2019-10-09T22:12:24.545Z,1570659144.545 [CommandLine](IMPORTANT): got command restart logs
2019-10-09T22:12:40.865Z,1570659160.865 [DataOverHttps](INFO): Sending 195 bytes from file Logs/20191009T204434/Express0037.lzma
2019-10-09T22:12:41.591Z,1570659161.591 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-10-09T22:12:42.113Z,1570659162.113 [NAL9602](FAULT): received: 
2019-10-09T22:12:42.113Z,1570659162.113 [NAL9602] Data Fault, FailCount= 1
2019-10-09T22:12:42.113Z,1570659162.113 [NAL9602](ERROR): Data Fault
2019-10-09T22:12:42.207Z,1570659162.207 [CBIT](ERROR): Data Fault in component: NAL9602
2019-10-09T22:12:42.264Z,1570659162.264 [NAL9602](INFO): Powering down
2019-10-09T22:12:42.870Z,1570659162.870 [DataOverHttps](INFO): Moved sent file to Logs/20191009T204434/Express0037.lzma.bak
2019-10-09T22:12:42.871Z,1570659162.871 [DataOverHttps](INFO): SBD MOMSN=11867034
2019-10-09T22:12:43.114Z,1570659163.114 [CBIT](INFO): Clearing failed state for component NAL9602
2019-10-09T22:12:43.115Z,1570659163.115 [NAL9602] No Fault, FailCount= 1
2019-10-09T22:12:52.115Z,1570659172.115 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2019-10-09T22:12:52.116Z,1570659172.116 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-10-09T22:12:52.117Z,1570659172.117 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.900002 degree
2019-10-09T22:12:52.118Z,1570659172.118 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-10-09T22:12:52.400Z,1570659172.400 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-10-09T22:13:03.171Z,1570659183.171 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1570659200.000000 second
2019-10-09T22:13:06.122Z,1570659186.122 [CommandLine](IMPORTANT): got command get longitude
2019-10-09T22:13:06.122Z,1570659186.122 [CommandLine](IMPORTANT): longitude -121.788046 arcdeg
2019-10-09T22:13:07.839Z,1570659187.839 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191009T204434/Express0040.lzma
2019-10-09T22:13:09.838Z,1570659189.838 [DataOverHttps](INFO): Moved sent file to Logs/20191009T204434/Express0040.lzma.bak
2019-10-09T22:13:09.838Z,1570659189.838 [DataOverHttps](INFO): SBD MOMSN=11867038
2019-10-09T22:13:12.538Z,1570659192.538 [NAL9602](INFO): Powering up NAL9602
2019-10-09T22:13:16.629Z,1570659196.629 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T22:13:16.629Z,1570659196.629 [Default:CheckIn:C.Wait] Running Loop=1
2019-10-09T22:13:16.629Z,1570659196.629 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:13:18.816Z,1570659198.816 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1570659200.000000 second
2019-10-09T22:13:20.954Z,1570659200.954 [CommandLine](IMPORTANT): got command get 
2019-10-09T22:13:20.954Z,1570659200.954 [CommandLine](FAULT): Incomplete syntax. Try: help get
2019-10-09T22:13:23.218Z,1570659203.218 [CommandLine](IMPORTANT): got command get longitude
2019-10-09T22:13:23.219Z,1570659203.219 [CommandLine](IMPORTANT): longitude -121.788057 arcdeg
2019-10-09T22:13:23.446Z,1570659203.446 [NAL9602](INFO): NAL9602 initialized
2019-10-09T22:13:25.722Z,1570659205.722 [CommandLine](IMPORTANT): got command maintain
2019-10-09T22:13:25.723Z,1570659205.723 [Maintain_NAL9602.latitude_fix](INFO): NAL9602.latitude_fix maintaining 36.799999 arcdeg
2019-10-09T22:13:25.723Z,1570659205.723 [Maintain_NAL9602.longitude_fix](INFO): NAL9602.longitude_fix maintaining -121.900002 arcdeg
2019-10-09T22:13:31.554Z,1570659211.554 [CommandLine](IMPORTANT): got command get longitude
2019-10-09T22:13:31.554Z,1570659211.554 [CommandLine](IMPORTANT): longitude -121.788062 arcdeg
2019-10-09T22:13:40.721Z,1570659220.721 [CommandLine](IMPORTANT): got command report
2019-10-09T22:13:40.722Z,1570659220.722 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range reporting when touched
2019-10-09T22:13:40.722Z,1570659220.722 [Reporter](INFO): acoustic_contact_range reporting when touched
2019-10-09T22:13:40.722Z,1570659220.722 [Reporter](INFO): TrackAcousticContact.heading_to_contact reporting when touched
2019-10-09T22:13:40.722Z,1570659220.722 [Reporter](INFO): DUSBL_Hydroid.xAngle reporting when touched
2019-10-09T22:13:40.722Z,1570659220.722 [Reporter](INFO): HorizontalControl.rudderAngleAction reporting changes
2019-10-09T22:13:40.723Z,1570659220.723 [Reporter](INFO): HorizontalControl.rudderAngleCmd reporting changes
2019-10-09T22:13:47.579Z,1570659227.579 [CommandLine](IMPORTANT): got command show variable xangle
2019-10-09T22:13:47.627Z,1570659227.627 [CommandLine](IMPORTANT): DUSBL_Hydroid.xAngle (angular_degree)
2019-10-09T22:13:52.698Z,1570659232.698 [CommandLine](IMPORTANT): got command show variable toContact
2019-10-09T22:13:54.554Z,1570659234.554 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:13:59.539Z,1570659239.539 [CommandLine](IMPORTANT): got command show variable to_contact
2019-10-09T22:14:05.851Z,1570659245.851 [CommandLine](IMPORTANT): got command show variable to_contact
2019-10-09T22:14:39.855Z,1570659279.855 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-10-09T22:14:39.855Z,1570659279.855 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   +5,    +3,A
2019-10-09T22:15:26.170Z,1570659326.170 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T220919
2019-10-09T22:15:33.908Z,1570659333.908 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" 425j0 1 3
2019-10-09T22:15:33.998Z,1570659333.998 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" 425j0 1 3.000000
2019-10-09T22:15:33.998Z,1570659333.998 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=425j0
2019-10-09T22:15:33.999Z,1570659333.999 [CommandLine](IMPORTANT): Scheduled #3 (#1 of 3 with id='425j0'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" ASAP
2019-10-09T22:15:35.914Z,1570659335.914 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T220928
2019-10-09T22:15:43.612Z,1570659343.612 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 425j0 2 3
2019-10-09T22:15:43.702Z,1570659343.702 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 425j0 2 3.000000
2019-10-09T22:15:43.703Z,1570659343.703 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=425j0
2019-10-09T22:15:43.704Z,1570659343.704 [CommandLine](IMPORTANT): Scheduled #4 (#2 of 3 with id='425j0'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" ASAP
2019-10-09T22:15:45.618Z,1570659345.618 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T220938
2019-10-09T22:15:53.349Z,1570659353.349 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 425j0 3 3
2019-10-09T22:15:53.430Z,1570659353.430 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 425j0 3 3.000000
2019-10-09T22:15:53.430Z,1570659353.430 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=425j0
2019-10-09T22:15:53.431Z,1570659353.431 [CommandLine](IMPORTANT): Scheduled #5 (#3 of 3 with id='425j0'): "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " ASAP
2019-10-09T22:15:53.591Z,1570659353.591 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:15:53.592Z,1570659353.592 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:15:53.934Z,1570659353.934 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-10-09T22:15:53.936Z,1570659353.936 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-10-09T22:15:53.939Z,1570659353.939 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-10-09T22:15:53.942Z,1570659353.942 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-10-09T22:15:53.944Z,1570659353.944 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-10-09T22:15:53.946Z,1570659353.946 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-10-09T22:15:53.948Z,1570659353.948 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-10-09T22:15:53.951Z,1570659353.951 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-10-09T22:15:53.953Z,1570659353.953 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-10-09T22:15:53.955Z,1570659353.955 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-10-09T22:15:53.974Z,1570659353.974 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-10-09T22:15:53.976Z,1570659353.976 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-10-09T22:15:53.987Z,1570659353.987 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-10-09T22:15:53.997Z,1570659353.997 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-10-09T22:15:53.000Z,1570659354.000 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-10-09T22:15:54.006Z,1570659354.006 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-10-09T22:15:54.013Z,1570659354.013 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-10-09T22:15:54.015Z,1570659354.015 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-10-09T22:15:54.022Z,1570659354.022 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-10-09T22:15:54.024Z,1570659354.024 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-10-09T22:15:54.031Z,1570659354.031 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-10-09T22:15:54.043Z,1570659354.043 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-10-09T22:15:54.046Z,1570659354.046 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-10-09T22:15:54.048Z,1570659354.048 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-10-09T22:15:54.059Z,1570659354.059 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-10-09T22:15:54.065Z,1570659354.065 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-10-09T22:15:54.070Z,1570659354.070 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-10-09T22:15:54.072Z,1570659354.072 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-10-09T22:15:54.074Z,1570659354.074 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-10-09T22:15:54.076Z,1570659354.076 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-10-09T22:15:54.083Z,1570659354.083 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-10-09T22:15:54.090Z,1570659354.090 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-10-09T22:15:54.092Z,1570659354.092 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-10-09T22:15:54.102Z,1570659354.102 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-10-09T22:15:54.103Z,1570659354.103 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-10-09T22:15:54.202Z,1570659354.202 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-10-09T22:15:54.217Z,1570659354.217 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-10-09T22:15:54.219Z,1570659354.219 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-10-09T22:15:54.220Z,1570659354.220 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-10-09T22:15:54.254Z,1570659354.254 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-10-09T22:15:54.259Z,1570659354.259 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-10-09T22:15:54.284Z,1570659354.284 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-10-09T22:15:54.370Z,1570659354.370 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-10-09T22:15:54.372Z,1570659354.372 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-10-09T22:15:54.374Z,1570659354.374 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-10-09T22:15:54.376Z,1570659354.376 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-10-09T22:15:54.389Z,1570659354.389 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-10-09T22:15:54.392Z,1570659354.392 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-10-09T22:15:54.394Z,1570659354.394 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-10-09T22:15:54.412Z,1570659354.412 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T22:15:54.477Z,1570659354.477 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-10-09T22:15:54.482Z,1570659354.482 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:15:54.485Z,1570659354.485 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-10-09T22:15:54.487Z,1570659354.487 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-10-09T22:15:54.498Z,1570659354.498 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:15:54.501Z,1570659354.501 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-10-09T22:15:54.503Z,1570659354.503 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-10-09T22:15:54.508Z,1570659354.508 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-10-09T22:15:54.510Z,1570659354.510 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-10-09T22:15:54.516Z,1570659354.516 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-10-09T22:15:54.570Z,1570659354.570 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:15:54.627Z,1570659354.627 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-10-09T22:15:54.668Z,1570659354.668 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-10-09T22:15:54.690Z,1570659354.690 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-10-09T22:15:54.705Z,1570659354.705 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-10-09T22:15:54.719Z,1570659354.719 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:15:54.744Z,1570659354.744 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:15:54.766Z,1570659354.766 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:15:54.865Z,1570659354.865 [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">Initiating homing sequence.</Syslog>
        
        <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>
        
        
        <Syslog Severity="Info">Transition to TerminalGuidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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">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>
        
        
        <Syslog Severity="Info">Transition to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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="Info">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>
        
        
        <Syslog Severity="Info">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <!-- 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>
        
    </Aggregate>
    
    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-10-09T22:15:54.866Z,1570659354.866 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:16:02.489Z,1570659362.489 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 5.000000 count
2019-10-09T22:16:02.490Z,1570659362.490 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.799999 degree
2019-10-09T22:16:02.491Z,1570659362.491 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.900002 degree
2019-10-09T22:16:02.491Z,1570659362.491 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 75.000000 meter
2019-10-09T22:16:11.318Z,1570659371.318 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-10-09T22:16:11.319Z,1570659371.319 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-10-09T22:16:11.319Z,1570659371.319 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second
2019-10-09T22:16:11.320Z,1570659371.320 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-10-09T22:16:13.674Z,1570659373.674 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000010 kilometer
2019-10-09T22:16:13.674Z,1570659373.674 [CommandLine](IMPORTANT): got command run 
2019-10-09T22:16:13.676Z,1570659373.676 [CommandLine](IMPORTANT): Running 
2019-10-09T22:16:13.978Z,1570659373.978 [Default] Stopped
2019-10-09T22:16:13.978Z,1570659373.978 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T22:16:13.978Z,1570659373.978 [Default:B.GoToSurface] Stopped
2019-10-09T22:16:13.978Z,1570659373.978 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:16:13.978Z,1570659373.978 [Default:CheckIn] Stopped
2019-10-09T22:16:13.978Z,1570659373.978 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T22:16:13.978Z,1570659373.978 [Default:CheckIn:C.Wait] Stopped
2019-10-09T22:16:13.979Z,1570659373.979 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:16:13.979Z,1570659373.979 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-10-09T22:16:13.979Z,1570659373.979 [lineCaptureHoming] Running Loop=1
2019-10-09T22:16:13.979Z,1570659373.979 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-10-09T22:16:13.979Z,1570659373.979 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:16:13.979Z,1570659373.979 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:16:13.979Z,1570659373.979 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:16:13.979Z,1570659373.979 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:16:13.980Z,1570659373.980 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-10-09T22:16:13.981Z,1570659373.981 [lineCaptureHoming:B] Running Loop=1
2019-10-09T22:16:13.982Z,1570659373.982 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:16:13.982Z,1570659373.982 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:16:13.982Z,1570659373.982 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:16:13.982Z,1570659373.982 [lineCaptureHoming:B] Stopped
2019-10-09T22:16:13.983Z,1570659373.983 [lineCaptureHoming:C] Running Loop=1
2019-10-09T22:16:13.983Z,1570659373.983 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:16:13.983Z,1570659373.983 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:16:14.003Z,1570659374.003 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:16:14.003Z,1570659374.003 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:16:14.026Z,1570659374.026 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.102102 rad
2019-10-09T22:16:14.378Z,1570659374.378 [lineCaptureHoming:C] Stopped
2019-10-09T22:16:14.378Z,1570659374.378 [lineCaptureHoming:D] Running Loop=1
2019-10-09T22:16:14.397Z,1570659374.397 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.120386 rad
2019-10-09T22:16:14.773Z,1570659374.773 [lineCaptureHoming:D] Stopped
2019-10-09T22:16:14.773Z,1570659374.773 [lineCaptureHoming:F] Running Loop=1
2019-10-09T22:16:14.902Z,1570659374.902 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.000000 rad
2019-10-09T22:16:15.189Z,1570659375.189 [lineCaptureHoming:F] Stopped
2019-10-09T22:16:15.189Z,1570659375.189 [lineCaptureHoming:G] Running Loop=1
2019-10-09T22:16:15.587Z,1570659375.587 [lineCaptureHoming:G] Stopped
2019-10-09T22:16:15.587Z,1570659375.587 [lineCaptureHoming:StartingMission] Running Loop=1
2019-10-09T22:16:15.587Z,1570659375.587 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-10-09T22:16:15.996Z,1570659375.996 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-10-09T22:16:15.996Z,1570659375.996 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-10-09T22:16:15.997Z,1570659375.997 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-10-09T22:16:15.997Z,1570659375.997 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-10-09T22:16:15.997Z,1570659375.997 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-10-09T22:16:15.997Z,1570659375.997 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:16:16.406Z,1570659376.406 [lineCaptureHoming:NeedComms] Running Loop=1
2019-10-09T22:16:16.406Z,1570659376.406 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-10-09T22:16:16.406Z,1570659376.406 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-10-09T22:16:16.407Z,1570659376.407 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:16:16.407Z,1570659376.407 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-10-09T22:16:16.407Z,1570659376.407 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-10-09T22:16:16.408Z,1570659376.408 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-10-09T22:16:16.408Z,1570659376.408 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:16:16.408Z,1570659376.408 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:16:16.413Z,1570659376.413 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-10-09T22:16:16.414Z,1570659376.414 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1570659200.000000 second since 1970/01/01T00:00:00Z 
2019-10-09T22:16:16.414Z,1570659376.414 [lineCaptureHoming:NeedComms:A] Stopped
2019-10-09T22:16:16.798Z,1570659376.798 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-10-09T22:16:17.216Z,1570659377.216 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:16:18.034Z,1570659378.034 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:18.401Z,1570659378.401 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:16:18.852Z,1570659378.852 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:18.863Z,1570659378.863 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221011.00,A,3648.16196,N,12147.28070,W,0.467,88.12,091019,,,D*42
2019-10-09T22:16:18.937Z,1570659378.937 [NAL9602](INFO): GPS fix at 20191009T221011: (36.802699, -121.788012)
2019-10-09T22:16:19.039Z,1570659379.039 [lineCaptureHoming:NeedComms:C] Stopped
2019-10-09T22:16:19.039Z,1570659379.039 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-10-09T22:16:19.209Z,1570659379.209 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:19.314Z,1570659379.314 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T22:16:19.659Z,1570659379.659 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:16:19.832Z,1570659379.832 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:16:19.849Z,1570659379.849 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:16:19.850Z,1570659379.850 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.376406 rad
2019-10-09T22:16:19.850Z,1570659379.850 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.050000 arcdeg
2019-10-09T22:16:20.070Z,1570659380.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221619.23*50

2019-10-09T22:16:26.329Z,1570659386.329 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D000001005D00000400DB0100000000000000151D80030C5669BF3148E2FA22188B6A3173E6960F887FF8A99E669AC91D474B0DB47F940EC581E0D567
2019-10-09T22:16:26.329Z,1570659386.329 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 266CC0E6F1A517638CB0C0B8BE362003E8C77AD31073D8E3B830D84642FA50DCC30443F63ABFD6289693675E5363BC207B5C64E49FD33E0EB9BB70C222F0983B
2019-10-09T22:16:26.330Z,1570659386.330 [Micromodem](INFO): Outgoing frame #3, 64 bytes: 70E8F52F3F7A4ABAF73F268CD05998C59CA295F552AAD6B5C8634C336DFDD4D67836652BAAA84650A8AB2A00C3D59CB2F40520395EDFF5F4296A814199177409
2019-10-09T22:16:26.330Z,1570659386.330 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2019-10-09T22:16:26.564Z,1570659386.564 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:27.014Z,1570659387.014 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2019-10-09T22:16:27.015Z,1570659387.015 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:27.415Z,1570659387.415 [Micromodem](INFO): Nmea in: $CADRQ,221626,1,9,0,64,1*4D

2019-10-09T22:16:27.415Z,1570659387.415 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,221626,1,9,0,64,1*4D

2019-10-09T22:16:27.866Z,1570659387.866 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:28.049Z,1570659388.049 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:16:28.050Z,1570659388.050 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:16:28.050Z,1570659388.050 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.381810 rad
2019-10-09T22:16:28.051Z,1570659388.051 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.300000 arcdeg
2019-10-09T22:16:28.238Z,1570659388.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221627.39*56

2019-10-09T22:16:32.311Z,1570659392.311 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:33.071Z,1570659393.071 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:33.469Z,1570659393.469 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:34.058Z,1570659394.058 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:16:34.058Z,1570659394.058 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:16:34.059Z,1570659394.059 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.379953 rad
2019-10-09T22:16:34.059Z,1570659394.059 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.150000 arcdeg
2019-10-09T22:16:34.298Z,1570659394.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221633.44*59

2019-10-09T22:16:38.363Z,1570659398.363 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:38.793Z,1570659398.793 [DataOverHttps](INFO): Sending 213 bytes from file Logs/20191009T221224/Courier0000.lzma
2019-10-09T22:16:39.127Z,1570659399.127 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:39.533Z,1570659399.533 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:40.057Z,1570659400.057 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.499996 m
2019-10-09T22:16:40.058Z,1570659400.058 [Reporter](INFO): acoustic_contact_range 16.499996 m
2019-10-09T22:16:40.058Z,1570659400.058 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.375806 rad
2019-10-09T22:16:40.059Z,1570659400.059 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.400000 arcdeg
2019-10-09T22:16:40.350Z,1570659400.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221639.50*56

