acoustic_contact_range 28.799999 m
2019-05-29T06:07:53.419Z,1559110073.419 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:07:53.452Z,1559110073.452 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20190529T060225/Courier0003.lzma
2019-05-29T06:07:54.261Z,1559110074.261 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Courier0003.lzma.bak
2019-05-29T06:07:54.261Z,1559110074.261 [DataOverHttps](INFO): SBD MOMSN=11210807
2019-05-29T06:07:55.081Z,1559110075.081 [Reporter](INFO): acoustic_contact_range 64.919998 m
2019-05-29T06:07:57.062Z,1559110077.062 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:07:58.696Z,1559110078.696 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-05-29T06:08:00.690Z,1559110080.690 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:02.364Z,1559110082.364 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-05-29T06:08:04.323Z,1559110084.323 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:06.011Z,1559110086.011 [Reporter](INFO): acoustic_contact_range 4.559999 m
2019-05-29T06:08:06.030Z,1559110086.030 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190529T060225/Courier0006.lzma
2019-05-29T06:08:06.836Z,1559110086.836 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Courier0006.lzma.bak
2019-05-29T06:08:06.836Z,1559110086.836 [DataOverHttps](INFO): SBD MOMSN=11210810
2019-05-29T06:08:08.367Z,1559110088.367 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:10.060Z,1559110090.060 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-05-29T06:08:12.018Z,1559110092.018 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:13.619Z,1559110093.619 [Reporter](INFO): acoustic_contact_range 4.619999 m
2019-05-29T06:08:15.669Z,1559110095.669 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:17.300Z,1559110097.300 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-05-29T06:08:19.664Z,1559110099.664 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:19.725Z,1559110099.725 [DataOverHttps](INFO): Sending 1539 bytes from file Logs/20190529T060225/Express0004.lzma
2019-05-29T06:08:20.528Z,1559110100.528 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Express0004.lzma.bak
2019-05-29T06:08:20.528Z,1559110100.528 [DataOverHttps](INFO): SBD MOMSN=11210812
2019-05-29T06:08:21.656Z,1559110101.656 [NAL9602](INFO): Not Powering down - fast GPS
2019-05-29T06:08:21.715Z,1559110101.715 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:23.676Z,1559110103.676 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-05-29T06:08:24.110Z,1559110104.110 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:25.787Z,1559110105.787 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-05-29T06:08:27.740Z,1559110107.740 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:29.422Z,1559110109.422 [Reporter](INFO): acoustic_contact_range 4.559999 m
2019-05-29T06:08:31.398Z,1559110111.398 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:32.983Z,1559110112.983 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20190529T060225/Express0007.lzma
2019-05-29T06:08:33.028Z,1559110113.028 [Reporter](INFO): acoustic_contact_range 4.559999 m
2019-05-29T06:08:33.790Z,1559110113.790 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Express0007.lzma.bak
2019-05-29T06:08:33.791Z,1559110113.791 [DataOverHttps](INFO): SBD MOMSN=11210841
2019-05-29T06:08:35.014Z,1559110115.014 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:35.019Z,1559110115.019 [lineCaptureHoming:NeedComms:D] Stopped
2019-05-29T06:08:35.019Z,1559110115.019 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-05-29T06:08:35.438Z,1559110115.438 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-05-29T06:08:36.623Z,1559110116.623 [NAL9602](DEBUG): Fix Requested
2019-05-29T06:08:36.672Z,1559110116.672 [Reporter](INFO): acoustic_contact_range 4.559999 m
2019-05-29T06:08:37.011Z,1559110117.011 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,060747.00,A,3648.16131,N,12147.27731,W,0.039,299.57,290519,,,A*7E
2019-05-29T06:08:37.013Z,1559110117.013 [NAL9602](INFO): GPS fix at 20190529T060747: (36.802689, -121.787955)
2019-05-29T06:08:37.115Z,1559110117.115 [lineCaptureHoming:NeedComms:E] Stopped
2019-05-29T06:08:37.116Z,1559110117.116 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-05-29T06:08:37.116Z,1559110117.116 [lineCaptureHoming:NeedComms] Stopped
2019-05-29T06:08:37.116Z,1559110117.116 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-05-29T06:08:37.116Z,1559110117.116 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-05-29T06:08:37.116Z,1559110117.116 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-29T06:08:37.459Z,1559110117.459 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-05-29T06:08:37.459Z,1559110117.459 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-05-29T06:08:37.459Z,1559110117.459 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-05-29T06:08:37.459Z,1559110117.459 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-05-29T06:08:37.899Z,1559110117.899 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-05-29T06:08:37.899Z,1559110117.899 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-05-29T06:08:37.899Z,1559110117.899 [lineCaptureHoming:SurfaceComms] Stopped
2019-05-29T06:08:37.899Z,1559110117.899 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-05-29T06:08:38.290Z,1559110118.290 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:StartingMission] Stopped
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:Lap] Running Loop=1
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-05-29T06:08:38.303Z,1559110118.303 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-05-29T06:08:38.304Z,1559110118.304 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-05-29T06:08:38.304Z,1559110118.304 [lineCaptureHoming:Lap:B] Running Loop=1
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:Lap:B](IMPORTANT): Intiating homing sequence.