2019-10-09T22:16:40.798Z,1570659400.798 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0000.lzma.bak
2019-10-09T22:16:40.798Z,1570659400.798 [DataOverHttps](INFO): SBD MOMSN=11867080
2019-10-09T22:16:44.030Z,1570659404.030 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:44.779Z,1570659404.779 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:45.201Z,1570659405.201 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:45.590Z,1570659405.590 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:16:46.006Z,1570659406.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221645.16*5F

2019-10-09T22:16:48.080Z,1570659408.080 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:48.846Z,1570659408.846 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:49.225Z,1570659409.225 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:49.740Z,1570659409.740 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:16:49.740Z,1570659409.740 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:16:49.769Z,1570659409.769 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.377995 rad
2019-10-09T22:16:49.770Z,1570659409.770 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.700000 arcdeg
2019-10-09T22:16:50.055Z,1570659410.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221649.22*54

2019-10-09T22:16:54.110Z,1570659414.110 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:16:54.883Z,1570659414.883 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:16:55.282Z,1570659415.282 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:16:55.798Z,1570659415.798 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:16:55.799Z,1570659415.799 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:16:55.799Z,1570659415.799 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.367654 rad
2019-10-09T22:16:55.800Z,1570659415.800 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.150000 arcdeg
2019-10-09T22:16:56.106Z,1570659416.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221655.26*5D

2019-10-09T22:16:57.318Z,1570659417.318 [Micromodem](INFO): Nmea in: $CAERR,221656,DATA_TIMEOUT,1*4A

2019-10-09T22:16:59.765Z,1570659419.765 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:00.535Z,1570659420.535 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:00.941Z,1570659420.941 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:01.586Z,1570659421.586 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.499996 m
2019-10-09T22:17:01.587Z,1570659421.587 [Reporter](INFO): acoustic_contact_range 16.499996 m
2019-10-09T22:17:01.587Z,1570659421.587 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.375853 rad
2019-10-09T22:17:01.588Z,1570659421.588 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.550000 arcdeg
2019-10-09T22:17:01.762Z,1570659421.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221700.92*53

2019-10-09T22:17:05.876Z,1570659425.876 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:06.599Z,1570659426.599 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:07.001Z,1570659427.001 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:07.342Z,1570659427.342 [DataOverHttps](INFO): Sending 1173 bytes from file Logs/20191009T221224/Express0001.lzma
2019-10-09T22:17:07.403Z,1570659427.403 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:17:07.852Z,1570659427.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221706.98*5F

2019-10-09T22:17:09.346Z,1570659429.346 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0001.lzma.bak
2019-10-09T22:17:09.347Z,1570659429.347 [DataOverHttps](INFO): SBD MOMSN=11867084
2019-10-09T22:17:09.945Z,1570659429.945 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:10.635Z,1570659430.635 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:11.040Z,1570659431.040 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:11.627Z,1570659431.627 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:17:11.628Z,1570659431.628 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:17:11.628Z,1570659431.628 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.365367 rad
2019-10-09T22:17:11.668Z,1570659431.668 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.000000 arcdeg
2019-10-09T22:17:11.894Z,1570659431.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221711.01*59

2019-10-09T22:17:13.474Z,1570659433.474 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-10-09T22:17:15.936Z,1570659435.936 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:15.941Z,1570659435.941 [lineCaptureHoming:NeedComms:D] Stopped
2019-10-09T22:17:15.942Z,1570659435.942 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-10-09T22:17:16.358Z,1570659436.358 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:17:16.695Z,1570659436.695 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:17.101Z,1570659437.101 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:17.506Z,1570659437.506 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:17:17.521Z,1570659437.521 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:17:17.922Z,1570659437.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221717.07*59

2019-10-09T22:17:17.925Z,1570659437.925 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221111.00,A,3648.16345,N,12147.27036,W,0.350,66.97,091019,,,D*4C
2019-10-09T22:17:17.927Z,1570659437.927 [NAL9602](INFO): GPS fix at 20191009T221111: (36.802724, -121.787839)
2019-10-09T22:17:18.023Z,1570659438.023 [lineCaptureHoming:NeedComms:E] Stopped
2019-10-09T22:17:18.023Z,1570659438.023 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-10-09T22:17:18.023Z,1570659438.023 [lineCaptureHoming:NeedComms] Stopped
2019-10-09T22:17:18.023Z,1570659438.023 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-10-09T22:17:18.023Z,1570659438.023 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-10-09T22:17:18.024Z,1570659438.024 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:17:18.386Z,1570659438.386 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-10-09T22:17:18.386Z,1570659438.386 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-10-09T22:17:18.386Z,1570659438.386 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:17:18.387Z,1570659438.387 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-10-09T22:17:18.790Z,1570659438.790 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-10-09T22:17:18.790Z,1570659438.790 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-10-09T22:17:18.790Z,1570659438.790 [lineCaptureHoming:SurfaceComms] Stopped
2019-10-09T22:17:18.790Z,1570659438.790 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-10-09T22:17:19.184Z,1570659439.184 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-10-09T22:17:19.184Z,1570659439.184 [lineCaptureHoming:StartingMission] Stopped
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:Lap] Running Loop=1
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-10-09T22:17:19.189Z,1570659439.189 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:17:19.190Z,1570659439.190 [lineCaptureHoming:Lap:B] Running Loop=1
2019-10-09T22:17:19.597Z,1570659439.597 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-10-09T22:17:19.597Z,1570659439.597 [lineCaptureHoming:Lap:B] Stopped
2019-10-09T22:17:19.597Z,1570659439.597 [lineCaptureHoming:Lap:C] Running Loop=1
2019-10-09T22:17:19.597Z,1570659439.597 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:17:19.597Z,1570659439.597 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-10-09T22:17:19.597Z,1570659439.597 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Initialize.
2019-10-09T22:17:19.598Z,1570659439.598 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Running Loop=1
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Initialize.
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-10-09T22:17:19.599Z,1570659439.599 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-10-09T22:17:19.600Z,1570659439.600 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-10-09T22:17:19.605Z,1570659439.605 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-10-09T22:17:19.605Z,1570659439.605 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-10-09T22:17:19.606Z,1570659439.606 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-10-09T22:17:19.607Z,1570659439.607 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-10-09T22:17:19.608Z,1570659439.608 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-10-09T22:17:19.608Z,1570659439.608 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-10-09T22:17:20.003Z,1570659440.003 [lineCaptureHoming:Lap:C] Stopped
2019-10-09T22:17:20.003Z,1570659440.003 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-10-09T22:17:20.003Z,1570659440.003 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:17:20.003Z,1570659440.003 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-10-09T22:17:20.003Z,1570659440.003 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:17:20.014Z,1570659440.014 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:20.386Z,1570659440.386 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-10-09T22:17:20.386Z,1570659440.386 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:17:20.386Z,1570659440.386 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-10-09T22:17:20.386Z,1570659440.386 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:17:20.386Z,1570659440.386 [lineCaptureHoming:Lap:E] Running Loop=1
2019-10-09T22:17:20.735Z,1570659440.735 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:20.865Z,1570659440.865 [lineCaptureHoming:Lap:E](INFO): Transition to TerminalGuidance at range: 16.439999 m .
2019-10-09T22:17:20.865Z,1570659440.865 [lineCaptureHoming:Lap:E] Stopped
2019-10-09T22:17:20.865Z,1570659440.865 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-10-09T22:17:20.865Z,1570659440.865 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:17:20.865Z,1570659440.865 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:17:20.865Z,1570659440.865 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-10-09T22:17:20.866Z,1570659440.866 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-10-09T22:17:21.141Z,1570659441.141 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:21.230Z,1570659441.230 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-10-09T22:17:21.230Z,1570659441.230 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-10-09T22:17:21.230Z,1570659441.230 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-10-09T22:17:21.230Z,1570659441.230 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-10-09T22:17:21.231Z,1570659441.231 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-10-09T22:17:21.231Z,1570659441.231 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-10-09T22:17:21.232Z,1570659441.232 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 16.439999 m .
2019-10-09T22:17:21.232Z,1570659441.232 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-10-09T22:17:21.232Z,1570659441.232 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-10-09T22:17:21.232Z,1570659441.232 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:17:21.237Z,1570659441.237 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Terminal guidance at range: 16.439999 m .
2019-10-09T22:17:21.237Z,1570659441.237 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-10-09T22:17:21.237Z,1570659441.237 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait] Running Loop=1
2019-10-09T22:17:21.237Z,1570659441.237 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:17:21.311Z,1570659441.311 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.130105 rad
2019-10-09T22:17:21.558Z,1570659441.558 [PowerOnly](INFO): Powering up
2019-10-09T22:17:21.595Z,1570659441.595 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-10-09T22:17:21.595Z,1570659441.595 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-10-09T22:17:21.595Z,1570659441.595 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-10-09T22:17:21.595Z,1570659441.595 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-10-09T22:17:21.595Z,1570659441.595 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-10-09T22:17:21.684Z,1570659441.684 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:17:21.685Z,1570659441.685 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:17:21.686Z,1570659441.686 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.369135 rad
2019-10-09T22:17:21.687Z,1570659441.687 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.600000 arcdeg
2019-10-09T22:17:21.962Z,1570659441.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221721.11*5B

2019-10-09T22:17:22.111Z,1570659442.111 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.115712 rad
2019-10-09T22:17:22.558Z,1570659442.558 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.098078 rad
2019-10-09T22:17:22.951Z,1570659442.951 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.068062 rad
2019-10-09T22:17:23.330Z,1570659443.330 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.035974 rad
2019-10-09T22:17:23.734Z,1570659443.734 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.014242 rad
2019-10-09T22:17:24.283Z,1570659444.283 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.002467 rad
2019-10-09T22:17:24.522Z,1570659444.522 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.000000 rad
2019-10-09T22:17:25.327Z,1570659445.327 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.015171 rad
2019-10-09T22:17:25.633Z,1570659445.633 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:26.408Z,1570659446.408 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:26.802Z,1570659446.802 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:27.286Z,1570659447.286 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.499996 m
2019-10-09T22:17:27.287Z,1570659447.287 [Reporter](INFO): acoustic_contact_range 16.499996 m
2019-10-09T22:17:27.287Z,1570659447.287 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.381893 rad
2019-10-09T22:17:27.288Z,1570659447.288 [Reporter](INFO): DUSBL_Hydroid.xAngle -16.500000 arcdeg
2019-10-09T22:17:27.626Z,1570659447.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221726.78*53

2019-10-09T22:17:27.715Z,1570659447.715 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.027235 rad
2019-10-09T22:17:31.277Z,1570659451.277 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:32.051Z,1570659452.051 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:32.458Z,1570659452.458 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:32.998Z,1570659452.998 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.499996 m
2019-10-09T22:17:32.999Z,1570659452.999 [Reporter](INFO): acoustic_contact_range 16.499996 m
2019-10-09T22:17:32.999Z,1570659452.999 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.371264 rad
2019-10-09T22:17:32.000Z,1570659453.000 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.900000 arcdeg
2019-10-09T22:17:33.274Z,1570659453.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221732.43*5E

2019-10-09T22:17:33.406Z,1570659453.406 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.017270 rad
2019-10-09T22:17:36.952Z,1570659456.952 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:37.712Z,1570659457.712 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:38.107Z,1570659458.107 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:38.606Z,1570659458.606 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.499996 m
2019-10-09T22:17:38.607Z,1570659458.607 [Reporter](INFO): acoustic_contact_range 16.499996 m
2019-10-09T22:17:38.607Z,1570659458.607 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.376547 rad
2019-10-09T22:17:38.608Z,1570659458.608 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.849999 arcdeg
2019-10-09T22:17:38.934Z,1570659458.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221738.09*5A

2019-10-09T22:17:42.591Z,1570659462.591 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:43.357Z,1570659463.357 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:43.764Z,1570659463.764 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:44.254Z,1570659464.254 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:17:44.255Z,1570659464.255 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:17:44.255Z,1570659464.255 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.375121 rad
2019-10-09T22:17:44.256Z,1570659464.256 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.950000 arcdeg
2019-10-09T22:17:44.586Z,1570659464.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221743.73*5B

2019-10-09T22:17:48.265Z,1570659468.265 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:49.015Z,1570659469.015 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:49.425Z,1570659469.425 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:49.938Z,1570659469.938 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:17:49.939Z,1570659469.939 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:17:49.939Z,1570659469.939 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.779664 rad
2019-10-09T22:17:49.940Z,1570659469.940 [Reporter](INFO): DUSBL_Hydroid.xAngle 14.350000 arcdeg
2019-10-09T22:17:50.246Z,1570659470.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221749.39*5F

2019-10-09T22:17:50.343Z,1570659470.343 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.001314 rad
2019-10-09T22:17:50.653Z,1570659470.653 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:17:50.766Z,1570659470.766 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.019295 rad
2019-10-09T22:17:51.147Z,1570659471.147 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.048839 rad
2019-10-09T22:17:51.602Z,1570659471.602 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.085122 rad
2019-10-09T22:17:51.978Z,1570659471.978 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.119309 rad
2019-10-09T22:17:52.372Z,1570659472.372 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.153482 rad
2019-10-09T22:17:52.758Z,1570659472.758 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.184756 rad
2019-10-09T22:17:53.218Z,1570659473.218 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.222398 rad
2019-10-09T22:17:53.562Z,1570659473.562 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.255537 rad
2019-10-09T22:17:53.909Z,1570659473.909 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:17:53.978Z,1570659473.978 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:17:54.670Z,1570659474.670 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:17:55.077Z,1570659475.077 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:17:55.602Z,1570659475.602 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:17:55.602Z,1570659475.602 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:17:55.603Z,1570659475.603 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.731396 rad
2019-10-09T22:17:55.603Z,1570659475.603 [Reporter](INFO): DUSBL_Hydroid.xAngle 16.149999 arcdeg
2019-10-09T22:17:55.902Z,1570659475.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221755.05*5D

2019-10-09T22:17:59.571Z,1570659479.571 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:00.331Z,1570659480.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:00.731Z,1570659480.731 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:01.138Z,1570659481.138 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:18:01.558Z,1570659481.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221800.71*51

2019-10-09T22:18:03.620Z,1570659483.620 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:04.375Z,1570659484.375 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:04.780Z,1570659484.780 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:05.172Z,1570659485.172 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:18:05.198Z,1570659485.198 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-10-09T22:18:05.198Z,1570659485.198 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-10-09T22:18:05.594Z,1570659485.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221804.75*51

2019-10-09T22:18:07.662Z,1570659487.662 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:08.411Z,1570659488.411 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:08.817Z,1570659488.817 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:09.333Z,1570659489.333 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 153.419998 m
2019-10-09T22:18:09.334Z,1570659489.334 [Reporter](INFO): acoustic_contact_range 153.419998 m
2019-10-09T22:18:09.334Z,1570659489.334 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.658077 rad
2019-10-09T22:18:09.335Z,1570659489.335 [Reporter](INFO): DUSBL_Hydroid.xAngle 22.600000 arcdeg
2019-10-09T22:18:09.634Z,1570659489.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221808.79*51

2019-10-09T22:18:13.291Z,1570659493.291 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:14.067Z,1570659494.067 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:14.475Z,1570659494.475 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:14.991Z,1570659494.991 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.059998 m
2019-10-09T22:18:14.992Z,1570659494.992 [Reporter](INFO): acoustic_contact_range 87.059998 m
2019-10-09T22:18:14.992Z,1570659494.992 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.694739 rad
2019-10-09T22:18:14.997Z,1570659494.997 [Reporter](INFO): DUSBL_Hydroid.xAngle 17.050000 arcdeg
2019-10-09T22:18:15.294Z,1570659495.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221814.44*52

2019-10-09T22:18:19.353Z,1570659499.353 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:20.123Z,1570659500.123 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:20.537Z,1570659500.537 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:21.061Z,1570659501.061 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:18:21.062Z,1570659501.062 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:18:21.063Z,1570659501.063 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.384111 rad
2019-10-09T22:18:21.063Z,1570659501.063 [Reporter](INFO): DUSBL_Hydroid.xAngle -15.050001 arcdeg
2019-10-09T22:18:21.346Z,1570659501.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221820.50*50

2019-10-09T22:18:22.988Z,1570659502.988 [PowerOnly](INFO): Powering down
2019-10-09T22:18:25.028Z,1570659505.028 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:25.785Z,1570659505.785 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:25.841Z,1570659505.841 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-10-09T22:18:25.841Z,1570659505.841 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19100915234558,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-10-09T22:18:26.185Z,1570659506.185 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:26.668Z,1570659506.668 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 81.120003 m
2019-10-09T22:18:26.668Z,1570659506.668 [Reporter](INFO): acoustic_contact_range 81.120003 m
2019-10-09T22:18:26.673Z,1570659506.673 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.661987 rad
2019-10-09T22:18:26.674Z,1570659506.674 [Reporter](INFO): DUSBL_Hydroid.xAngle 24.650001 arcdeg
2019-10-09T22:18:27.006Z,1570659507.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221826.16*54

2019-10-09T22:18:30.667Z,1570659510.667 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:31.439Z,1570659511.439 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:31.852Z,1570659511.852 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:32.240Z,1570659512.240 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:18:32.662Z,1570659512.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221831.82*5F

2019-10-09T22:18:34.725Z,1570659514.725 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:35.473Z,1570659515.473 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:35.897Z,1570659515.897 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:36.358Z,1570659516.358 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 55.259998 m
2019-10-09T22:18:36.358Z,1570659516.358 [Reporter](INFO): acoustic_contact_range 55.259998 m
2019-10-09T22:18:36.359Z,1570659516.359 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.395488 rad
2019-10-09T22:18:36.359Z,1570659516.359 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.950000 arcdeg
2019-10-09T22:18:36.700Z,1570659516.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221835.85*5C

2019-10-09T22:18:40.365Z,1570659520.365 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:41.142Z,1570659521.142 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:41.541Z,1570659521.541 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:42.021Z,1570659522.021 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:18:42.022Z,1570659522.022 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:18:42.022Z,1570659522.022 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.401392 rad
2019-10-09T22:18:42.023Z,1570659522.023 [Reporter](INFO): DUSBL_Hydroid.xAngle -16.999999 arcdeg
2019-10-09T22:18:42.366Z,1570659522.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221841.52*55

2019-10-09T22:18:46.056Z,1570659526.056 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:46.476Z,1570659526.476 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.242736 rad
2019-10-09T22:18:46.791Z,1570659526.791 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:46.944Z,1570659526.944 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.203523 rad
2019-10-09T22:18:47.193Z,1570659527.193 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:47.332Z,1570659527.332 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.170579 rad
2019-10-09T22:18:47.598Z,1570659527.598 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:18:47.738Z,1570659527.738 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.139905 rad
2019-10-09T22:18:48.014Z,1570659528.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221847.17*52

2019-10-09T22:18:48.134Z,1570659528.134 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.103106 rad
2019-10-09T22:18:48.494Z,1570659528.494 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.072733 rad
2019-10-09T22:18:48.946Z,1570659528.946 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.035014 rad
2019-10-09T22:18:49.338Z,1570659529.338 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.005981 rad
2019-10-09T22:18:49.722Z,1570659529.722 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.028900 rad
2019-10-09T22:18:50.070Z,1570659530.070 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:50.122Z,1570659530.122 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.061751 rad
2019-10-09T22:18:50.518Z,1570659530.518 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.094855 rad
2019-10-09T22:18:50.831Z,1570659530.831 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:50.996Z,1570659530.996 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.135746 rad
2019-10-09T22:18:51.237Z,1570659531.237 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:51.407Z,1570659531.407 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.158354 rad
2019-10-09T22:18:51.638Z,1570659531.638 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:18:51.734Z,1570659531.734 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.171330 rad
2019-10-09T22:18:52.058Z,1570659532.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221851.21*50