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:Lap:B] Stopped
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:Lap:C] Running Loop=1
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-05-29T06:08:38.700Z,1559110118.700 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Initialize.
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Running Loop=1
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Initialize.
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-05-29T06:08:38.701Z,1559110118.701 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-05-29T06:08:38.702Z,1559110118.702 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-05-29T06:08:38.707Z,1559110118.707 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-05-29T06:08:38.708Z,1559110118.708 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-05-29T06:08:38.708Z,1559110118.708 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-05-29T06:08:38.708Z,1559110118.708 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-05-29T06:08:38.708Z,1559110118.708 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-05-29T06:08:38.708Z,1559110118.708 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-05-29T06:08:38.708Z,1559110118.708 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-05-29T06:08:38.709Z,1559110118.709 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-05-29T06:08:38.710Z,1559110118.710 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-05-29T06:08:38.710Z,1559110118.710 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-05-29T06:08:38.715Z,1559110118.715 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:39.110Z,1559110119.110 [lineCaptureHoming:Lap:C] Stopped
2019-05-29T06:08:39.110Z,1559110119.110 [lineCaptureHoming:Lap:D.Wait] Running Loop=1
2019-05-29T06:08:39.110Z,1559110119.110 [lineCaptureHoming:Lap:D.Wait](DEBUG): Initialize Wait Component.
2019-05-29T06:08:40.324Z,1559110120.324 [Reporter](INFO): acoustic_contact_range 4.559999 m
2019-05-29T06:08:42.295Z,1559110122.295 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:44.001Z,1559110124.001 [Reporter](INFO): acoustic_contact_range 4.619999 m
2019-05-29T06:08:45.996Z,1559110125.996 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:47.613Z,1559110127.613 [Reporter](INFO): acoustic_contact_range 4.559999 m
2019-05-29T06:08:49.980Z,1559110129.980 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:51.661Z,1559110131.661 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-05-29T06:08:54.026Z,1559110134.026 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:55.673Z,1559110135.673 [Reporter](INFO): acoustic_contact_range 6.179999 m
2019-05-29T06:08:57.660Z,1559110137.660 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:08:59.304Z,1559110139.304 [Reporter](INFO): acoustic_contact_range 4.619999 m
2019-05-29T06:09:01.293Z,1559110141.293 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:03.036Z,1559110143.036 [Reporter](INFO): acoustic_contact_range 7.680000 m
2019-05-29T06:09:04.956Z,1559110144.956 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:06.176Z,1559110146.176 [Reporter](INFO): acoustic_contact_range 32.939999 m
2019-05-29T06:09:08.153Z,1559110148.153 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:10.188Z,1559110150.188 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:12.196Z,1559110152.196 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:14.238Z,1559110154.238 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:15.864Z,1559110155.864 [Reporter](INFO): acoustic_contact_range 8.699999 m
2019-05-29T06:09:17.848Z,1559110157.848 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:19.575Z,1559110159.575 [Reporter](INFO): acoustic_contact_range 4.919998 m
2019-05-29T06:09:21.896Z,1559110161.896 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:23.568Z,1559110163.568 [Reporter](INFO): acoustic_contact_range 4.619999 m
2019-05-29T06:09:25.960Z,1559110165.960 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:27.581Z,1559110167.581 [Reporter](INFO): acoustic_contact_range 7.499999 m
2019-05-29T06:09:29.584Z,1559110169.584 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:31.229Z,1559110171.229 [Reporter](INFO): acoustic_contact_range 17.100002 m
2019-05-29T06:09:33.216Z,1559110173.216 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:34.886Z,1559110174.886 [Reporter](INFO): acoustic_contact_range 7.800001 m
2019-05-29T06:09:36.830Z,1559110176.830 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:38.501Z,1559110178.501 [Reporter](INFO): acoustic_contact_range 18.540001 m
2019-05-29T06:09:39.687Z,1559110179.687 [lineCaptureHoming:Lap:D.Wait](INFO): Done Waiting.