2019-10-09T22:18:53.370Z,1570659533.370 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.157500 rad
2019-10-09T22:18:54.114Z,1570659534.114 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:54.866Z,1570659534.866 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:18:55.282Z,1570659535.282 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:18:55.750Z,1570659535.750 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.180008 m
2019-10-09T22:18:55.753Z,1570659535.753 [Reporter](INFO): acoustic_contact_range 87.180008 m
2019-10-09T22:18:55.754Z,1570659535.754 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.775325 rad
2019-10-09T22:18:55.754Z,1570659535.754 [Reporter](INFO): DUSBL_Hydroid.xAngle 12.450000 arcdeg
2019-10-09T22:18:56.102Z,1570659536.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221855.24*51

2019-10-09T22:18:56.195Z,1570659536.195 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.147237 rad
2019-10-09T22:18:56.548Z,1570659536.548 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.129722 rad
2019-10-09T22:18:57.000Z,1570659537.000 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.098782 rad
2019-10-09T22:18:57.430Z,1570659537.430 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.064035 rad
2019-10-09T22:18:57.781Z,1570659537.781 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.032221 rad
2019-10-09T22:18:58.234Z,1570659538.234 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.005941 rad
2019-10-09T22:18:58.587Z,1570659538.587 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.034347 rad
2019-10-09T22:18:59.030Z,1570659539.030 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.067572 rad
2019-10-09T22:18:59.387Z,1570659539.387 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.101165 rad
2019-10-09T22:18:59.755Z,1570659539.755 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:18:59.801Z,1570659539.801 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.136893 rad
2019-10-09T22:19:00.290Z,1570659540.290 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.178642 rad
2019-10-09T22:19:00.523Z,1570659540.523 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:00.712Z,1570659540.712 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.210506 rad
2019-10-09T22:19:00.945Z,1570659540.945 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:01.066Z,1570659541.066 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.243830 rad
2019-10-09T22:19:01.398Z,1570659541.398 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.180008 m
2019-10-09T22:19:01.398Z,1570659541.398 [Reporter](INFO): acoustic_contact_range 87.180008 m
2019-10-09T22:19:01.399Z,1570659541.399 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.762146 rad
2019-10-09T22:19:01.399Z,1570659541.399 [Reporter](INFO): DUSBL_Hydroid.xAngle 13.050000 arcdeg
2019-10-09T22:19:01.400Z,1570659541.400 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:19:01.754Z,1570659541.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221900.90*5F

2019-10-09T22:19:05.414Z,1570659545.414 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:06.178Z,1570659546.178 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:06.595Z,1570659546.595 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:07.072Z,1570659547.072 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 55.259998 m
2019-10-09T22:19:07.072Z,1570659547.072 [Reporter](INFO): acoustic_contact_range 55.259998 m
2019-10-09T22:19:07.077Z,1570659547.077 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.402932 rad
2019-10-09T22:19:07.078Z,1570659547.078 [Reporter](INFO): DUSBL_Hydroid.xAngle -17.600001 arcdeg
2019-10-09T22:19:07.406Z,1570659547.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221906.56*53

2019-10-09T22:19:11.068Z,1570659551.068 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:11.847Z,1570659551.847 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:12.245Z,1570659552.245 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:12.738Z,1570659552.738 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.380001 m
2019-10-09T22:19:12.738Z,1570659552.738 [Reporter](INFO): acoustic_contact_range 16.380001 m
2019-10-09T22:19:12.739Z,1570659552.739 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.394849 rad
2019-10-09T22:19:12.740Z,1570659552.740 [Reporter](INFO): DUSBL_Hydroid.xAngle -15.050001 arcdeg
2019-10-09T22:19:13.071Z,1570659553.071 [Micromodem](INFO): Nmea in: $SNTTA,,0.324572,,,221912.23*4F

2019-10-09T22:19:15.537Z,1570659555.537 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.250883 rad
2019-10-09T22:19:15.953Z,1570659555.953 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.217078 rad
2019-10-09T22:19:16.330Z,1570659556.330 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.184144 rad
2019-10-09T22:19:16.730Z,1570659556.730 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:16.824Z,1570659556.824 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.149923 rad
2019-10-09T22:19:17.186Z,1570659557.186 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.115800 rad
2019-10-09T22:19:17.495Z,1570659557.495 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:17.652Z,1570659557.652 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.075784 rad
2019-10-09T22:19:17.895Z,1570659557.895 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:18.030Z,1570659558.030 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.043212 rad
2019-10-09T22:19:18.429Z,1570659558.429 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 81.120003 m
2019-10-09T22:19:18.430Z,1570659558.430 [Reporter](INFO): acoustic_contact_range 81.120003 m
2019-10-09T22:19:18.431Z,1570659558.431 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.663925 rad
2019-10-09T22:19:18.431Z,1570659558.431 [Reporter](INFO): DUSBL_Hydroid.xAngle 23.849999 arcdeg
2019-10-09T22:19:18.432Z,1570659558.432 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.012852 rad
2019-10-09T22:19:18.718Z,1570659558.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221917.87*5F

2019-10-09T22:19:18.872Z,1570659558.872 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.011774 rad
2019-10-09T22:19:19.254Z,1570659559.254 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.023577 rad
2019-10-09T22:19:20.478Z,1570659560.478 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.012909 rad
2019-10-09T22:19:20.858Z,1570659560.858 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.008114 rad
2019-10-09T22:19:21.278Z,1570659561.278 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.036624 rad
2019-10-09T22:19:21.650Z,1570659561.650 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.071621 rad
2019-10-09T22:19:22.058Z,1570659562.058 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.104193 rad
2019-10-09T22:19:22.406Z,1570659562.406 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:22.490Z,1570659562.490 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.139668 rad
2019-10-09T22:19:22.846Z,1570659562.846 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.171571 rad
2019-10-09T22:19:23.147Z,1570659563.147 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:23.320Z,1570659563.320 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.212601 rad
2019-10-09T22:19:23.557Z,1570659563.557 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:23.681Z,1570659563.681 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.243035 rad
2019-10-09T22:19:24.103Z,1570659564.103 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.180008 m
2019-10-09T22:19:24.104Z,1570659564.104 [Reporter](INFO): acoustic_contact_range 87.180008 m
2019-10-09T22:19:24.104Z,1570659564.104 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.781996 rad
2019-10-09T22:19:24.105Z,1570659564.105 [Reporter](INFO): DUSBL_Hydroid.xAngle 12.200000 arcdeg
2019-10-09T22:19:24.106Z,1570659564.106 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:19:24.374Z,1570659564.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221923.52*50

2019-10-09T22:19:28.061Z,1570659568.061 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:28.824Z,1570659568.824 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:29.209Z,1570659569.209 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:29.660Z,1570659569.660 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 81.120003 m
2019-10-09T22:19:29.660Z,1570659569.660 [Reporter](INFO): acoustic_contact_range 81.120003 m
2019-10-09T22:19:29.677Z,1570659569.677 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.659457 rad
2019-10-09T22:19:29.678Z,1570659569.678 [Reporter](INFO): DUSBL_Hydroid.xAngle 24.899999 arcdeg
2019-10-09T22:19:30.034Z,1570659570.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221929.20*5F

2019-10-09T22:19:33.279Z,1570659573.279 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-10-09T22:19:33.279Z,1570659573.279 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19100915245258,35.0, -0.1,   0.0,1448:RA,  0.00,  99.91,   0.00,  87.94,  90.60
2019-10-09T22:19:33.699Z,1570659573.699 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:34.470Z,1570659574.470 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:34.863Z,1570659574.863 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:35.330Z,1570659575.330 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:19:35.331Z,1570659575.331 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:19:35.331Z,1570659575.331 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.743247 rad
2019-10-09T22:19:35.332Z,1570659575.332 [Reporter](INFO): DUSBL_Hydroid.xAngle 14.000000 arcdeg
2019-10-09T22:19:35.690Z,1570659575.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221934.85*5C

2019-10-09T22:19:39.345Z,1570659579.345 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:40.115Z,1570659580.115 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:40.528Z,1570659580.528 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:40.998Z,1570659580.998 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:19:40.999Z,1570659580.999 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:19:40.999Z,1570659580.999 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.740693 rad
2019-10-09T22:19:40.000Z,1570659581.000 [Reporter](INFO): DUSBL_Hydroid.xAngle 14.200000 arcdeg
2019-10-09T22:19:41.338Z,1570659581.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221940.49*5F

2019-10-09T22:19:45.015Z,1570659585.015 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:45.771Z,1570659585.771 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:46.181Z,1570659586.181 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:46.656Z,1570659586.656 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:19:46.657Z,1570659586.657 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:19:46.658Z,1570659586.658 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.748107 rad
2019-10-09T22:19:46.658Z,1570659586.658 [Reporter](INFO): DUSBL_Hydroid.xAngle 13.700000 arcdeg
2019-10-09T22:19:47.010Z,1570659587.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221946.15*50

2019-10-09T22:19:50.658Z,1570659590.658 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:51.430Z,1570659591.430 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:51.847Z,1570659591.847 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:52.238Z,1570659592.238 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:19:52.654Z,1570659592.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221951.81*5B

2019-10-09T22:19:54.716Z,1570659594.716 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:19:55.467Z,1570659595.467 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:19:55.873Z,1570659595.873 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:19:56.386Z,1570659596.386 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:19:56.386Z,1570659596.386 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:19:56.387Z,1570659596.387 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.716060 rad
2019-10-09T22:19:56.387Z,1570659596.387 [Reporter](INFO): DUSBL_Hydroid.xAngle 15.949999 arcdeg
2019-10-09T22:19:56.694Z,1570659596.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,221955.84*5A

2019-10-09T22:20:00.357Z,1570659600.357 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:01.124Z,1570659601.124 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:01.529Z,1570659601.529 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:02.020Z,1570659602.020 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 153.360001 m
2019-10-09T22:20:02.025Z,1570659602.025 [Reporter](INFO): acoustic_contact_range 153.360001 m
2019-10-09T22:20:02.025Z,1570659602.025 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.672238 rad
2019-10-09T22:20:02.026Z,1570659602.026 [Reporter](INFO): DUSBL_Hydroid.xAngle 21.850001 arcdeg
2019-10-09T22:20:02.362Z,1570659602.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222001.50*58

2019-10-09T22:20:06.022Z,1570659606.022 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:06.792Z,1570659606.792 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:07.189Z,1570659607.189 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:07.662Z,1570659607.662 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.439999 m
2019-10-09T22:20:07.663Z,1570659607.663 [Reporter](INFO): acoustic_contact_range 16.439999 m
2019-10-09T22:20:07.663Z,1570659607.663 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.395956 rad
2019-10-09T22:20:07.664Z,1570659607.664 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.700000 arcdeg
2019-10-09T22:20:08.010Z,1570659608.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222007.17*5D

2019-10-09T22:20:11.667Z,1570659611.667 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:12.439Z,1570659612.439 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:12.857Z,1570659612.857 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:13.246Z,1570659613.246 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:20:13.662Z,1570659613.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222012.82*55

2019-10-09T22:20:15.708Z,1570659615.708 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:16.479Z,1570659616.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:16.882Z,1570659616.882 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:17.286Z,1570659617.286 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:20:17.702Z,1570659617.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222016.86*55

2019-10-09T22:20:17.791Z,1570659617.791 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.237255 rad
2019-10-09T22:20:18.161Z,1570659618.161 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.204716 rad
2019-10-09T22:20:18.579Z,1570659618.579 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.170987 rad
2019-10-09T22:20:19.042Z,1570659619.042 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.138734 rad
2019-10-09T22:20:19.394Z,1570659619.394 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.104542 rad
2019-10-09T22:20:19.764Z,1570659619.764 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:19.820Z,1570659619.820 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.070799 rad
2019-10-09T22:20:20.218Z,1570659620.218 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.036830 rad
2019-10-09T22:20:20.519Z,1570659620.519 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:20.718Z,1570659620.718 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.002098 rad
2019-10-09T22:20:20.925Z,1570659620.925 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:21.066Z,1570659621.066 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.033653 rad
2019-10-09T22:20:21.446Z,1570659621.446 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 87.120003 m
2019-10-09T22:20:21.446Z,1570659621.446 [Reporter](INFO): acoustic_contact_range 87.120003 m
2019-10-09T22:20:21.447Z,1570659621.447 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.728094 rad
2019-10-09T22:20:21.447Z,1570659621.447 [Reporter](INFO): DUSBL_Hydroid.xAngle 15.000000 arcdeg
2019-10-09T22:20:21.448Z,1570659621.448 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.065714 rad
2019-10-09T22:20:21.742Z,1570659621.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222020.90*57

2019-10-09T22:20:21.878Z,1570659621.878 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.091095 rad
2019-10-09T22:20:22.234Z,1570659622.234 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.104206 rad
2019-10-09T22:20:23.442Z,1570659623.442 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.094598 rad
2019-10-09T22:20:23.894Z,1570659623.894 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.071235 rad
2019-10-09T22:20:24.294Z,1570659624.294 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.046121 rad
2019-10-09T22:20:24.634Z,1570659624.634 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.013994 rad
2019-10-09T22:20:25.046Z,1570659625.046 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.021268 rad
2019-10-09T22:20:25.418Z,1570659625.418 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:25.495Z,1570659625.495 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.056302 rad
2019-10-09T22:20:25.894Z,1570659625.894 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.093412 rad
2019-10-09T22:20:26.173Z,1570659626.173 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:26.348Z,1570659626.348 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.129927 rad
2019-10-09T22:20:26.591Z,1570659626.591 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:26.710Z,1570659626.710 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.161589 rad
2019-10-09T22:20:26.982Z,1570659626.982 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:20:27.110Z,1570659627.110 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.190893 rad
2019-10-09T22:20:27.402Z,1570659627.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222026.55*58

2019-10-09T22:20:27.514Z,1570659627.514 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.226970 rad
2019-10-09T22:20:27.914Z,1570659627.914 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.260850 rad
2019-10-09T22:20:28.279Z,1570659628.279 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:20:29.477Z,1570659629.477 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:30.215Z,1570659630.215 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:30.617Z,1570659630.617 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:31.130Z,1570659631.130 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 55.259998 m
2019-10-09T22:20:31.130Z,1570659631.130 [Reporter](INFO): acoustic_contact_range 55.259998 m
2019-10-09T22:20:31.131Z,1570659631.131 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.408410 rad
2019-10-09T22:20:31.132Z,1570659631.132 [Reporter](INFO): DUSBL_Hydroid.xAngle -19.549999 arcdeg
2019-10-09T22:20:31.438Z,1570659631.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222030.59*53

2019-10-09T22:20:32.330Z,1570659632.330 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.261799 rad
2019-10-09T22:20:32.733Z,1570659632.733 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:20:33.594Z,1570659633.594 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.222381 rad
2019-10-09T22:20:33.955Z,1570659633.955 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:20:35.096Z,1570659635.096 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:35.871Z,1570659635.871 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:36.273Z,1570659636.273 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:36.364Z,1570659636.364 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.240782 rad
2019-10-09T22:20:36.728Z,1570659636.728 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 36.840000 m
2019-10-09T22:20:36.728Z,1570659636.728 [Reporter](INFO): acoustic_contact_range 36.840000 m
2019-10-09T22:20:36.745Z,1570659636.745 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.841022 rad
2019-10-09T22:20:36.746Z,1570659636.746 [Reporter](INFO): DUSBL_Hydroid.xAngle 12.600000 arcdeg
2019-10-09T22:20:36.747Z,1570659636.747 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.258985 rad
2019-10-09T22:20:37.090Z,1570659637.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222036.29*52

2019-10-09T22:20:37.188Z,1570659637.188 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.245425 rad
2019-10-09T22:20:37.618Z,1570659637.618 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.220843 rad
2019-10-09T22:20:38.006Z,1570659638.006 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.173241 rad
2019-10-09T22:20:38.410Z,1570659638.410 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.108395 rad
2019-10-09T22:20:38.835Z,1570659638.835 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.124906 rad
2019-10-09T22:20:39.194Z,1570659639.194 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.234939 rad
2019-10-09T22:20:39.604Z,1570659639.604 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:20:40.740Z,1570659640.740 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:41.521Z,1570659641.521 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:41.927Z,1570659641.927 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:42.334Z,1570659642.334 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:20:42.746Z,1570659642.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222041.90*50

2019-10-09T22:20:44.848Z,1570659644.848 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:45.567Z,1570659645.567 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:45.980Z,1570659645.980 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:46.776Z,1570659646.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222045.94*50

2019-10-09T22:20:48.849Z,1570659648.849 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-10-09T22:20:48.849Z,1570659648.849 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,       +53.  +26.02,       +14.22,   0.00,  1.00
2019-10-09T22:20:48.863Z,1570659648.863 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:49.198Z,1570659649.198 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:20:52.897Z,1570659652.897 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:53.643Z,1570659653.643 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:54.058Z,1570659654.058 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:54.454Z,1570659654.454 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:20:54.874Z,1570659654.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222054.02*5F

2019-10-09T22:20:56.945Z,1570659656.945 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:20:57.687Z,1570659657.687 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:20:58.105Z,1570659658.105 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:20:58.499Z,1570659658.499 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:20:58.920Z,1570659658.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222058.06*57

2019-10-09T22:21:00.976Z,1570659660.976 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:01.731Z,1570659661.731 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:02.137Z,1570659662.137 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:02.531Z,1570659662.531 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:02.954Z,1570659662.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222102.11*5F

2019-10-09T22:21:05.022Z,1570659665.022 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:05.767Z,1570659665.767 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:06.169Z,1570659666.169 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:06.979Z,1570659666.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222106.14*5E

2019-10-09T22:21:09.062Z,1570659669.062 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:09.397Z,1570659669.397 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:21:13.081Z,1570659673.081 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:13.847Z,1570659673.847 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:14.256Z,1570659674.256 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:14.654Z,1570659674.654 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:15.070Z,1570659675.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222114.22*58

2019-10-09T22:21:17.134Z,1570659677.134 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:17.887Z,1570659677.887 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:18.293Z,1570659678.293 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:18.691Z,1570659678.691 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:19.118Z,1570659679.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222118.26*50

2019-10-09T22:21:21.173Z,1570659681.173 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:21.927Z,1570659681.927 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:22.327Z,1570659682.327 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:22.734Z,1570659682.734 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:23.150Z,1570659683.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222122.30*5E

2019-10-09T22:21:25.223Z,1570659685.223 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:25.967Z,1570659685.967 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:26.373Z,1570659686.373 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:26.774Z,1570659686.774 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:27.190Z,1570659687.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222126.34*5E

2019-10-09T22:21:29.244Z,1570659689.244 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:30.007Z,1570659690.007 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:30.413Z,1570659690.413 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:30.826Z,1570659690.826 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:31.230Z,1570659691.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222130.38*55

2019-10-09T22:21:33.291Z,1570659693.291 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:34.059Z,1570659694.059 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:34.465Z,1570659694.465 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:34.859Z,1570659694.859 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:35.272Z,1570659695.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222134.44*5A

2019-10-09T22:21:37.338Z,1570659697.338 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:38.091Z,1570659698.091 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:38.493Z,1570659698.493 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:39.305Z,1570659699.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222138.47*55

2019-10-09T22:21:41.373Z,1570659701.373 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:41.718Z,1570659701.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:21:45.391Z,1570659705.391 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:46.167Z,1570659706.167 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:46.575Z,1570659706.575 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:47.053Z,1570659707.053 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 75.180008 m
2019-10-09T22:21:47.053Z,1570659707.053 [Reporter](INFO): acoustic_contact_range 75.180008 m
2019-10-09T22:21:47.054Z,1570659707.054 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.846509 rad
2019-10-09T22:21:47.055Z,1570659707.055 [Reporter](INFO): DUSBL_Hydroid.xAngle 32.749999 arcdeg
2019-10-09T22:21:47.394Z,1570659707.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222146.54*5E

2019-10-09T22:21:51.051Z,1570659711.051 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:51.844Z,1570659711.844 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:52.225Z,1570659712.225 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:52.706Z,1570659712.706 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 20.700001 m
2019-10-09T22:21:52.707Z,1570659712.707 [Reporter](INFO): acoustic_contact_range 20.700001 m
2019-10-09T22:21:52.707Z,1570659712.707 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.532617 rad
2019-10-09T22:21:52.708Z,1570659712.708 [Reporter](INFO): DUSBL_Hydroid.xAngle -3.350000 arcdeg
2019-10-09T22:21:53.058Z,1570659713.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222152.22*5A

2019-10-09T22:21:56.709Z,1570659716.709 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:21:57.476Z,1570659717.476 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:21:57.889Z,1570659717.889 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:21:58.280Z,1570659718.280 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:21:58.702Z,1570659718.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222157.85*52

2019-10-09T22:22:00.770Z,1570659720.770 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:01.519Z,1570659721.519 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:01.925Z,1570659721.925 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:02.333Z,1570659722.333 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:02.748Z,1570659722.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222201.89*5E

2019-10-09T22:22:04.820Z,1570659724.820 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:04.869Z,1570659724.869 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.251823 rad
2019-10-09T22:22:05.243Z,1570659725.243 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.218014 rad
2019-10-09T22:22:05.559Z,1570659725.559 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:05.697Z,1570659725.697 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.180310 rad
2019-10-09T22:22:05.965Z,1570659725.965 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:06.134Z,1570659726.134 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.148477 rad
2019-10-09T22:22:06.454Z,1570659726.454 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 94.080002 m
2019-10-09T22:22:06.454Z,1570659726.454 [Reporter](INFO): acoustic_contact_range 94.080002 m
2019-10-09T22:22:06.455Z,1570659726.455 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.420149 rad
2019-10-09T22:22:06.455Z,1570659726.455 [Reporter](INFO): DUSBL_Hydroid.xAngle -0.150000 arcdeg
2019-10-09T22:22:06.456Z,1570659726.456 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.119007 rad
2019-10-09T22:22:06.797Z,1570659726.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222205.93*51

2019-10-09T22:22:06.935Z,1570659726.935 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.093303 rad
2019-10-09T22:22:07.270Z,1570659727.270 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.080390 rad
2019-10-09T22:22:10.453Z,1570659730.453 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:11.209Z,1570659731.209 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:11.625Z,1570659731.625 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:12.023Z,1570659732.023 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:12.448Z,1570659732.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222211.59*52

2019-10-09T22:22:12.528Z,1570659732.528 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.064272 rad
2019-10-09T22:22:14.501Z,1570659734.501 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:15.255Z,1570659735.255 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:15.657Z,1570659735.657 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:16.058Z,1570659736.058 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:16.478Z,1570659736.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222215.63*5F

2019-10-09T22:22:17.383Z,1570659737.383 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.053751 rad
2019-10-09T22:22:18.571Z,1570659738.571 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:18.990Z,1570659738.990 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.044282 rad
2019-10-09T22:22:19.298Z,1570659739.298 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:19.695Z,1570659739.695 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:20.096Z,1570659740.096 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:20.518Z,1570659740.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222219.68*58

2019-10-09T22:22:22.215Z,1570659742.215 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.032390 rad
2019-10-09T22:22:22.573Z,1570659742.573 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:23.331Z,1570659743.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:23.735Z,1570659743.735 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:24.136Z,1570659744.136 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:24.558Z,1570659744.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222223.71*59

2019-10-09T22:22:26.625Z,1570659746.625 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:27.375Z,1570659747.375 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:27.794Z,1570659747.794 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:27.860Z,1570659747.860 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-10-09T22:22:27.860Z,1570659747.860 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,   -30,    0,A
2019-10-09T22:22:27.886Z,1570659747.886 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.023617 rad
2019-10-09T22:22:28.178Z,1570659748.178 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:28.598Z,1570659748.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222227.75*59

2019-10-09T22:22:28.673Z,1570659748.673 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.012801 rad
2019-10-09T22:22:30.403Z,1570659750.403 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.027619 rad
2019-10-09T22:22:30.681Z,1570659750.681 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:31.067Z,1570659751.067 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.004968 rad
2019-10-09T22:22:31.411Z,1570659751.411 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:31.535Z,1570659751.535 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.000000 rad
2019-10-09T22:22:31.845Z,1570659751.845 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:32.216Z,1570659752.216 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:32.638Z,1570659752.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222231.79*52

2019-10-09T22:22:34.706Z,1570659754.706 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:35.134Z,1570659755.134 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.013310 rad
2019-10-09T22:22:35.455Z,1570659755.455 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:35.855Z,1570659755.855 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:35.954Z,1570659755.954 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.002898 rad
2019-10-09T22:22:36.265Z,1570659756.265 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:36.374Z,1570659756.374 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.024556 rad
2019-10-09T22:22:36.681Z,1570659756.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222235.83*53

2019-10-09T22:22:36.762Z,1570659756.762 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.012706 rad
2019-10-09T22:22:37.170Z,1570659757.170 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.008408 rad
2019-10-09T22:22:37.614Z,1570659757.614 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.008443 rad
2019-10-09T22:22:38.749Z,1570659758.749 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:39.491Z,1570659759.491 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:39.900Z,1570659759.900 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:40.013Z,1570659760.013 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.008843 rad
2019-10-09T22:22:40.388Z,1570659760.388 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 16.499996 m
2019-10-09T22:22:40.393Z,1570659760.393 [Reporter](INFO): acoustic_contact_range 16.499996 m
2019-10-09T22:22:40.393Z,1570659760.393 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.361736 rad
2019-10-09T22:22:40.394Z,1570659760.394 [Reporter](INFO): DUSBL_Hydroid.xAngle -15.600000 arcdeg
2019-10-09T22:22:40.395Z,1570659760.395 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.006826 rad
2019-10-09T22:22:40.726Z,1570659760.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222239.87*5B

2019-10-09T22:22:40.841Z,1570659760.841 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.009718 rad
2019-10-09T22:22:41.270Z,1570659761.270 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.034871 rad
2019-10-09T22:22:41.606Z,1570659761.606 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.021058 rad
2019-10-09T22:22:44.382Z,1570659764.382 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:45.151Z,1570659765.151 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:45.563Z,1570659765.563 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:45.658Z,1570659765.658 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.033830 rad
2019-10-09T22:22:45.952Z,1570659765.952 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:46.378Z,1570659766.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222245.53*59

2019-10-09T22:22:48.425Z,1570659768.425 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:49.187Z,1570659769.187 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:49.316Z,1570659769.316 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.044865 rad
2019-10-09T22:22:49.593Z,1570659769.593 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:49.998Z,1570659769.998 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:50.087Z,1570659770.087 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.033998 rad
2019-10-09T22:22:50.418Z,1570659770.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222249.56*50

2019-10-09T22:22:50.582Z,1570659770.582 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.047398 rad
2019-10-09T22:22:52.484Z,1570659772.484 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:52.967Z,1570659772.967 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.057437 rad
2019-10-09T22:22:53.227Z,1570659773.227 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:53.633Z,1570659773.633 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:54.034Z,1570659774.034 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:22:54.457Z,1570659774.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222253.61*5F

2019-10-09T22:22:55.323Z,1570659775.323 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.048270 rad
2019-10-09T22:22:55.738Z,1570659775.738 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.057310 rad
2019-10-09T22:22:56.516Z,1570659776.516 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:22:57.265Z,1570659777.265 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:22:57.390Z,1570659777.390 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.069264 rad
2019-10-09T22:22:57.681Z,1570659777.681 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:22:57.776Z,1570659777.776 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.057698 rad
2019-10-09T22:22:58.190Z,1570659778.190 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 2.039999 m
2019-10-09T22:22:58.191Z,1570659778.191 [Reporter](INFO): acoustic_contact_range 2.039999 m
2019-10-09T22:22:58.191Z,1570659778.191 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.703128 rad
2019-10-09T22:22:58.192Z,1570659778.192 [Reporter](INFO): DUSBL_Hydroid.xAngle 28.650000 arcdeg
2019-10-09T22:22:58.494Z,1570659778.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222257.64*5E

2019-10-09T22:22:58.550Z,1570659778.550 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-10-09T22:22:58.550Z,1570659778.550 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:22:58.550Z,1570659778.550 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-10-09T22:22:58.550Z,1570659778.550 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait] Stopped
2019-10-09T22:22:58.551Z,1570659778.551 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:22:58.551Z,1570659778.551 [lineCaptureHoming:Lap:G] Running Loop=1
2019-10-09T22:22:58.634Z,1570659778.634 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.000000 rad
2019-10-09T22:22:58.933Z,1570659778.933 [lineCaptureHoming:Lap:G](INFO): Transition to dock at range: 2.039999 m .
2019-10-09T22:22:58.933Z,1570659778.933 [lineCaptureHoming:Lap:G] Stopped
2019-10-09T22:22:58.933Z,1570659778.933 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-10-09T22:22:58.933Z,1570659778.933 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-10-09T22:22:58.934Z,1570659778.934 [lineCaptureHoming:Lap:Dock:A] Running Loop=1
2019-10-09T22:22:59.342Z,1570659779.342 [lineCaptureHoming:Lap:Dock:A](IMPORTANT): Final approach. Range: 2.039999 m .
2019-10-09T22:22:59.342Z,1570659779.342 [lineCaptureHoming:Lap:Dock:A] Stopped
2019-10-09T22:22:59.342Z,1570659779.342 [lineCaptureHoming:Lap:Dock:UpdateNav] Running Loop=1
2019-10-09T22:22:59.343Z,1570659779.343 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-10-09T22:22:59.343Z,1570659779.343 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-10-09T22:22:59.343Z,1570659779.343 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-10-09T22:22:59.746Z,1570659779.746 [lineCaptureHoming:Lap:Dock:UpdateNav] Stopped
2019-10-09T22:22:59.746Z,1570659779.746 [lineCaptureHoming:Lap:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav
2019-10-09T22:22:59.747Z,1570659779.747 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav] Stopped
2019-10-09T22:22:59.747Z,1570659779.747 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-10-09T22:22:59.747Z,1570659779.747 [lineCaptureHoming:Lap:Dock:C.Wait] Running Loop=1
2019-10-09T22:22:59.747Z,1570659779.747 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:23:02.163Z,1570659782.163 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:02.924Z,1570659782.924 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:03.338Z,1570659783.338 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:03.728Z,1570659783.728 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:04.154Z,1570659784.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222303.30*5F

2019-10-09T22:23:06.218Z,1570659786.218 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:06.963Z,1570659786.963 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:07.373Z,1570659787.373 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:07.768Z,1570659787.768 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:08.186Z,1570659788.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222307.34*5F

2019-10-09T22:23:09.845Z,1570659789.845 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-10-09T22:23:09.845Z,1570659789.845 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-10-09T22:23:10.240Z,1570659790.240 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:11.007Z,1570659791.007 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:11.417Z,1570659791.417 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:11.837Z,1570659791.837 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:12.230Z,1570659792.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222311.38*54

2019-10-09T22:23:14.291Z,1570659794.291 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:15.047Z,1570659795.047 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:15.453Z,1570659795.453 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:15.854Z,1570659795.854 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:16.278Z,1570659796.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222315.42*5D

2019-10-09T22:23:18.331Z,1570659798.331 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:19.083Z,1570659799.083 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:19.500Z,1570659799.500 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:19.894Z,1570659799.894 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:20.314Z,1570659800.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222319.46*55

2019-10-09T22:23:22.360Z,1570659802.360 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:23.139Z,1570659803.139 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:23.531Z,1570659803.531 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:23.933Z,1570659803.933 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:24.354Z,1570659804.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222323.52*59

2019-10-09T22:23:26.415Z,1570659806.415 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:27.163Z,1570659807.163 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:27.569Z,1570659807.569 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:27.970Z,1570659807.970 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:28.390Z,1570659808.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222327.54*5B

2019-10-09T22:23:30.448Z,1570659810.448 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:31.202Z,1570659811.202 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:31.619Z,1570659811.619 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:32.008Z,1570659812.008 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:32.430Z,1570659812.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222331.58*50

2019-10-09T22:23:34.481Z,1570659814.481 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:35.247Z,1570659815.247 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:35.657Z,1570659815.657 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:36.059Z,1570659816.059 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:36.476Z,1570659816.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222335.62*5D

2019-10-09T22:23:38.528Z,1570659818.528 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:39.294Z,1570659819.294 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:39.686Z,1570659819.686 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:40.088Z,1570659820.088 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:40.514Z,1570659820.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222339.67*54

2019-10-09T22:23:42.560Z,1570659822.560 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:43.321Z,1570659823.321 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:43.728Z,1570659823.728 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:44.134Z,1570659824.134 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:44.546Z,1570659824.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222343.70*5F

2019-10-09T22:23:46.607Z,1570659826.607 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:47.367Z,1570659827.367 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:47.767Z,1570659827.767 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:48.170Z,1570659828.170 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:23:48.590Z,1570659828.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222347.74*5F

2019-10-09T22:23:50.648Z,1570659830.648 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:51.404Z,1570659831.404 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:51.836Z,1570659831.836 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:23:52.619Z,1570659832.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222351.78*54

2019-10-09T22:23:54.676Z,1570659834.676 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:58.723Z,1570659838.723 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:23:59.486Z,1570659839.486 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:23:59.891Z,1570659839.891 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:24:00.298Z,1570659840.298 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:24:00.325Z,1570659840.325 [lineCaptureHoming:Lap:Dock:C.Wait](INFO): Done Waiting.
2019-10-09T22:24:00.325Z,1570659840.325 [lineCaptureHoming:Lap:Dock:C.Wait] Stopped
2019-10-09T22:24:00.325Z,1570659840.325 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:24:00.325Z,1570659840.325 [lineCaptureHoming:Lap:Dock:BreakOffDock] Running Loop=1
2019-10-09T22:24:00.326Z,1570659840.326 [lineCaptureHoming:Lap:Dock:BreakOffDock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock:BreakOffDock
2019-10-09T22:24:00.326Z,1570659840.326 [lineCaptureHoming:Lap:Dock:BreakOffDock:A] Running Loop=1
2019-10-09T22:24:00.710Z,1570659840.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,222359.86*5D

2019-10-09T22:24:00.743Z,1570659840.743 [lineCaptureHoming:Lap:Dock:BreakOffDock:A](INFO): Braking off. Range: 2.039999 m .
2019-10-09T22:24:00.743Z,1570659840.743 [lineCaptureHoming:Lap:Dock:BreakOffDock:A] Stopped
2019-10-09T22:24:00.743Z,1570659840.743 [lineCaptureHoming:Lap:Dock:BreakOffDock:B] Running Loop=1
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock:BreakOffDock:B] Stopped
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock:BreakOffDock](INFO): Completed lineCaptureHoming:Lap:Dock:BreakOffDock
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock:BreakOffDock] Stopped
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock:BreakOffDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock:BreakOffDock
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock](INFO): Completed lineCaptureHoming:Lap:Dock
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock] Stopped
2019-10-09T22:24:01.195Z,1570659841.195 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-10-09T22:24:01.196Z,1570659841.196 [lineCaptureHoming:Lap:I] Running Loop=1
2019-10-09T22:24:01.196Z,1570659841.196 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-10-09T22:24:01.196Z,1570659841.196 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:24:01.196Z,1570659841.196 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-10-09T22:24:01.196Z,1570659841.196 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:24:01.197Z,1570659841.197 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-10-09T22:24:01.197Z,1570659841.197 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-10-09T22:24:01.197Z,1570659841.197 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-10-09T22:24:01.197Z,1570659841.197 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-10-09T22:24:01.197Z,1570659841.197 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-10-09T22:24:01.197Z,1570659841.197 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Stopped
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Stopped
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:24:01.198Z,1570659841.198 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Stopped
2019-10-09T22:24:01.574Z,1570659841.574 [lineCaptureHoming:Lap:I](INFO): Rollout at range: 2.039999 m .
2019-10-09T22:24:01.574Z,1570659841.574 [lineCaptureHoming:Lap:I] Stopped
2019-10-09T22:24:01.574Z,1570659841.574 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-10-09T22:24:01.574Z,1570659841.574 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:24:01.574Z,1570659841.574 [lineCaptureHoming:Lap:Rollout:A] Running Loop=1
2019-10-09T22:24:01.987Z,1570659841.987 [lineCaptureHoming:Lap:Rollout:A] Stopped
2019-10-09T22:24:01.987Z,1570659841.987 [lineCaptureHoming:Lap:Rollout:B] Running Loop=1
2019-10-09T22:24:02.373Z,1570659842.373 [lineCaptureHoming:Lap:Rollout:B] Stopped
2019-10-09T22:24:02.373Z,1570659842.373 [lineCaptureHoming:Lap:Rollout:C] Running Loop=1
2019-10-09T22:24:02.779Z,1570659842.779 [lineCaptureHoming:Lap:Rollout:C] Stopped
2019-10-09T22:24:02.779Z,1570659842.779 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-10-09T22:24:02.779Z,1570659842.779 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:24:02.779Z,1570659842.779 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-10-09T22:24:02.779Z,1570659842.779 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:24:02.780Z,1570659842.780 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-10-09T22:24:02.780Z,1570659842.780 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:24:02.780Z,1570659842.780 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-10-09T22:24:02.780Z,1570659842.780 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:24:02.780Z,1570659842.780 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:24:02.785Z,1570659842.785 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:24:02.786Z,1570659842.786 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-10-09T22:24:02.786Z,1570659842.786 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:24:02.786Z,1570659842.786 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-10-09T22:24:02.786Z,1570659842.786 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:24:02.786Z,1570659842.786 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:24:02.786Z,1570659842.786 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:24:02.787Z,1570659842.787 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:24:02.787Z,1570659842.787 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:24:02.787Z,1570659842.787 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:24:02.787Z,1570659842.787 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:24:02.788Z,1570659842.788 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:24:02.788Z,1570659842.788 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:24:03.201Z,1570659843.201 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-10-09T22:24:03.202Z,1570659843.202 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:25:03.755Z,1570659903.755 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](INFO): Done Waiting.
2019-10-09T22:25:03.755Z,1570659903.755 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-10-09T22:25:03.755Z,1570659903.755 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:25:03.755Z,1570659903.755 [lineCaptureHoming:Lap:Rollout:MaintainHeading](INFO): Completed lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:25:03.755Z,1570659903.755 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-10-09T22:25:03.755Z,1570659903.755 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap:Rollout](INFO): Completed lineCaptureHoming:Lap:Rollout
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap:Rollout] Stopped
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap] Stopped
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap:Dive] Stopped
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-10-09T22:25:03.756Z,1570659903.756 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-10-09T22:25:03.757Z,1570659903.757 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:25:03.757Z,1570659903.757 [lineCaptureHoming:Lap](INFO): Running loop #2
2019-10-09T22:25:03.757Z,1570659903.757 [lineCaptureHoming:Lap] Running Loop=2
2019-10-09T22:25:03.757Z,1570659903.757 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-10-09T22:25:03.757Z,1570659903.757 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:25:03.757Z,1570659903.757 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-10-09T22:25:03.758Z,1570659903.758 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-10-09T22:25:03.758Z,1570659903.758 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:25:03.758Z,1570659903.758 [lineCaptureHoming:Lap:B] Running Loop=1
2019-10-09T22:25:04.179Z,1570659904.179 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-10-09T22:25:04.179Z,1570659904.179 [lineCaptureHoming:Lap:B] Stopped
2019-10-09T22:25:04.179Z,1570659904.179 [lineCaptureHoming:Lap:C] Running Loop=1
2019-10-09T22:25:04.555Z,1570659904.555 [lineCaptureHoming:Lap:C] Stopped
2019-10-09T22:25:04.556Z,1570659904.556 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-10-09T22:25:04.556Z,1570659904.556 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:25:04.556Z,1570659904.556 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-10-09T22:25:04.556Z,1570659904.556 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:25:04.978Z,1570659904.978 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-10-09T22:25:04.978Z,1570659904.978 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:25:04.979Z,1570659904.979 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-10-09T22:25:04.979Z,1570659904.979 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:25:04.979Z,1570659904.979 [lineCaptureHoming:Lap:E] Running Loop=1
2019-10-09T22:25:04.980Z,1570659904.980 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:25:04.981Z,1570659904.981 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:25:04.981Z,1570659904.981 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:25:04.981Z,1570659904.981 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:25:05.377Z,1570659905.377 [lineCaptureHoming:Lap:E](INFO): Transition to TerminalGuidance at range: 2.039999 m .
2019-10-09T22:25:05.377Z,1570659905.377 [lineCaptureHoming:Lap:E] Stopped
2019-10-09T22:25:05.377Z,1570659905.377 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-10-09T22:25:05.377Z,1570659905.377 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:25:05.377Z,1570659905.377 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:25:05.377Z,1570659905.377 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-10-09T22:25:05.770Z,1570659905.770 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-10-09T22:25:05.770Z,1570659905.770 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:25:05.770Z,1570659905.770 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-10-09T22:25:05.771Z,1570659905.771 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-10-09T22:25:05.771Z,1570659905.771 [lineCaptureHoming:Lap:G] Running Loop=1
2019-10-09T22:25:06.191Z,1570659906.191 [lineCaptureHoming:Lap:G](INFO): Transition to dock at range: 2.039999 m .
2019-10-09T22:25:06.191Z,1570659906.191 [lineCaptureHoming:Lap:G] Stopped
2019-10-09T22:25:06.191Z,1570659906.191 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-10-09T22:25:06.191Z,1570659906.191 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-10-09T22:25:06.191Z,1570659906.191 [lineCaptureHoming:Lap:Dock:A] Running Loop=1
2019-10-09T22:25:06.591Z,1570659906.591 [lineCaptureHoming:Lap:Dock] Stopped
2019-10-09T22:25:06.591Z,1570659906.591 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-10-09T22:25:06.591Z,1570659906.591 [lineCaptureHoming:Lap:Dock:A] Stopped
2019-10-09T22:25:06.592Z,1570659906.592 [lineCaptureHoming:Lap:I] Running Loop=1
2019-10-09T22:25:07.002Z,1570659907.002 [lineCaptureHoming:Lap:I](INFO): Rollout at range: 2.039999 m .
2019-10-09T22:25:07.002Z,1570659907.002 [lineCaptureHoming:Lap:I] Stopped
2019-10-09T22:25:07.003Z,1570659907.003 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-10-09T22:25:07.003Z,1570659907.003 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:25:07.003Z,1570659907.003 [lineCaptureHoming:Lap:Rollout:A] Running Loop=1
2019-10-09T22:25:07.388Z,1570659907.388 [lineCaptureHoming:Lap:Rollout:A] Stopped
2019-10-09T22:25:07.388Z,1570659907.388 [lineCaptureHoming:Lap:Rollout:B] Running Loop=1
2019-10-09T22:25:07.804Z,1570659907.804 [lineCaptureHoming:Lap:Rollout:B] Stopped
2019-10-09T22:25:07.804Z,1570659907.804 [lineCaptureHoming:Lap:Rollout:C] Running Loop=1
2019-10-09T22:25:08.221Z,1570659908.221 [lineCaptureHoming:Lap:Rollout:C] Stopped
2019-10-09T22:25:08.221Z,1570659908.221 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-10-09T22:25:08.221Z,1570659908.221 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:25:08.221Z,1570659908.221 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-10-09T22:25:08.221Z,1570659908.221 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:25:08.223Z,1570659908.223 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:25:08.223Z,1570659908.223 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:25:08.223Z,1570659908.223 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-10-09T22:25:08.615Z,1570659908.615 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:25:19.965Z,1570659919.965 [CommandLine](IMPORTANT): got command stop
2019-10-09T22:25:19.966Z,1570659919.966 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T22:25:20.328Z,1570659920.328 [MissionManager](INFO): MissionManager is completed.
2019-10-09T22:25:20.329Z,1570659920.329 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming] Stopped
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-10-09T22:25:20.329Z,1570659920.329 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:J.Mass] Stopped
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd] Stopped
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-10-09T22:25:20.330Z,1570659920.330 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap] Stopped
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap:Dive] Stopped
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:25:20.331Z,1570659920.331 [lineCaptureHoming:Lap:Rollout] Stopped
2019-10-09T22:25:20.332Z,1570659920.332 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:25:20.332Z,1570659920.332 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-10-09T22:25:20.332Z,1570659920.332 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:25:20.332Z,1570659920.332 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-10-09T22:25:20.332Z,1570659920.332 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:25:20.728Z,1570659920.728 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T22:25:20.729Z,1570659920.729 [Default] Running Loop=1
2019-10-09T22:25:20.729Z,1570659920.729 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T22:25:20.729Z,1570659920.729 [Default:B.GoToSurface] Running Loop=1
2019-10-09T22:25:20.729Z,1570659920.729 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:25:20.729Z,1570659920.729 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T22:25:20.730Z,1570659920.730 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T22:25:20.730Z,1570659920.730 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T22:25:20.730Z,1570659920.730 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:25:20.730Z,1570659920.730 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:25:20.731Z,1570659920.731 [Default:A.Wait] Running Loop=1
2019-10-09T22:25:20.731Z,1570659920.731 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:25:21.169Z,1570659921.169 [BuoyancyServo](FAULT): Reading outside of valid range:0.000000