2019-05-29T06:09:39.687Z,1559110179.687 [lineCaptureHoming:Lap:D.Wait] Stopped
2019-05-29T06:09:39.687Z,1559110179.687 [lineCaptureHoming:Lap:D.Wait](DEBUG): Uninitialize Wait Component.
2019-05-29T06:09:39.688Z,1559110179.688 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-05-29T06:09:39.688Z,1559110179.688 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-05-29T06:09:39.688Z,1559110179.688 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-05-29T06:09:39.688Z,1559110179.688 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-05-29T06:09:40.100Z,1559110180.100 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-05-29T06:09:40.100Z,1559110180.100 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-05-29T06:09:40.100Z,1559110180.100 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-05-29T06:09:40.100Z,1559110180.100 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-05-29T06:09:40.100Z,1559110180.100 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-05-29T06:09:40.101Z,1559110180.101 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-05-29T06:09:40.101Z,1559110180.101 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-05-29T06:09:40.101Z,1559110180.101 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-05-29T06:09:40.101Z,1559110180.101 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-05-29T06:09:40.507Z,1559110180.507 [lineCaptureHoming:Lap:Dock:A] Running Loop=1
2019-05-29T06:09:40.509Z,1559110180.509 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-05-29T06:09:40.877Z,1559110180.877 [lineCaptureHoming:Lap:Dock] Stopped
2019-05-29T06:09:40.877Z,1559110180.877 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-05-29T06:09:40.878Z,1559110180.878 [lineCaptureHoming:Lap:Dock:A] Stopped
2019-05-29T06:09:40.878Z,1559110180.878 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-05-29T06:09:40.878Z,1559110180.878 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-05-29T06:09:40.878Z,1559110180.878 [lineCaptureHoming:Lap:Rollout:A] Running Loop=1
2019-05-29T06:09:41.312Z,1559110181.312 [lineCaptureHoming:Lap:Rollout:A] Stopped
2019-05-29T06:09:41.312Z,1559110181.312 [lineCaptureHoming:Lap:Rollout:B] Running Loop=1
2019-05-29T06:09:41.699Z,1559110181.699 [lineCaptureHoming:Lap:Rollout:B] Stopped
2019-05-29T06:09:41.699Z,1559110181.699 [lineCaptureHoming:Lap:Rollout:C] Running Loop=1
2019-05-29T06:09:42.100Z,1559110182.100 [lineCaptureHoming:Lap:Rollout:C] Stopped
2019-05-29T06:09:42.100Z,1559110182.100 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-05-29T06:09:42.100Z,1559110182.100 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-05-29T06:09:42.100Z,1559110182.100 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-05-29T06:09:42.100Z,1559110182.100 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-05-29T06:09:42.101Z,1559110182.101 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-05-29T06:09:42.102Z,1559110182.102 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-05-29T06:09:42.102Z,1559110182.102 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-05-29T06:09:42.102Z,1559110182.102 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-05-29T06:09:42.102Z,1559110182.102 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-05-29T06:09:42.102Z,1559110182.102 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-05-29T06:09:42.103Z,1559110182.103 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-05-29T06:09:42.103Z,1559110182.103 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-05-29T06:09:42.103Z,1559110182.103 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-05-29T06:09:42.103Z,1559110182.103 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Stopped
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Stopped
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Stopped
2019-05-29T06:09:42.104Z,1559110182.104 [lineCaptureHoming:TrackTransponder] Stopped
2019-05-29T06:09:42.105Z,1559110182.105 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-05-29T06:09:42.105Z,1559110182.105 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-05-29T06:09:42.181Z,1559110182.181 [Reporter](INFO): acoustic_contact_range 7.800001 m
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-05-29T06:09:42.495Z,1559110182.495 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-05-29T06:09:42.496Z,1559110182.496 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-05-29T06:10:40.824Z,1559110240.824 [CommandLine](IMPORTANT): got command show stack
2019-05-29T06:10:40.824Z,1559110240.824 [CommandLine](IMPORTANT): Behavior Stack:

2019-05-29T06:10:40.825Z,1559110240.825 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-05-29T06:10:40.825Z,1559110240.825 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-05-29T06:10:40.826Z,1559110240.826 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-05-29T06:10:40.826Z,1559110240.826 [lineCaptureHoming](IMPORTANT): Priority 3: lineCaptureHoming:J.Mass
2019-05-29T06:10:40.827Z,1559110240.827 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 4: lineCaptureHoming:DiveCmd:AltitudeServo:dive:A
2019-05-29T06:10:40.828Z,1559110240.828 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 5: lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy
2019-05-29T06:10:40.828Z,1559110240.828 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 6: lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed
2019-05-29T06:10:40.828Z,1559110240.828 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](IMPORTANT): Priority 7: lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo
2019-05-29T06:10:40.829Z,1559110240.829 [lineCaptureHoming:Lap:Rollout:MaintainHeading](IMPORTANT): Priority 8: lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait
2019-05-29T06:10:43.104Z,1559110243.104 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](INFO): Done Waiting.