2019-10-09T22:25:21.169Z,1570659921.169 [BuoyancyServo](FAULT): Buoyancy engine reporting null position
2019-10-09T22:25:21.169Z,1570659921.169 [BuoyancyServo] Hardware Fault, FailCount= 1
2019-10-09T22:25:21.169Z,1570659921.169 [BuoyancyServo](ERROR): Hardware Fault
2019-10-09T22:25:21.181Z,1570659921.181 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2019-10-09T22:25:23.156Z,1570659923.156 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-10-09T22:25:23.156Z,1570659923.156 [BuoyancyServo](INFO): Powering down
2019-10-09T22:25:23.989Z,1570659923.989 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-10-09T22:25:23.989Z,1570659923.989 [BuoyancyServo] No Fault, FailCount= 1
2019-10-09T22:25:24.362Z,1570659924.362 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-10-09T22:25:24.363Z,1570659924.363 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-10-09T22:25:34.064Z,1570659934.064 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T22:25:34.064Z,1570659934.064 [Default:A.Wait] Stopped
2019-10-09T22:25:34.064Z,1570659934.064 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:25:34.461Z,1570659934.461 [Default:CheckIn] Running Loop=1
2019-10-09T22:25:34.461Z,1570659934.461 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T22:25:34.462Z,1570659934.462 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T22:25:36.049Z,1570659936.049 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:25:36.448Z,1570659936.448 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,221930.00,A,3648.16150,N,12147.28012,W,0.175,242.73,091019,,,D*73
2019-10-09T22:25:36.450Z,1570659936.450 [NAL9602](INFO): GPS fix at 20191009T221930: (36.802692, -121.788002)
2019-10-09T22:25:36.498Z,1570659936.498 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T22:25:36.499Z,1570659936.499 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T22:25:37.262Z,1570659937.262 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:25:41.088Z,1570659941.088 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D030000005D00000400370000000000000000151D80030C5669C010B1F861CF189105796BF037CE18D55063A1351991B5CA79E6B5876DF5CA1E317D69
2019-10-09T22:25:41.088Z,1570659941.088 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 11F8304C9B5F
2019-10-09T22:25:41.089Z,1570659941.089 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T22:25:42.075Z,1570659942.075 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T22:25:42.482Z,1570659942.482 [Micromodem](INFO): Nmea in: $CADRQ,222541,1,9,0,64,1*4C

2019-10-09T22:25:42.483Z,1570659942.483 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D030000005D00000400370000000000000000151D80030C5669C010B1F861CF189105796BF037CE18D55063A1351991B5CA79E6B5876DF5CA1E317D69*70

2019-10-09T22:25:42.913Z,1570659942.913 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:25:43.290Z,1570659943.290 [Micromodem](INFO): Nmea in: $CADRQ,222542,1,9,0,64,2*4C

2019-10-09T22:25:43.291Z,1570659943.291 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,11F8304C9B5F*73

2019-10-09T22:25:43.694Z,1570659943.694 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2019-10-09T22:25:44.103Z,1570659944.103 [Micromodem](INFO): Nmea in: $CATXP,70*75

2019-10-09T22:25:46.524Z,1570659946.524 [Micromodem](INFO): Nmea in: $CATXF,70*63

2019-10-09T22:25:46.941Z,1570659946.941 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,222543.637708,3,0,200,4000,10000,1,1,9,1,2,2,3,70*72

2019-10-09T22:25:47.389Z,1570659947.389 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191009T221224/Courier0003.lzma
2019-10-09T22:25:49.410Z,1570659949.410 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0003.lzma.bak
2019-10-09T22:25:49.410Z,1570659949.410 [DataOverHttps](INFO): SBD MOMSN=11867134
2019-10-09T22:26:07.158Z,1570659967.158 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-10-09T22:26:07.237Z,1570659967.237 [NAL9602](FAULT): received: 
+CSQ:0

OK

OK, 0, 0, 0

OK
2019-10-09T22:26:07.237Z,1570659967.237 [NAL9602] Data Fault, FailCount= 1
2019-10-09T22:26:07.237Z,1570659967.237 [NAL9602](ERROR): Data Fault
2019-10-09T22:26:07.314Z,1570659967.314 [CBIT](ERROR): Data Fault in component: NAL9602
2019-10-09T22:26:07.558Z,1570659967.558 [NAL9602](INFO): Powering down
2019-10-09T22:26:08.437Z,1570659968.437 [CBIT](INFO): Clearing failed state for component NAL9602
2019-10-09T22:26:08.437Z,1570659968.437 [NAL9602] No Fault, FailCount= 1
2019-10-09T22:26:13.621Z,1570659973.621 [DataOverHttps](INFO): Sending 466 bytes from file Logs/20191009T221224/Express0005.lzma
2019-10-09T22:26:15.626Z,1570659975.626 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0005.lzma.bak
2019-10-09T22:26:15.626Z,1570659975.626 [DataOverHttps](INFO): SBD MOMSN=11867137
2019-10-09T22:26:21.366Z,1570659981.366 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T22:26:21.366Z,1570659981.366 [Default:CheckIn:C.Wait] Running Loop=1
2019-10-09T22:26:21.366Z,1570659981.366 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:26:37.858Z,1570659997.858 [NAL9602](INFO): Powering up NAL9602
2019-10-09T22:26:48.770Z,1570660008.770 [NAL9602](INFO): NAL9602 initialized
2019-10-09T22:27:19.874Z,1570660039.874 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:27:51.839Z,1570660071.839 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-10-09T22:27:51.839Z,1570660071.839 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19100915331158,35.0, -0.1,   0.0,14
2019-10-09T22:28:30.591Z,1570660110.591 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T222223
2019-10-09T22:28:31.832Z,1570660111.832 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-10-09T22:28:31.832Z,1570660111.832 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3268,V
2019-10-09T22:28:38.393Z,1570660118.393 [DataOverHttps](INFO): Received command:configSet Express linearApproximation TrackAcousticContact.range_to_contact 5 meter persist
2019-10-09T22:28:39.626Z,1570660119.626 [CommandLine](IMPORTANT): got command configSet Express linearApproximation TrackAcousticContact.range_to_contact 5.000000 meter persist
2019-10-09T22:29:15.514Z,1570660155.514 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T222308
2019-10-09T22:29:23.368Z,1570660163.368 [DataOverHttps](INFO): Received command:configSet Express linearApproximation TrackAcousticContact.heading_to_contact 45 degree persist
2019-10-09T22:29:24.626Z,1570660164.626 [CommandLine](IMPORTANT): got command configSet Express linearApproximation TrackAcousticContact.heading_to_contact 45.000000 degree persist
2019-10-09T22:30:00.558Z,1570660200.558 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T222353
2019-10-09T22:30:08.324Z,1570660208.324 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" 42673 1 3
2019-10-09T22:30:08.394Z,1570660208.394 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" 42673 1 3.000000
2019-10-09T22:30:08.395Z,1570660208.395 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=42673
2019-10-09T22:30:08.395Z,1570660208.395 [CommandLine](IMPORTANT): Scheduled #6 (#1 of 3 with id='42673'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" ASAP
2019-10-09T22:30:10.331Z,1570660210.331 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T222403
2019-10-09T22:30:18.133Z,1570660218.133 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 42673 2 3
2019-10-09T22:30:18.194Z,1570660218.194 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 42673 2 3.000000
2019-10-09T22:30:18.194Z,1570660218.194 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=42673
2019-10-09T22:30:18.195Z,1570660218.195 [CommandLine](IMPORTANT): Scheduled #7 (#2 of 3 with id='42673'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" ASAP
2019-10-09T22:30:20.138Z,1570660220.138 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T222413
2019-10-09T22:30:27.888Z,1570660227.888 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 42673 3 3
2019-10-09T22:30:27.900Z,1570660227.900 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 42673 3 3.000000
2019-10-09T22:30:27.900Z,1570660227.900 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=42673
2019-10-09T22:30:27.901Z,1570660227.901 [CommandLine](IMPORTANT): Scheduled #8 (#3 of 3 with id='42673'): "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " ASAP
2019-10-09T22:30:28.003Z,1570660228.003 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:30:28.003Z,1570660228.003 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:30:28.328Z,1570660228.328 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-10-09T22:30:28.330Z,1570660228.330 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-10-09T22:30:28.333Z,1570660228.333 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-10-09T22:30:28.335Z,1570660228.335 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-10-09T22:30:28.338Z,1570660228.338 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-10-09T22:30:28.340Z,1570660228.340 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-10-09T22:30:28.342Z,1570660228.342 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-10-09T22:30:28.373Z,1570660228.373 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-10-09T22:30:28.375Z,1570660228.375 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-10-09T22:30:28.378Z,1570660228.378 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-10-09T22:30:28.380Z,1570660228.380 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-10-09T22:30:28.400Z,1570660228.400 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-10-09T22:30:28.407Z,1570660228.407 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-10-09T22:30:28.414Z,1570660228.414 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-10-09T22:30:28.418Z,1570660228.418 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-10-09T22:30:28.421Z,1570660228.421 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-10-09T22:30:28.423Z,1570660228.423 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-10-09T22:30:28.429Z,1570660228.429 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-10-09T22:30:28.432Z,1570660228.432 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-10-09T22:30:28.451Z,1570660228.451 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-10-09T22:30:28.457Z,1570660228.457 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-10-09T22:30:28.460Z,1570660228.460 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-10-09T22:30:28.463Z,1570660228.463 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-10-09T22:30:28.474Z,1570660228.474 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-10-09T22:30:28.476Z,1570660228.476 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-10-09T22:30:28.483Z,1570660228.483 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-10-09T22:30:28.489Z,1570660228.489 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-10-09T22:30:28.494Z,1570660228.494 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-10-09T22:30:28.496Z,1570660228.496 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-10-09T22:30:28.499Z,1570660228.499 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-10-09T22:30:28.515Z,1570660228.515 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-10-09T22:30:28.544Z,1570660228.544 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-10-09T22:30:28.585Z,1570660228.585 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-10-09T22:30:28.593Z,1570660228.593 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-10-09T22:30:28.594Z,1570660228.594 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-10-09T22:30:28.668Z,1570660228.668 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-10-09T22:30:28.679Z,1570660228.679 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-10-09T22:30:28.686Z,1570660228.686 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-10-09T22:30:28.687Z,1570660228.687 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-10-09T22:30:28.702Z,1570660228.702 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-10-09T22:30:28.712Z,1570660228.712 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-10-09T22:30:28.731Z,1570660228.731 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-10-09T22:30:28.882Z,1570660228.882 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-10-09T22:30:28.884Z,1570660228.884 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-10-09T22:30:28.887Z,1570660228.887 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-10-09T22:30:28.901Z,1570660228.901 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-10-09T22:30:28.903Z,1570660228.903 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-10-09T22:30:28.905Z,1570660228.905 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-10-09T22:30:28.907Z,1570660228.907 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-10-09T22:30:28.925Z,1570660228.925 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T22:30:29.085Z,1570660229.085 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-10-09T22:30:29.102Z,1570660229.102 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:30:29.118Z,1570660229.118 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-10-09T22:30:29.120Z,1570660229.120 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-10-09T22:30:29.147Z,1570660229.147 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:30:29.153Z,1570660229.153 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-10-09T22:30:29.156Z,1570660229.156 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-10-09T22:30:29.174Z,1570660229.174 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-10-09T22:30:29.176Z,1570660229.176 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-10-09T22:30:29.190Z,1570660229.190 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-10-09T22:30:29.203Z,1570660229.203 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:30:29.212Z,1570660229.212 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-10-09T22:30:29.223Z,1570660229.223 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-10-09T22:30:29.229Z,1570660229.229 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-10-09T22:30:29.233Z,1570660229.233 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-10-09T22:30:29.250Z,1570660229.250 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:30:29.258Z,1570660229.258 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:30:29.264Z,1570660229.264 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:30:29.295Z,1570660229.295 [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">Initiating homing sequence.</Syslog>
        
        <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>
        
        
        <Syslog Severity="Info">Transition to TerminalGuidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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">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>
        
        
        <Syslog Severity="Info">Transition to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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="Info">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>
        
        
        <Syslog Severity="Info">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <!-- 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>
        
    </Aggregate>
    
    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-10-09T22:30:29.295Z,1570660229.295 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:30:37.116Z,1570660237.116 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 5.000000 count
2019-10-09T22:30:37.123Z,1570660237.123 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.799999 degree
2019-10-09T22:30:37.124Z,1570660237.124 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.900002 degree
2019-10-09T22:30:37.125Z,1570660237.125 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 75.000000 meter
2019-10-09T22:30:46.170Z,1570660246.170 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-10-09T22:30:46.171Z,1570660246.171 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-10-09T22:30:46.171Z,1570660246.171 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second
2019-10-09T22:30:46.172Z,1570660246.172 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-10-09T22:30:48.482Z,1570660248.482 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000010 kilometer
2019-10-09T22:30:48.483Z,1570660248.483 [CommandLine](IMPORTANT): got command run 
2019-10-09T22:30:48.485Z,1570660248.485 [CommandLine](IMPORTANT): Running 
2019-10-09T22:30:48.788Z,1570660248.788 [Default] Stopped
2019-10-09T22:30:48.793Z,1570660248.793 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T22:30:48.793Z,1570660248.793 [Default:B.GoToSurface] Stopped
2019-10-09T22:30:48.793Z,1570660248.793 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:30:48.794Z,1570660248.794 [Default:CheckIn] Stopped
2019-10-09T22:30:48.794Z,1570660248.794 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T22:30:48.794Z,1570660248.794 [Default:CheckIn:C.Wait] Stopped
2019-10-09T22:30:48.795Z,1570660248.795 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:30:48.795Z,1570660248.795 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-10-09T22:30:48.796Z,1570660248.796 [lineCaptureHoming] Running Loop=1
2019-10-09T22:30:48.801Z,1570660248.801 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-10-09T22:30:48.801Z,1570660248.801 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:30:48.802Z,1570660248.802 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:30:48.802Z,1570660248.802 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:30:48.802Z,1570660248.802 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-10-09T22:30:48.803Z,1570660248.803 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:30:48.803Z,1570660248.803 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-10-09T22:30:48.803Z,1570660248.803 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:30:48.803Z,1570660248.803 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-10-09T22:30:48.804Z,1570660248.804 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:30:48.804Z,1570660248.804 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:30:48.809Z,1570660248.809 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:30:48.809Z,1570660248.809 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:30:48.810Z,1570660248.810 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:30:48.810Z,1570660248.810 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-10-09T22:30:48.810Z,1570660248.810 [lineCaptureHoming:B] Running Loop=1
2019-10-09T22:30:48.818Z,1570660248.818 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:30:48.819Z,1570660248.819 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:30:48.819Z,1570660248.819 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:30:48.825Z,1570660248.825 [lineCaptureHoming:B] Stopped
2019-10-09T22:30:48.825Z,1570660248.825 [lineCaptureHoming:C] Running Loop=1
2019-10-09T22:30:48.826Z,1570660248.826 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:30:48.826Z,1570660248.826 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:30:48.827Z,1570660248.827 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:30:48.827Z,1570660248.827 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:30:49.194Z,1570660249.194 [lineCaptureHoming:C] Stopped
2019-10-09T22:30:49.194Z,1570660249.194 [lineCaptureHoming:D] Running Loop=1
2019-10-09T22:30:49.587Z,1570660249.587 [lineCaptureHoming:D] Stopped
2019-10-09T22:30:49.587Z,1570660249.587 [lineCaptureHoming:F] Running Loop=1
2019-10-09T22:30:49.996Z,1570660249.996 [lineCaptureHoming:F] Stopped
2019-10-09T22:30:49.996Z,1570660249.996 [lineCaptureHoming:G] Running Loop=1
2019-10-09T22:30:50.398Z,1570660250.398 [lineCaptureHoming:G] Stopped
2019-10-09T22:30:50.398Z,1570660250.398 [lineCaptureHoming:StartingMission] Running Loop=1
2019-10-09T22:30:50.398Z,1570660250.398 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-10-09T22:30:50.841Z,1570660250.841 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-10-09T22:30:50.841Z,1570660250.841 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-10-09T22:30:50.841Z,1570660250.842 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-10-09T22:30:50.842Z,1570660250.842 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-10-09T22:30:50.842Z,1570660250.842 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-10-09T22:30:50.842Z,1570660250.842 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:30:51.206Z,1570660251.206 [lineCaptureHoming:NeedComms] Running Loop=1
2019-10-09T22:30:51.206Z,1570660251.206 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-10-09T22:30:51.206Z,1570660251.206 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-10-09T22:30:51.206Z,1570660251.206 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:30:51.206Z,1570660251.206 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-10-09T22:30:51.207Z,1570660251.207 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-10-09T22:30:51.207Z,1570660251.207 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-10-09T22:30:51.207Z,1570660251.207 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:30:51.208Z,1570660251.208 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:30:51.208Z,1570660251.208 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-10-09T22:30:51.225Z,1570660251.225 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1570659570.000000 second since 1970/01/01T00:00:00Z 
2019-10-09T22:30:51.225Z,1570660251.225 [lineCaptureHoming:NeedComms:A] Stopped
2019-10-09T22:30:51.607Z,1570660251.607 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-10-09T22:30:52.018Z,1570660252.018 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:30:52.854Z,1570660252.854 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:30:53.201Z,1570660253.201 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:30:53.595Z,1570660253.595 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:30:53.605Z,1570660253.605 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222446.00,A,3648.17241,N,12147.28293,W,0.214,0.00,091019,,,A*74
2019-10-09T22:30:53.635Z,1570660253.635 [NAL9602](INFO): GPS fix at 20191009T222446: (36.802873, -121.788049)
2019-10-09T22:30:53.711Z,1570660253.711 [lineCaptureHoming:NeedComms:C] Stopped
2019-10-09T22:30:53.712Z,1570660253.712 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-10-09T22:30:54.007Z,1570660254.007 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:30:54.086Z,1570660254.086 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T22:30:54.395Z,1570660254.395 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:30:54.396Z,1570660254.396 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:30:54.841Z,1570660254.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223053.97*55

2019-10-09T22:30:55.223Z,1570660255.223 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-10-09T22:30:58.762Z,1570660258.762 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D090000005D00000400370000000000000000151D80030C5669C010B1F84643F853BEB3C0F4285CD964D434A400A3E86CA8EBFE7F5543DB8E344ED87F
2019-10-09T22:30:58.762Z,1570660258.762 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 21300341C3A9
2019-10-09T22:30:58.763Z,1570660258.763 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T22:30:58.889Z,1570660258.889 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:30:58.983Z,1570660258.983 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T22:30:59.359Z,1570660259.359 [Micromodem](INFO): Nmea in: $CADRQ,223059,1,9,0,64,1*41

2019-10-09T22:30:59.359Z,1570660259.359 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D090000005D00000400370000000000000000151D80030C5669C010B1F84643F853BEB3C0F4285CD964D434A400A3E86CA8EBFE7F5543DB8E344ED87F*7F

2019-10-09T22:30:59.758Z,1570660259.758 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:30:59.759Z,1570660259.759 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:00.160Z,1570660260.160 [Micromodem](INFO): Nmea in: $CADRQ,223059,1,9,0,64,2*42

2019-10-09T22:31:00.161Z,1570660260.161 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,223059,1,9,0,64,2*42

2019-10-09T22:31:00.562Z,1570660260.562 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:00.565Z,1570660260.565 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:00.982Z,1570660260.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223100.14*59

2019-10-09T22:31:02.219Z,1570660262.219 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-10-09T22:31:03.072Z,1570660263.072 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:03.811Z,1570660263.811 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:04.209Z,1570660264.209 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:04.602Z,1570660264.602 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:05.026Z,1570660265.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223104.19*50

2019-10-09T22:31:05.492Z,1570660265.492 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191009T221224/Courier0009.lzma
2019-10-09T22:31:07.083Z,1570660267.083 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:07.498Z,1570660267.498 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0009.lzma.bak
2019-10-09T22:31:07.498Z,1570660267.498 [DataOverHttps](INFO): SBD MOMSN=11867194
2019-10-09T22:31:07.840Z,1570660267.840 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:08.245Z,1570660268.245 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:08.646Z,1570660268.646 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:09.065Z,1570660269.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223108.22*54

2019-10-09T22:31:11.135Z,1570660271.135 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:11.884Z,1570660271.884 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:12.281Z,1570660272.281 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:12.682Z,1570660272.682 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:13.110Z,1570660273.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223112.26*5B

2019-10-09T22:31:15.156Z,1570660275.156 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:15.915Z,1570660275.915 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:16.325Z,1570660276.325 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:17.131Z,1570660277.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223116.29*50

2019-10-09T22:31:19.233Z,1570660279.233 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:19.550Z,1570660279.550 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:31:23.630Z,1570660283.630 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:24.403Z,1570660284.403 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:24.839Z,1570660284.839 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:25.210Z,1570660285.210 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:25.626Z,1570660285.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223124.78*55

2019-10-09T22:31:27.717Z,1570660287.717 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:28.439Z,1570660288.439 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:28.853Z,1570660288.853 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:28.865Z,1570660288.865 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:31:29.246Z,1570660289.246 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:29.662Z,1570660289.662 [Micromodem](INFO): Nmea in: $CAERR,223129,DATA_TIMEOUT,2*44

2019-10-09T22:31:30.085Z,1570660290.085 [Micromodem](INFO): Nmea in: $CATXP,64*70

2019-10-09T22:31:30.506Z,1570660290.506 [DataOverHttps](INFO): Sending 810 bytes from file Logs/20191009T221224/Express0010.lzma
2019-10-09T22:31:31.686Z,1570660291.686 [Micromodem](INFO): Nmea in: $CATXF,64*66

2019-10-09T22:31:31.747Z,1570660291.747 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:32.094Z,1570660292.094 [Micromodem](INFO): Nmea in: $SNTTA,,,0.287368,,223128.82*42

2019-10-09T22:31:32.482Z,1570660292.482 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,223129.775179,3,0,200,4000,10000,1,1,9,1,2,1,3,64*7A

2019-10-09T22:31:32.483Z,1570660292.483 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:32.515Z,1570660292.515 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0010.lzma.bak
2019-10-09T22:31:32.516Z,1570660292.516 [DataOverHttps](INFO): SBD MOMSN=11867197
2019-10-09T22:31:33.290Z,1570660293.290 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:33.716Z,1570660293.716 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:35.910Z,1570660295.910 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:36.519Z,1570660296.519 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:36.929Z,1570660296.929 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:37.326Z,1570660297.326 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:37.746Z,1570660297.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223136.89*58

2019-10-09T22:31:40.219Z,1570660300.219 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:40.981Z,1570660300.981 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:41.373Z,1570660301.373 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:41.770Z,1570660301.770 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:42.190Z,1570660302.190 [Micromodem](INFO): Nmea in: $SNTTA,,,0.489145,,223141.36*47

2019-10-09T22:31:44.254Z,1570660304.254 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:45.003Z,1570660305.003 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:45.409Z,1570660305.409 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:45.832Z,1570660305.832 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:46.234Z,1570660306.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223145.38*56

2019-10-09T22:31:48.286Z,1570660308.286 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:49.047Z,1570660309.047 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:49.447Z,1570660309.447 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:49.856Z,1570660309.856 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:50.270Z,1570660310.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223149.42*57

2019-10-09T22:31:52.339Z,1570660312.339 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:53.087Z,1570660313.087 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:53.496Z,1570660313.496 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:53.890Z,1570660313.890 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:54.310Z,1570660314.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223153.46*58

2019-10-09T22:31:56.248Z,1570660316.248 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191009T221224/Express0013.lzma
2019-10-09T22:31:56.374Z,1570660316.374 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:31:57.122Z,1570660317.122 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:31:57.529Z,1570660317.529 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:31:57.934Z,1570660317.934 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:31:58.254Z,1570660318.254 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0013.lzma.bak
2019-10-09T22:31:58.254Z,1570660318.254 [DataOverHttps](INFO): SBD MOMSN=11867230
2019-10-09T22:31:58.346Z,1570660318.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223157.50*5B

2019-10-09T22:32:00.426Z,1570660320.426 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:01.163Z,1570660321.163 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:01.569Z,1570660321.569 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:01.974Z,1570660321.974 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:32:02.386Z,1570660322.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223201.54*5F

2019-10-09T22:32:04.001Z,1570660324.001 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:32:06.260Z,1570660326.260 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:10.281Z,1570660330.281 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:10.389Z,1570660330.389 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:10.616Z,1570660330.616 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:13.490Z,1570660333.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223210.66*5E

2019-10-09T22:32:14.685Z,1570660334.685 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:15.451Z,1570660335.451 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:15.865Z,1570660335.865 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:16.254Z,1570660336.254 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:32:18.267Z,1570660338.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223215.83*50

2019-10-09T22:32:21.917Z,1570660341.917 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:22.380Z,1570660342.380 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:22.773Z,1570660342.773 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:25.084Z,1570660345.084 [DataOverHttps](INFO): Sending 111 bytes from file Logs/20191009T221224/Express0014.lzma
2019-10-09T22:32:25.262Z,1570660345.262 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-10-09T22:32:25.356Z,1570660345.356 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:32:25.358Z,1570660345.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223222.76*5E

2019-10-09T22:32:27.090Z,1570660347.090 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0014.lzma.bak
2019-10-09T22:32:27.090Z,1570660347.090 [DataOverHttps](INFO): SBD MOMSN=11867232
2019-10-09T22:32:28.032Z,1570660348.032 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:28.463Z,1570660348.463 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:28.869Z,1570660348.869 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:29.270Z,1570660349.270 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:32:29.690Z,1570660349.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223228.84*59

2019-10-09T22:32:33.620Z,1570660353.620 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:37.613Z,1570660357.613 [lineCaptureHoming:NeedComms:D] Stopped
2019-10-09T22:32:37.613Z,1570660357.613 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-10-09T22:32:37.714Z,1570660357.714 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:37.884Z,1570660357.884 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:37.890Z,1570660357.890 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:32:38.109Z,1570660358.109 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:38.490Z,1570660358.490 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:32:38.919Z,1570660358.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223238.09*5D

2019-10-09T22:32:38.933Z,1570660358.933 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:32:39.312Z,1570660359.312 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222632.00,A,3648.17105,N,12147.28043,W,0.214,0.00,091019,,,A*79
2019-10-09T22:32:39.314Z,1570660359.314 [NAL9602](INFO): GPS fix at 20191009T222632: (36.802851, -121.788007)
2019-10-09T22:32:39.395Z,1570660359.395 [lineCaptureHoming:NeedComms:E] Stopped
2019-10-09T22:32:39.395Z,1570660359.395 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-10-09T22:32:39.396Z,1570660359.396 [lineCaptureHoming:NeedComms] Stopped
2019-10-09T22:32:39.396Z,1570660359.396 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-10-09T22:32:39.396Z,1570660359.396 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-10-09T22:32:39.396Z,1570660359.396 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:32:39.770Z,1570660359.770 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-10-09T22:32:39.770Z,1570660359.770 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-10-09T22:32:39.771Z,1570660359.771 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:32:39.771Z,1570660359.771 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-10-09T22:32:40.193Z,1570660360.193 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-10-09T22:32:40.193Z,1570660360.193 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-10-09T22:32:40.194Z,1570660360.194 [lineCaptureHoming:SurfaceComms] Stopped
2019-10-09T22:32:40.194Z,1570660360.194 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-10-09T22:32:40.558Z,1570660360.558 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-10-09T22:32:40.558Z,1570660360.558 [lineCaptureHoming:StartingMission] Stopped
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:Lap] Running Loop=1
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-10-09T22:32:40.559Z,1570660360.559 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:32:40.560Z,1570660360.560 [lineCaptureHoming:Lap:B] Running Loop=1
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:Lap:B] Stopped
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:Lap:C] Running Loop=1
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-10-09T22:32:40.988Z,1570660360.988 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Initialize.
2019-10-09T22:32:40.993Z,1570660360.993 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Running Loop=1
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Initialize.
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:32:40.994Z,1570660360.994 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-10-09T22:32:40.995Z,1570660360.995 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-10-09T22:32:40.996Z,1570660360.996 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-10-09T22:32:40.996Z,1570660360.996 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-10-09T22:32:40.996Z,1570660360.996 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-10-09T22:32:40.996Z,1570660360.996 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:32:40.996Z,1570660360.996 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-10-09T22:32:41.001Z,1570660361.001 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-10-09T22:32:41.002Z,1570660361.002 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:32:41.002Z,1570660361.002 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-10-09T22:32:41.002Z,1570660361.002 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:32:41.002Z,1570660361.002 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-10-09T22:32:41.002Z,1570660361.002 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-10-09T22:32:41.002Z,1570660361.002 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-10-09T22:32:41.003Z,1570660361.003 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-10-09T22:32:41.003Z,1570660361.003 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-10-09T22:32:41.390Z,1570660361.390 [lineCaptureHoming:Lap:C] Stopped
2019-10-09T22:32:41.390Z,1570660361.390 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-10-09T22:32:41.390Z,1570660361.390 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:32:41.390Z,1570660361.390 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-10-09T22:32:41.390Z,1570660361.390 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:32:41.762Z,1570660361.762 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-10-09T22:32:41.762Z,1570660361.762 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:32:41.762Z,1570660361.762 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-10-09T22:32:41.762Z,1570660361.762 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:32:41.762Z,1570660361.762 [lineCaptureHoming:Lap:E] Running Loop=1
2019-10-09T22:32:42.206Z,1570660362.206 [lineCaptureHoming:Lap:E](INFO): Transition to TerminalGuidance at range: 2.039999 m .
2019-10-09T22:32:42.206Z,1570660362.206 [lineCaptureHoming:Lap:E] Stopped
2019-10-09T22:32:42.206Z,1570660362.206 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-10-09T22:32:42.206Z,1570660362.206 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:32:42.206Z,1570660362.206 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:32:42.206Z,1570660362.206 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-10-09T22:32:42.207Z,1570660362.207 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-10-09T22:32:42.221Z,1570660362.221 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:32:42.602Z,1570660362.602 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-10-09T22:32:42.602Z,1570660362.602 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:32:42.602Z,1570660362.602 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-10-09T22:32:42.602Z,1570660362.602 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-10-09T22:32:42.602Z,1570660362.602 [lineCaptureHoming:Lap:G] Running Loop=1
2019-10-09T22:32:42.931Z,1570660362.931 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:32:43.058Z,1570660363.058 [lineCaptureHoming:Lap:G](INFO): Transition to dock at range: 2.039999 m .
2019-10-09T22:32:43.059Z,1570660363.059 [lineCaptureHoming:Lap:G] Stopped
2019-10-09T22:32:43.060Z,1570660363.060 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-10-09T22:32:43.060Z,1570660363.060 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-10-09T22:32:43.069Z,1570660363.069 [lineCaptureHoming:Lap:Dock:A] Running Loop=1
2019-10-09T22:32:43.345Z,1570660363.345 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:32:43.426Z,1570660363.426 [lineCaptureHoming:Lap:Dock] Stopped
2019-10-09T22:32:43.426Z,1570660363.426 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-10-09T22:32:43.426Z,1570660363.426 [lineCaptureHoming:Lap:Dock:A] Stopped
2019-10-09T22:32:43.426Z,1570660363.426 [lineCaptureHoming:Lap:I] Running Loop=1
2019-10-09T22:32:43.738Z,1570660363.738 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:32:43.838Z,1570660363.838 [lineCaptureHoming:Lap:I](INFO): Rollout at range: 2.039999 m .
2019-10-09T22:32:43.838Z,1570660363.838 [lineCaptureHoming:Lap:I] Stopped
2019-10-09T22:32:43.838Z,1570660363.838 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-10-09T22:32:43.838Z,1570660363.838 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:32:43.839Z,1570660363.839 [lineCaptureHoming:Lap:Rollout:A] Running Loop=1
2019-10-09T22:32:44.158Z,1570660364.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223243.31*5A