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout:MaintainHeading](INFO): Completed lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout](INFO): Completed lineCaptureHoming:Lap:Rollout
2019-05-29T06:10:43.105Z,1559110243.105 [lineCaptureHoming:Lap:Rollout] Stopped
2019-05-29T06:10:43.106Z,1559110243.106 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-05-29T06:10:43.106Z,1559110243.106 [lineCaptureHoming:Lap:I.Wait] Running Loop=1
2019-05-29T06:10:43.106Z,1559110243.106 [lineCaptureHoming:Lap:I.Wait](DEBUG): Initialize Wait Component.
2019-05-29T06:10:44.709Z,1559110244.709 [lineCaptureHoming:Lap:I.Wait](INFO): Done Waiting.
2019-05-29T06:10:44.709Z,1559110244.709 [lineCaptureHoming:Lap:I.Wait] Stopped
2019-05-29T06:10:44.709Z,1559110244.709 [lineCaptureHoming:Lap:I.Wait](DEBUG): Uninitialize Wait Component.
2019-05-29T06:10:44.709Z,1559110244.709 [lineCaptureHoming:Lap:PhoneHome] Running Loop=1
2019-05-29T06:10:44.709Z,1559110244.709 [lineCaptureHoming:Lap:PhoneHome](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:PhoneHome
2019-05-29T06:10:45.133Z,1559110245.133 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-05-29T06:10:45.133Z,1559110245.133 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-05-29T06:10:45.133Z,1559110245.133 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-05-29T06:10:45.133Z,1559110245.133 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-05-29T06:10:45.134Z,1559110245.134 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-05-29T06:10:45.134Z,1559110245.134 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:Lap:Dive] Stopped
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-05-29T06:10:45.509Z,1559110245.509 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-05-29T06:10:45.510Z,1559110245.510 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-05-29T06:10:45.527Z,1559110245.527 [lineCaptureHoming:NeedComms] Running Loop=1
2019-05-29T06:10:45.527Z,1559110245.527 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-05-29T06:10:45.527Z,1559110245.527 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-05-29T06:10:45.527Z,1559110245.527 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-29T06:10:45.528Z,1559110245.528 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-05-29T06:10:45.529Z,1559110245.529 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-05-29T06:10:45.529Z,1559110245.529 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-05-29T06:10:45.530Z,1559110245.530 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-29T06:10:45.530Z,1559110245.530 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-29T06:10:45.535Z,1559110245.535 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-05-29T06:10:45.536Z,1559110245.536 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1559110067.000000 second since 1970/01/01T00:00:00Z 
2019-05-29T06:10:45.537Z,1559110245.537 [lineCaptureHoming:NeedComms:A] Stopped
2019-05-29T06:10:45.956Z,1559110245.956 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-05-29T06:10:49.866Z,1559110249.866 [CommandLine](IMPORTANT): got command stop
2019-05-29T06:10:49.867Z,1559110249.867 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-05-29T06:10:49.989Z,1559110249.989 [MissionManager](INFO): MissionManager is completed.