2019-10-09T22:32:44.247Z,1570660364.247 [lineCaptureHoming:Lap:Rollout:A] Stopped
2019-10-09T22:32:44.247Z,1570660364.247 [lineCaptureHoming:Lap:Rollout:B] Running Loop=1
2019-10-09T22:32:44.613Z,1570660364.613 [lineCaptureHoming:Lap:Rollout:B] Stopped
2019-10-09T22:32:44.613Z,1570660364.613 [lineCaptureHoming:Lap:Rollout:C] Running Loop=1
2019-10-09T22:32:45.034Z,1570660365.034 [lineCaptureHoming:Lap:Rollout:C] Stopped
2019-10-09T22:32:45.034Z,1570660365.034 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-10-09T22:32:45.034Z,1570660365.034 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:32:45.034Z,1570660365.034 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-10-09T22:32:45.034Z,1570660365.034 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:32:45.035Z,1570660365.035 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:32:45.035Z,1570660365.035 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:32:45.035Z,1570660365.035 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:32:45.035Z,1570660365.035 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:32:45.035Z,1570660365.035 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:32:45.036Z,1570660365.036 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:32:45.041Z,1570660365.041 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:32:45.041Z,1570660365.041 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:32:45.041Z,1570660365.041 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Stopped
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Stopped
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:32:45.042Z,1570660365.042 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Stopped
2019-10-09T22:32:45.043Z,1570660365.043 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:32:45.043Z,1570660365.043 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:32:45.043Z,1570660365.043 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:32:45.436Z,1570660365.436 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-10-09T22:32:45.436Z,1570660365.436 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:32:45.436Z,1570660365.436 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-10-09T22:32:45.436Z,1570660365.436 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:32:45.461Z,1570660365.461 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-10-09T22:32:45.461Z,1570660365.461 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:32:45.461Z,1570660365.461 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-10-09T22:32:45.461Z,1570660365.461 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:32:49.851Z,1570660369.851 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-10-09T22:33:05.969Z,1570660385.969 [NAL9602](INFO): SBD MO Status=0, MOMSN=9092, MT Status=0, MTMSN=0
2019-10-09T22:33:05.969Z,1570660385.969 [NAL9602](INFO): No messages in MT queue
2019-10-09T22:33:36.667Z,1570660416.667 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:33:45.999Z,1570660425.999 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](INFO): Done Waiting.
2019-10-09T22:33:45.999Z,1570660425.999 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-10-09T22:33:45.999Z,1570660425.999 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:33:45.000Z,1570660426.000 [lineCaptureHoming:Lap:Rollout:MaintainHeading](INFO): Completed lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:33:45.000Z,1570660426.000 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-10-09T22:33:45.000Z,1570660426.000 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:33:45.000Z,1570660426.000 [lineCaptureHoming:Lap:Rollout](INFO): Completed lineCaptureHoming:Lap:Rollout
2019-10-09T22:33:46.000Z,1570660426.000 [lineCaptureHoming:Lap:Rollout] Stopped
2019-10-09T22:33:46.000Z,1570660426.000 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:33:46.000Z,1570660426.000 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap] Stopped
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap:Dive] Stopped
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:33:46.001Z,1570660426.001 [lineCaptureHoming:Lap](INFO): Running loop #2
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap] Running Loop=2
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:33:46.002Z,1570660426.002 [lineCaptureHoming:Lap:B] Running Loop=1
2019-10-09T22:33:46.402Z,1570660426.402 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-10-09T22:33:46.403Z,1570660426.403 [lineCaptureHoming:Lap:B] Stopped
2019-10-09T22:33:46.403Z,1570660426.403 [lineCaptureHoming:Lap:C] Running Loop=1
2019-10-09T22:33:46.826Z,1570660426.826 [lineCaptureHoming:Lap:C] Stopped
2019-10-09T22:33:46.827Z,1570660426.827 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-10-09T22:33:46.827Z,1570660426.827 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:33:46.828Z,1570660426.828 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-10-09T22:33:46.828Z,1570660426.828 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:33:47.205Z,1570660427.205 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-10-09T22:33:47.205Z,1570660427.205 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:33:47.205Z,1570660427.205 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-10-09T22:33:47.205Z,1570660427.205 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:33:47.205Z,1570660427.205 [lineCaptureHoming:Lap:E] Running Loop=1
2019-10-09T22:33:47.207Z,1570660427.207 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:33:47.207Z,1570660427.207 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:33:47.207Z,1570660427.207 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:33:47.207Z,1570660427.207 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:33:47.606Z,1570660427.606 [lineCaptureHoming:Lap:E](INFO): Transition to TerminalGuidance at range: 2.039999 m .
2019-10-09T22:33:47.607Z,1570660427.607 [lineCaptureHoming:Lap:E] Stopped
2019-10-09T22:33:47.607Z,1570660427.607 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-10-09T22:33:47.607Z,1570660427.607 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:33:47.607Z,1570660427.607 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:33:47.607Z,1570660427.607 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-10-09T22:33:48.025Z,1570660428.025 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-10-09T22:33:48.026Z,1570660428.026 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:33:48.026Z,1570660428.026 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-10-09T22:33:48.026Z,1570660428.026 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-10-09T22:33:48.026Z,1570660428.026 [lineCaptureHoming:Lap:G] Running Loop=1
2019-10-09T22:33:48.408Z,1570660428.408 [lineCaptureHoming:Lap:G](INFO): Transition to dock at range: 2.039999 m .
2019-10-09T22:33:48.408Z,1570660428.408 [lineCaptureHoming:Lap:G] Stopped
2019-10-09T22:33:48.408Z,1570660428.408 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-10-09T22:33:48.408Z,1570660428.408 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-10-09T22:33:48.409Z,1570660428.409 [lineCaptureHoming:Lap:Dock:A] Running Loop=1
2019-10-09T22:33:48.850Z,1570660428.850 [lineCaptureHoming:Lap:Dock] Stopped
2019-10-09T22:33:48.850Z,1570660428.850 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-10-09T22:33:48.850Z,1570660428.850 [lineCaptureHoming:Lap:Dock:A] Stopped
2019-10-09T22:33:48.850Z,1570660428.850 [lineCaptureHoming:Lap:I] Running Loop=1
2019-10-09T22:33:49.233Z,1570660429.233 [lineCaptureHoming:Lap:I](INFO): Rollout at range: 2.039999 m .
2019-10-09T22:33:49.233Z,1570660429.233 [lineCaptureHoming:Lap:I] Stopped
2019-10-09T22:33:49.233Z,1570660429.233 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-10-09T22:33:49.233Z,1570660429.233 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:33:49.234Z,1570660429.234 [lineCaptureHoming:Lap:Rollout:A] Running Loop=1
2019-10-09T22:33:49.629Z,1570660429.629 [lineCaptureHoming:Lap:Rollout:A] Stopped
2019-10-09T22:33:49.629Z,1570660429.629 [lineCaptureHoming:Lap:Rollout:B] Running Loop=1
2019-10-09T22:33:50.046Z,1570660430.046 [lineCaptureHoming:Lap:Rollout:B] Stopped
2019-10-09T22:33:50.046Z,1570660430.046 [lineCaptureHoming:Lap:Rollout:C] Running Loop=1
2019-10-09T22:33:50.431Z,1570660430.431 [lineCaptureHoming:Lap:Rollout:C] Stopped
2019-10-09T22:33:50.431Z,1570660430.431 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-10-09T22:33:50.431Z,1570660430.431 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:33:50.431Z,1570660430.431 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-10-09T22:33:50.431Z,1570660430.431 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:33:50.433Z,1570660430.433 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:33:50.433Z,1570660430.433 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:33:50.434Z,1570660430.434 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-10-09T22:33:50.864Z,1570660430.864 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:34:08.204Z,1570660448.204 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00, 100.91,  89.93,   0.00,  95.92
2019-10-09T22:34:09.840Z,1570660449.840 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-10-09T22:34:09.840Z,1570660449.840 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,       +53.45,       +25   +14.75,   9.58,  0.00
2019-10-09T22:34:51.450Z,1570660491.450 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](INFO): Done Waiting.
2019-10-09T22:34:51.450Z,1570660491.450 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout:MaintainHeading](INFO): Completed lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout](INFO): Completed lineCaptureHoming:Lap:Rollout
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout] Stopped
2019-10-09T22:34:51.451Z,1570660491.451 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap] Stopped
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap:Dive] Stopped
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-10-09T22:34:51.452Z,1570660491.452 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap](INFO): Running loop #3
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap] Running Loop=3
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-10-09T22:34:51.453Z,1570660491.453 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:34:51.454Z,1570660491.454 [lineCaptureHoming:Lap:B] Running Loop=1
2019-10-09T22:34:51.978Z,1570660491.978 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-10-09T22:34:51.978Z,1570660491.978 [lineCaptureHoming:Lap:B] Stopped
2019-10-09T22:34:51.979Z,1570660491.979 [lineCaptureHoming:Lap:C] Running Loop=1
2019-10-09T22:34:52.286Z,1570660492.286 [lineCaptureHoming:Lap:C] Stopped
2019-10-09T22:34:52.286Z,1570660492.286 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-10-09T22:34:52.286Z,1570660492.286 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:34:52.286Z,1570660492.286 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-10-09T22:34:52.286Z,1570660492.286 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:34:52.676Z,1570660492.676 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-10-09T22:34:52.677Z,1570660492.677 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:34:52.677Z,1570660492.677 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-10-09T22:34:52.677Z,1570660492.677 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:34:52.677Z,1570660492.677 [lineCaptureHoming:Lap:E] Running Loop=1
2019-10-09T22:34:52.679Z,1570660492.679 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:34:52.679Z,1570660492.679 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:34:52.679Z,1570660492.679 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:34:52.679Z,1570660492.679 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:34:53.093Z,1570660493.093 [lineCaptureHoming:Lap:E](INFO): Transition to TerminalGuidance at range: 2.039999 m .
2019-10-09T22:34:53.093Z,1570660493.093 [lineCaptureHoming:Lap:E] Stopped
2019-10-09T22:34:53.093Z,1570660493.093 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-10-09T22:34:53.094Z,1570660493.094 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:34:53.094Z,1570660493.094 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:34:53.094Z,1570660493.094 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-10-09T22:34:53.458Z,1570660493.458 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-10-09T22:34:53.459Z,1570660493.459 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:34:53.459Z,1570660493.459 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-10-09T22:34:53.459Z,1570660493.459 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-10-09T22:34:53.459Z,1570660493.459 [lineCaptureHoming:Lap:G] Running Loop=1
2019-10-09T22:34:53.883Z,1570660493.883 [lineCaptureHoming:Lap:G](INFO): Transition to dock at range: 2.039999 m .
2019-10-09T22:34:53.883Z,1570660493.883 [lineCaptureHoming:Lap:G] Stopped
2019-10-09T22:34:53.883Z,1570660493.883 [lineCaptureHoming:Lap:Dock] Running Loop=1
2019-10-09T22:34:53.883Z,1570660493.883 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dock
2019-10-09T22:34:53.883Z,1570660493.883 [lineCaptureHoming:Lap:Dock:A] Running Loop=1
2019-10-09T22:34:54.266Z,1570660494.266 [lineCaptureHoming:Lap:Dock] Stopped
2019-10-09T22:34:54.266Z,1570660494.266 [lineCaptureHoming:Lap:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dock
2019-10-09T22:34:54.267Z,1570660494.267 [lineCaptureHoming:Lap:Dock:A] Stopped
2019-10-09T22:34:54.267Z,1570660494.267 [lineCaptureHoming:Lap:I] Running Loop=1
2019-10-09T22:34:54.667Z,1570660494.667 [lineCaptureHoming:Lap:I](INFO): Rollout at range: 2.039999 m .
2019-10-09T22:34:54.668Z,1570660494.668 [lineCaptureHoming:Lap:I] Stopped
2019-10-09T22:34:54.668Z,1570660494.668 [lineCaptureHoming:Lap:Rollout] Running Loop=1
2019-10-09T22:34:54.668Z,1570660494.668 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:34:54.668Z,1570660494.668 [lineCaptureHoming:Lap:Rollout:A] Running Loop=1
2019-10-09T22:34:55.086Z,1570660495.086 [lineCaptureHoming:Lap:Rollout:A] Stopped
2019-10-09T22:34:55.086Z,1570660495.086 [lineCaptureHoming:Lap:Rollout:B] Running Loop=1
2019-10-09T22:34:55.472Z,1570660495.472 [lineCaptureHoming:Lap:Rollout:B] Stopped
2019-10-09T22:34:55.472Z,1570660495.472 [lineCaptureHoming:Lap:Rollout:C] Running Loop=1
2019-10-09T22:34:55.915Z,1570660495.915 [lineCaptureHoming:Lap:Rollout:C] Stopped
2019-10-09T22:34:55.915Z,1570660495.915 [lineCaptureHoming:Lap:Rollout:NavToStart] Running Loop=1
2019-10-09T22:34:55.915Z,1570660495.915 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:34:55.915Z,1570660495.915 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Running Loop=1
2019-10-09T22:34:55.915Z,1570660495.915 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:34:55.921Z,1570660495.921 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:34:55.922Z,1570660495.922 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:34:55.922Z,1570660495.922 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:34:56.281Z,1570660496.281 [lineCaptureHoming:Lap:Rollout:NavToStart] Stopped
2019-10-09T22:34:56.281Z,1570660496.281 [lineCaptureHoming:Lap:Rollout:NavToStart](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart
2019-10-09T22:34:56.281Z,1570660496.281 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint] Stopped
2019-10-09T22:34:56.281Z,1570660496.281 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:34:56.281Z,1570660496.281 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Running Loop=1
2019-10-09T22:34:56.281Z,1570660496.281 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:34:56.282Z,1570660496.282 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Running Loop=1
2019-10-09T22:34:56.282Z,1570660496.282 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:35:46.566Z,1570660546.566 [CommandLine](IMPORTANT): got command stop
2019-10-09T22:35:46.567Z,1570660546.567 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T22:35:46.833Z,1570660546.833 [MissionManager](INFO): MissionManager is completed.
2019-10-09T22:35:46.833Z,1570660546.833 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-10-09T22:35:46.833Z,1570660546.833 [lineCaptureHoming] Stopped
2019-10-09T22:35:46.833Z,1570660546.833 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-10-09T22:35:46.833Z,1570660546.833 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:J.Mass] Stopped
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:DiveCmd] Stopped
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-10-09T22:35:46.834Z,1570660546.834 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:Lap] Stopped
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-10-09T22:35:46.835Z,1570660546.835 [lineCaptureHoming:Lap:Dive] Stopped
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Rollout] Stopped
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Rollout](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Rollout:MaintainHeading] Stopped
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Rollout:MaintainHeading](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeading
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait] Stopped
2019-10-09T22:35:46.836Z,1570660546.836 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:35:47.197Z,1570660547.197 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T22:35:47.197Z,1570660547.197 [Default] Running Loop=1
2019-10-09T22:35:47.197Z,1570660547.197 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T22:35:47.197Z,1570660547.197 [Default:B.GoToSurface] Running Loop=1
2019-10-09T22:35:47.198Z,1570660547.198 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:35:47.198Z,1570660547.198 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T22:35:47.198Z,1570660547.198 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T22:35:47.198Z,1570660547.198 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T22:35:47.199Z,1570660547.199 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:35:47.199Z,1570660547.199 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:35:47.200Z,1570660547.200 [Default:A.Wait] Running Loop=1
2019-10-09T22:35:47.200Z,1570660547.200 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:36:00.546Z,1570660560.546 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T22:36:00.546Z,1570660560.546 [Default:A.Wait] Stopped
2019-10-09T22:36:00.546Z,1570660560.546 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:36:00.937Z,1570660560.937 [Default:CheckIn] Running Loop=1
2019-10-09T22:36:00.937Z,1570660560.937 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T22:36:00.937Z,1570660560.937 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T22:36:02.521Z,1570660562.521 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:36:02.916Z,1570660562.916 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,222956.00,A,3648.16664,N,12147.28365,W,0.156,0.00,091019,,,A*77
2019-10-09T22:36:02.918Z,1570660562.918 [NAL9602](INFO): GPS fix at 20191009T222956: (36.802777, -121.788061)
2019-10-09T22:36:02.978Z,1570660562.978 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T22:36:02.978Z,1570660562.978 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T22:36:06.864Z,1570660566.864 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D0F0000005D00000400370000000000000000151D80030C5669C010B1F852EBE94C952B342CD70C5271C4C56852B350ABE966D42C4A90157224AFF313
2019-10-09T22:36:06.864Z,1570660566.864 [Micromodem](INFO): Outgoing frame #2, 5 bytes: E365F09058
2019-10-09T22:36:06.877Z,1570660566.877 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T22:36:07.943Z,1570660567.943 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T22:36:08.343Z,1570660568.343 [Micromodem](INFO): Nmea in: $CADRQ,223607,1,9,0,64,1*4C

2019-10-09T22:36:08.344Z,1570660568.344 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D0F0000005D00000400370000000000000000151D80030C5669C010B1F852EBE94C952B342CD70C5271C4C56852B350ABE966D42C4A90157224AFF313*73

2019-10-09T22:36:08.751Z,1570660568.751 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:36:09.150Z,1570660569.150 [Micromodem](INFO): Nmea in: $CADRQ,223608,1,9,0,64,2*40

2019-10-09T22:36:09.151Z,1570660569.151 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,E365F09058*76

2019-10-09T22:36:09.558Z,1570660569.558 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,5*46

2019-10-09T22:36:09.975Z,1570660569.975 [Micromodem](INFO): Nmea in: $CATXP,69*7D

2019-10-09T22:36:12.382Z,1570660572.382 [Micromodem](INFO): Nmea in: $CATXF,69*6B

2019-10-09T22:36:12.796Z,1570660572.796 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,223609.500469,3,0,200,4000,10000,1,1,9,1,2,2,3,69*75

2019-10-09T22:36:14.798Z,1570660574.798 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191009T221224/Courier0015.lzma
2019-10-09T22:36:16.799Z,1570660576.799 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0015.lzma.bak
2019-10-09T22:36:16.799Z,1570660576.799 [DataOverHttps](INFO): SBD MOMSN=11867277
2019-10-09T22:36:41.240Z,1570660601.240 [DataOverHttps](INFO): Sending 159 bytes from file Logs/20191009T221224/Express0016.lzma
2019-10-09T22:36:43.247Z,1570660603.247 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0016.lzma.bak
2019-10-09T22:36:43.248Z,1570660603.248 [DataOverHttps](IMPORTANT): SBD MOMSN=11867301, MTMSN=20191009T223036
2019-10-09T22:36:48.836Z,1570660608.836 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T22:36:48.836Z,1570660608.836 [Default:CheckIn:C.Wait] Running Loop=1
2019-10-09T22:36:48.836Z,1570660608.836 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:36:58.973Z,1570660618.973 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" 426ix 1 3
2019-10-09T22:36:59.018Z,1570660619.018 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" 426ix 1 3.000000
2019-10-09T22:36:59.018Z,1570660619.018 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=426ix
2019-10-09T22:36:59.019Z,1570660619.019 [CommandLine](IMPORTANT): Scheduled #9 (#1 of 3 with id='426ix'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 75 meter" ASAP
2019-10-09T22:37:00.978Z,1570660620.978 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T223053
2019-10-09T22:37:09.049Z,1570660629.049 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 426ix 2 3
2019-10-09T22:37:09.129Z,1570660629.129 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 426ix 2 3.000000
2019-10-09T22:37:09.130Z,1570660629.130 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=426ix
2019-10-09T22:37:09.131Z,1570660629.131 [CommandLine](IMPORTANT): Scheduled #10 (#2 of 3 with id='426ix'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" ASAP
2019-10-09T22:37:11.054Z,1570660631.054 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T223104
2019-10-09T22:37:21.064Z,1570660641.064 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 426ix 3 3
2019-10-09T22:37:21.135Z,1570660641.135 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 426ix 3 3.000000
2019-10-09T22:37:21.135Z,1570660641.135 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=426ix
2019-10-09T22:37:21.136Z,1570660641.136 [CommandLine](IMPORTANT): Scheduled #11 (#3 of 3 with id='426ix'): "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " ASAP
2019-10-09T22:37:21.326Z,1570660641.326 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:37:21.326Z,1570660641.326 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:37:21.609Z,1570660641.609 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-10-09T22:37:21.611Z,1570660641.611 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-10-09T22:37:21.614Z,1570660641.614 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-10-09T22:37:21.616Z,1570660641.616 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-10-09T22:37:21.618Z,1570660641.618 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-10-09T22:37:21.621Z,1570660641.621 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-10-09T22:37:21.623Z,1570660641.623 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-10-09T22:37:21.625Z,1570660641.625 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-10-09T22:37:21.628Z,1570660641.628 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-10-09T22:37:21.630Z,1570660641.630 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-10-09T22:37:21.632Z,1570660641.632 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-10-09T22:37:21.635Z,1570660641.635 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-10-09T22:37:21.637Z,1570660641.637 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-10-09T22:37:21.639Z,1570660641.639 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-10-09T22:37:21.642Z,1570660641.642 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-10-09T22:37:21.644Z,1570660641.644 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-10-09T22:37:21.696Z,1570660641.696 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-10-09T22:37:21.703Z,1570660641.703 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-10-09T22:37:21.709Z,1570660641.709 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-10-09T22:37:21.711Z,1570660641.711 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-10-09T22:37:21.714Z,1570660641.714 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-10-09T22:37:21.716Z,1570660641.716 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-10-09T22:37:21.727Z,1570660641.727 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-10-09T22:37:21.733Z,1570660641.733 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-10-09T22:37:21.738Z,1570660641.738 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-10-09T22:37:21.740Z,1570660641.740 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-10-09T22:37:21.742Z,1570660641.742 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-10-09T22:37:21.749Z,1570660641.749 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-10-09T22:37:21.751Z,1570660641.751 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-10-09T22:37:21.758Z,1570660641.758 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-10-09T22:37:21.760Z,1570660641.760 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-10-09T22:37:21.767Z,1570660641.767 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-10-09T22:37:21.775Z,1570660641.775 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-10-09T22:37:21.782Z,1570660641.782 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-10-09T22:37:21.782Z,1570660641.782 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-10-09T22:37:21.858Z,1570660641.858 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-10-09T22:37:21.869Z,1570660641.869 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-10-09T22:37:21.871Z,1570660641.871 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-10-09T22:37:21.872Z,1570660641.872 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-10-09T22:37:21.937Z,1570660641.937 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-10-09T22:37:21.954Z,1570660641.954 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-10-09T22:37:22.015Z,1570660642.015 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-10-09T22:37:22.085Z,1570660642.085 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-10-09T22:37:22.088Z,1570660642.088 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-10-09T22:37:22.106Z,1570660642.106 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-10-09T22:37:22.108Z,1570660642.108 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-10-09T22:37:22.115Z,1570660642.115 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-10-09T22:37:22.121Z,1570660642.121 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-10-09T22:37:22.124Z,1570660642.124 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-10-09T22:37:22.137Z,1570660642.137 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T22:37:22.195Z,1570660642.195 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-10-09T22:37:22.210Z,1570660642.210 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:37:22.213Z,1570660642.213 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-10-09T22:37:22.215Z,1570660642.215 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-10-09T22:37:22.226Z,1570660642.226 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:37:22.229Z,1570660642.229 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-10-09T22:37:22.232Z,1570660642.232 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-10-09T22:37:22.237Z,1570660642.237 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-10-09T22:37:22.240Z,1570660642.240 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-10-09T22:37:22.246Z,1570660642.246 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-10-09T22:37:22.256Z,1570660642.256 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:37:22.266Z,1570660642.266 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-10-09T22:37:22.295Z,1570660642.295 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-10-09T22:37:22.319Z,1570660642.319 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-10-09T22:37:22.328Z,1570660642.328 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-10-09T22:37:22.347Z,1570660642.347 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:37:22.358Z,1570660642.358 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:37:22.364Z,1570660642.364 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:37:22.422Z,1570660642.422 [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">Initiating homing sequence.</Syslog>
        