2019-05-29T06:10:49.989Z,1559110249.989 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-05-29T06:10:49.989Z,1559110249.989 [lineCaptureHoming] Stopped
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-05-29T06:10:49.990Z,1559110249.990 [lineCaptureHoming:NeedComms] Stopped
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:NeedComms:C] Stopped
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:SurfaceComms] Stopped
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:J.Mass] Stopped
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-05-29T06:10:50.007Z,1559110250.007 [lineCaptureHoming:DiveCmd] Stopped
2019-05-29T06:10:50.008Z,1559110250.008 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-05-29T06:10:50.008Z,1559110250.008 [lineCaptureHoming:Lap] Stopped
2019-05-29T06:10:50.008Z,1559110250.008 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-05-29T06:10:50.008Z,1559110250.008 [lineCaptureHoming:Lap:PhoneHome] Stopped
2019-05-29T06:10:50.008Z,1559110250.008 [lineCaptureHoming:Lap:PhoneHome](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:PhoneHome
2019-05-29T06:10:50.369Z,1559110250.369 [MissionManager](IMPORTANT): Started mission Default
2019-05-29T06:10:50.369Z,1559110250.369 [Default] Running Loop=1
2019-05-29T06:10:50.369Z,1559110250.369 [Default](DEBUG): Aggregate::initialize Default
2019-05-29T06:10:50.369Z,1559110250.369 [Default:B.GoToSurface] Running Loop=1
2019-05-29T06:10:50.369Z,1559110250.369 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-05-29T06:10:50.369Z,1559110250.369 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-05-29T06:10:50.370Z,1559110250.370 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-05-29T06:10:50.370Z,1559110250.370 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-05-29T06:10:50.370Z,1559110250.370 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-05-29T06:10:50.371Z,1559110250.371 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-05-29T06:10:50.371Z,1559110250.371 [Default:A.Wait] Running Loop=1
2019-05-29T06:10:50.371Z,1559110250.371 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-05-29T06:11:03.742Z,1559110263.742 [Default:A.Wait](INFO): Done Waiting.
2019-05-29T06:11:03.743Z,1559110263.743 [Default:A.Wait] Stopped
2019-05-29T06:11:03.743Z,1559110263.743 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-05-29T06:11:04.106Z,1559110264.106 [Default:CheckIn] Running Loop=1
2019-05-29T06:11:04.114Z,1559110264.114 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-05-29T06:11:04.115Z,1559110264.115 [Default:CheckIn:Read_GPS] Running Loop=1
2019-05-29T06:13:39.218Z,1559110419.218 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-05-29T06:13:40.047Z,1559110420.047 [NAL9602](DEBUG): Fix Requested
2019-05-29T06:13:42.463Z,1559110422.463 [NAL9602](DEBUG): Fix Requested
2019-05-29T06:13:42.862Z,1559110422.862 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,061253.00,A,3648.16557,N,12147.27957,W,0.447,0.00,290519,,,A*78
2019-05-29T06:13:42.864Z,1559110422.864 [NAL9602](INFO): GPS fix at 20190529T061253: (36.802760, -121.787993)
2019-05-29T06:13:42.930Z,1559110422.930 [Default:CheckIn:Read_GPS] Stopped
2019-05-29T06:13:42.935Z,1559110422.935 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-05-29T06:13:48.850Z,1559110428.850 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20190529T060225/Courier0009.lzma
2019-05-29T06:13:49.656Z,1559110429.656 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Courier0009.lzma.bak
2019-05-29T06:13:49.656Z,1559110429.656 [DataOverHttps](INFO): SBD MOMSN=11210854
2019-05-29T06:14:01.485Z,1559110441.485 [DataOverHttps](INFO): Sending 1514 bytes from file Logs/20190529T060225/Express0010.lzma
2019-05-29T06:14:02.288Z,1559110442.288 [DataOverHttps](INFO): Moved sent file to Logs/20190529T060225/Express0010.lzma.bak
2019-05-29T06:14:02.288Z,1559110442.288 [DataOverHttps](INFO): SBD MOMSN=11210857
2019-05-29T06:14:03.550Z,1559110443.550 [Default:CheckIn:Read_Iridium] Stopped
2019-05-29T06:14:03.550Z,1559110443.550 [Default:CheckIn:C.Wait] Running Loop=1
2019-05-29T06:14:03.550Z,1559110443.550 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-05-29T06:14:15.670Z,1559110455.670 [NAL9602](INFO): Not Powering down - fast GPS
2019-05-29T06:15:59.955Z,1559110559.955 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-05-29T06:15:59.955Z,1559110559.955 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19052823243963,35.0, -0.1,   0.0,1448.RA,  0.00,  98.92,  93.43,  89.93,   0.00
2019-05-29T06:16:01.997Z,1559110561.997 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-05-29T06:16:02.004Z,1559110562.004 [BPC1](INFO): Received data from all battery sticks.
2019-05-29T06:17:20.291Z,1559110640.291 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,  97.42,  93.43,  90.93, 100.41