        <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>
        
        
        <Syslog Severity="Info">Transition to TerminalGuidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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">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>
        
        
        <Syslog Severity="Info">Transition to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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="Info">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>
        
        
        <Syslog Severity="Info">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <!-- 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>
        
    </Aggregate>
    
    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-10-09T22:37:22.423Z,1570660642.423 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:37:30.436Z,1570660650.436 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 5.000000 count
2019-10-09T22:37:30.457Z,1570660650.457 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.799999 degree
2019-10-09T22:37:30.458Z,1570660650.458 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.900002 degree
2019-10-09T22:37:30.459Z,1570660650.459 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 75.000000 meter
2019-10-09T22:37:39.859Z,1570660659.859 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-10-09T22:37:39.859Z,1570660659.859 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-10-09T22:37:39.860Z,1570660659.860 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second
2019-10-09T22:37:39.861Z,1570660659.861 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-10-09T22:37:42.281Z,1570660662.281 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000010 kilometer
2019-10-09T22:37:42.281Z,1570660662.281 [CommandLine](IMPORTANT): got command run 
2019-10-09T22:37:42.283Z,1570660662.283 [CommandLine](IMPORTANT): Running 
2019-10-09T22:37:42.525Z,1570660662.525 [Default] Stopped
2019-10-09T22:37:42.525Z,1570660662.525 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T22:37:42.525Z,1570660662.525 [Default:B.GoToSurface] Stopped
2019-10-09T22:37:42.525Z,1570660662.525 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:37:42.526Z,1570660662.526 [Default:CheckIn] Stopped
2019-10-09T22:37:42.526Z,1570660662.526 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T22:37:42.526Z,1570660662.526 [Default:CheckIn:C.Wait] Stopped
2019-10-09T22:37:42.526Z,1570660662.526 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:37:42.526Z,1570660662.526 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-10-09T22:37:42.526Z,1570660662.526 [lineCaptureHoming] Running Loop=1
2019-10-09T22:37:42.526Z,1570660662.526 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-10-09T22:37:42.526Z,1570660662.526 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:37:42.527Z,1570660662.527 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:37:42.528Z,1570660662.528 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:37:42.528Z,1570660662.528 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:37:42.528Z,1570660662.528 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-10-09T22:37:42.528Z,1570660662.528 [lineCaptureHoming:B] Running Loop=1
2019-10-09T22:37:42.529Z,1570660662.529 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:37:42.529Z,1570660662.529 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:37:42.529Z,1570660662.529 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:37:42.530Z,1570660662.530 [lineCaptureHoming:B] Stopped
2019-10-09T22:37:42.530Z,1570660662.530 [lineCaptureHoming:C] Running Loop=1
2019-10-09T22:37:42.530Z,1570660662.530 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:37:42.530Z,1570660662.530 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:37:42.530Z,1570660662.530 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:37:42.531Z,1570660662.531 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:37:42.950Z,1570660662.950 [lineCaptureHoming:C] Stopped
2019-10-09T22:37:42.950Z,1570660662.950 [lineCaptureHoming:D] Running Loop=1
2019-10-09T22:37:43.348Z,1570660663.348 [lineCaptureHoming:D] Stopped
2019-10-09T22:37:43.348Z,1570660663.348 [lineCaptureHoming:F] Running Loop=1
2019-10-09T22:37:43.742Z,1570660663.742 [lineCaptureHoming:F] Stopped
2019-10-09T22:37:43.742Z,1570660663.742 [lineCaptureHoming:G] Running Loop=1
2019-10-09T22:37:44.158Z,1570660664.158 [lineCaptureHoming:G] Stopped
2019-10-09T22:37:44.158Z,1570660664.158 [lineCaptureHoming:StartingMission] Running Loop=1
2019-10-09T22:37:44.158Z,1570660664.158 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-10-09T22:37:44.555Z,1570660664.555 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-10-09T22:37:44.555Z,1570660664.555 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-10-09T22:37:44.556Z,1570660664.556 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-10-09T22:37:44.556Z,1570660664.556 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-10-09T22:37:44.556Z,1570660664.556 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-10-09T22:37:44.556Z,1570660664.556 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:37:45.070Z,1570660665.070 [lineCaptureHoming:NeedComms] Running Loop=1
2019-10-09T22:37:45.070Z,1570660665.070 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-10-09T22:37:45.070Z,1570660665.070 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-10-09T22:37:45.070Z,1570660665.070 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:37:45.070Z,1570660665.070 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-10-09T22:37:45.071Z,1570660665.071 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-10-09T22:37:45.071Z,1570660665.071 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-10-09T22:37:45.072Z,1570660665.072 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:37:45.072Z,1570660665.072 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:37:45.072Z,1570660665.072 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-10-09T22:37:45.073Z,1570660665.073 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1570660196.000000 second since 1970/01/01T00:00:00Z 
2019-10-09T22:37:45.074Z,1570660665.074 [lineCaptureHoming:NeedComms:A] Stopped
2019-10-09T22:37:45.407Z,1570660665.407 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-10-09T22:37:45.771Z,1570660665.771 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:37:46.568Z,1570660666.568 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:37:47.347Z,1570660667.347 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:37:47.750Z,1570660667.750 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:37:48.154Z,1570660668.154 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:37:48.570Z,1570660668.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223747.72*5C

2019-10-09T22:37:50.645Z,1570660670.645 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:37:51.383Z,1570660671.383 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:37:51.793Z,1570660671.793 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:37:52.190Z,1570660672.190 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:37:52.617Z,1570660672.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223751.76*5F

2019-10-09T22:37:53.059Z,1570660673.059 [BPC1](ERROR): Battery stick #29 (s/n: 0142) reported OVER_TEMP_ALARM. Status code: 0x1717.
2019-10-09T22:37:53.060Z,1570660673.060 [BPC1](INFO): Calculating totals. Valid battery stick count: 55. Valid reserve battery stick count: 6.
2019-10-09T22:37:53.067Z,1570660673.067 [BPC1](INFO): Received data from all battery sticks.
2019-10-09T22:37:54.666Z,1570660674.666 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:37:55.423Z,1570660675.423 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:37:55.849Z,1570660675.849 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:37:56.307Z,1570660676.307 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 76.139999 m
2019-10-09T22:37:56.308Z,1570660676.308 [Reporter](INFO): acoustic_contact_range 76.139999 m
2019-10-09T22:37:56.308Z,1570660676.308 [Reporter](INFO): TrackAcousticContact.heading_to_contact 6.192823 rad
2019-10-09T22:37:56.309Z,1570660676.309 [Reporter](INFO): DUSBL_Hydroid.xAngle 5.950000 arcdeg
2019-10-09T22:37:56.650Z,1570660676.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223755.80*52

2019-10-09T22:38:00.306Z,1570660680.306 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:01.083Z,1570660681.083 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:01.489Z,1570660681.489 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:02.025Z,1570660682.025 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 17.580000 m
2019-10-09T22:38:02.025Z,1570660682.025 [Reporter](INFO): acoustic_contact_range 17.580000 m
2019-10-09T22:38:02.026Z,1570660682.026 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.177078 rad
2019-10-09T22:38:02.026Z,1570660682.026 [Reporter](INFO): DUSBL_Hydroid.xAngle 2.100000 arcdeg
2019-10-09T22:38:02.306Z,1570660682.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223801.46*56

2019-10-09T22:38:03.115Z,1570660683.115 [NAL9602](INFO): SBD MO Status=2, MOMSN=9093, MT Status=2, MTMSN=0
2019-10-09T22:38:03.115Z,1570660683.115 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T22:38:05.979Z,1570660685.979 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:06.743Z,1570660686.743 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:07.145Z,1570660687.145 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:07.547Z,1570660687.547 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:07.966Z,1570660687.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223807.12*51

2019-10-09T22:38:10.020Z,1570660690.020 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:10.780Z,1570660690.780 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:11.185Z,1570660691.185 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:11.586Z,1570660691.586 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:12.006Z,1570660692.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223811.16*52

2019-10-09T22:38:14.080Z,1570660694.080 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:14.836Z,1570660694.836 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:15.225Z,1570660695.225 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:15.632Z,1570660695.632 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:16.049Z,1570660696.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223815.21*52

2019-10-09T22:38:18.103Z,1570660698.103 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:18.853Z,1570660698.853 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:19.265Z,1570660699.265 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:19.662Z,1570660699.662 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:20.090Z,1570660700.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223819.23*5C

2019-10-09T22:38:22.140Z,1570660702.140 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:22.896Z,1570660702.896 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:23.299Z,1570660703.299 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:23.706Z,1570660703.706 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:24.126Z,1570660704.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223823.27*51

2019-10-09T22:38:26.205Z,1570660706.205 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:26.939Z,1570660706.939 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:27.341Z,1570660707.341 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:27.746Z,1570660707.746 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:28.166Z,1570660708.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223827.32*51

2019-10-09T22:38:30.223Z,1570660710.223 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:30.979Z,1570660710.979 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:31.379Z,1570660711.379 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:31.878Z,1570660711.878 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 4.679999 m
2019-10-09T22:38:31.878Z,1570660711.878 [Reporter](INFO): acoustic_contact_range 4.679999 m
2019-10-09T22:38:31.879Z,1570660711.879 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.589972 rad
2019-10-09T22:38:31.879Z,1570660711.879 [Reporter](INFO): DUSBL_Hydroid.xAngle -14.950000 arcdeg
2019-10-09T22:38:32.206Z,1570660712.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223831.35*51

2019-10-09T22:38:35.889Z,1570660715.889 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:36.635Z,1570660716.635 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:37.041Z,1570660717.041 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:37.438Z,1570660717.438 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:37.866Z,1570660717.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223837.01*50

2019-10-09T22:38:39.926Z,1570660719.926 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:40.687Z,1570660720.687 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:41.097Z,1570660721.097 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:41.538Z,1570660721.538 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 90.779999 m
2019-10-09T22:38:41.538Z,1570660721.538 [Reporter](INFO): acoustic_contact_range 90.779999 m
2019-10-09T22:38:41.539Z,1570660721.539 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.577558 rad
2019-10-09T22:38:41.540Z,1570660721.540 [Reporter](INFO): DUSBL_Hydroid.xAngle -12.550000 arcdeg
2019-10-09T22:38:41.906Z,1570660721.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223841.06*56

2019-10-09T22:38:45.543Z,1570660725.543 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:46.331Z,1570660726.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:46.731Z,1570660726.731 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:47.212Z,1570660727.212 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 25.979996 m
2019-10-09T22:38:47.212Z,1570660727.212 [Reporter](INFO): acoustic_contact_range 25.979996 m
2019-10-09T22:38:47.217Z,1570660727.217 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.552028 rad
2019-10-09T22:38:47.218Z,1570660727.218 [Reporter](INFO): DUSBL_Hydroid.xAngle -10.800000 arcdeg
2019-10-09T22:38:47.562Z,1570660727.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223846.71*51

2019-10-09T22:38:51.226Z,1570660731.226 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:51.984Z,1570660731.984 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:52.403Z,1570660732.403 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:52.797Z,1570660732.797 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:53.214Z,1570660733.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223852.36*57

2019-10-09T22:38:55.275Z,1570660735.275 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:38:56.027Z,1570660736.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:38:56.429Z,1570660736.429 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:38:56.851Z,1570660736.851 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:38:57.250Z,1570660737.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223856.40*52

2019-10-09T22:38:59.310Z,1570660739.310 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:00.063Z,1570660740.063 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:00.469Z,1570660740.469 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:00.870Z,1570660740.870 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:39:01.290Z,1570660741.290 [Micromodem](INFO): Nmea in: $SNTTA,,,0.197570,,223900.44*47

2019-10-09T22:39:03.376Z,1570660743.376 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:04.110Z,1570660744.110 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:04.513Z,1570660744.513 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:04.977Z,1570660744.977 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 81.180008 m
2019-10-09T22:39:04.978Z,1570660744.978 [Reporter](INFO): acoustic_contact_range 81.180008 m
2019-10-09T22:39:04.978Z,1570660744.978 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.751750 rad
2019-10-09T22:39:04.979Z,1570660744.979 [Reporter](INFO): DUSBL_Hydroid.xAngle 23.599999 arcdeg
2019-10-09T22:39:05.338Z,1570660745.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223904.49*5D

2019-10-09T22:39:08.999Z,1570660748.999 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:09.759Z,1570660749.759 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:10.164Z,1570660750.164 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:10.624Z,1570660750.624 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 51.059994 m
2019-10-09T22:39:10.629Z,1570660750.629 [Reporter](INFO): acoustic_contact_range 51.059994 m
2019-10-09T22:39:10.629Z,1570660750.629 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.408355 rad
2019-10-09T22:39:10.630Z,1570660750.630 [Reporter](INFO): DUSBL_Hydroid.xAngle -16.100001 arcdeg
2019-10-09T22:39:10.990Z,1570660750.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223910.14*50

2019-10-09T22:39:14.618Z,1570660754.618 [NAL9602](INFO): SBD MO Status=0, MOMSN=9093, MT Status=0, MTMSN=0
2019-10-09T22:39:14.618Z,1570660754.618 [NAL9602](INFO): No messages in MT queue
2019-10-09T22:39:14.643Z,1570660754.643 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:15.415Z,1570660755.415 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:15.433Z,1570660755.433 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:39:15.833Z,1570660755.833 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:15.850Z,1570660755.850 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223310.00,A,3648.16125,N,12147.28299,W,0.058,0.00,091019,,,A*71
2019-10-09T22:39:15.855Z,1570660755.855 [NAL9602](INFO): GPS fix at 20191009T223310: (36.802687, -121.788050)
2019-10-09T22:39:15.961Z,1570660755.961 [lineCaptureHoming:NeedComms:C] Stopped
2019-10-09T22:39:15.962Z,1570660755.962 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-10-09T22:39:16.226Z,1570660756.226 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:39:16.301Z,1570660756.301 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T22:39:16.642Z,1570660756.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223915.79*5E

2019-10-09T22:39:16.643Z,1570660756.643 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:39:20.631Z,1570660760.631 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D120001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A
2019-10-09T22:39:20.631Z,1570660760.631 [Micromodem](INFO): Outgoing frame #2, 64 bytes: EF9F66414C9B9FD6761AD008C3E3DC4FCA2E4E25B6359B14B772C2FC0AB11464037CC4EAB61E9C3457F1722D9198302795383ECC000D5D49BCDE475E73AE60CB
2019-10-09T22:39:20.632Z,1570660760.632 [Micromodem](INFO): Outgoing frame #3, 64 bytes: AC712252029F4BFC11B6571CD1E620A251BCB9C938054A7C435F920BFE4B1429861C5339231F660D38EF2296887F30355D4BF4C16B8505EA7A3FA47646C1053C
2019-10-09T22:39:20.632Z,1570660760.632 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,3*53

2019-10-09T22:39:20.736Z,1570660760.736 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:20.868Z,1570660760.868 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,3*51

2019-10-09T22:39:21.194Z,1570660761.194 [Micromodem](INFO): Nmea in: $CADRQ,223920,1,9,0,64,1*46

2019-10-09T22:39:21.194Z,1570660761.194 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D120001005D00000400830100000000000000151D80030C5669BF3148E2FA22188B6A3173E5573572661C0BCBDFFAB423BD32D9A51E8904B0A920CE9A*0C

2019-10-09T22:39:21.598Z,1570660761.598 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:39:21.599Z,1570660761.599 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:22.003Z,1570660762.003 [Micromodem](INFO): Nmea in: $CADRQ,223921,1,9,0,64,2*44

2019-10-09T22:39:22.004Z,1570660762.004 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,223921,1,9,0,64,2*44

2019-10-09T22:39:22.402Z,1570660762.402 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:39:22.409Z,1570660762.409 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:22.845Z,1570660762.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223921.98*56

2019-10-09T22:39:24.913Z,1570660764.913 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:25.635Z,1570660765.635 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:26.047Z,1570660766.047 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:26.502Z,1570660766.502 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 42.119999 m
2019-10-09T22:39:26.503Z,1570660766.503 [Reporter](INFO): acoustic_contact_range 42.119999 m
2019-10-09T22:39:26.503Z,1570660766.503 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.226623 rad
2019-10-09T22:39:26.504Z,1570660766.504 [Reporter](INFO): DUSBL_Hydroid.xAngle -3.050000 arcdeg
2019-10-09T22:39:26.862Z,1570660766.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223926.01*51

2019-10-09T22:39:27.409Z,1570660767.409 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20191009T221224/Courier0018.lzma
2019-10-09T22:39:29.414Z,1570660769.414 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0018.lzma.bak
2019-10-09T22:39:29.414Z,1570660769.414 [DataOverHttps](INFO): SBD MOMSN=11867311
2019-10-09T22:39:30.514Z,1570660770.514 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:39:31.291Z,1570660771.291 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:39:31.707Z,1570660771.707 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:39:32.215Z,1570660772.215 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 81.180008 m
2019-10-09T22:39:32.216Z,1570660772.216 [Reporter](INFO): acoustic_contact_range 81.180008 m
2019-10-09T22:39:32.216Z,1570660772.216 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.635890 rad
2019-10-09T22:39:32.226Z,1570660772.226 [Reporter](INFO): DUSBL_Hydroid.xAngle 32.000000 arcdeg
2019-10-09T22:39:32.518Z,1570660772.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223931.67*57

2019-10-09T22:39:35.254Z,1570660775.254 [CommandLine](IMPORTANT): got command stop
2019-10-09T22:39:35.255Z,1570660775.255 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T22:39:35.381Z,1570660775.381 [MissionManager](INFO): MissionManager is completed.
2019-10-09T22:39:35.381Z,1570660775.381 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-10-09T22:39:35.381Z,1570660775.381 [lineCaptureHoming] Stopped
2019-10-09T22:39:35.381Z,1570660775.381 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-10-09T22:39:35.381Z,1570660775.381 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-10-09T22:39:35.381Z,1570660775.381 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:39:35.381Z,1570660775.381 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-10-09T22:39:35.381Z,1570660775.381 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:NeedComms] Stopped
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:NeedComms:D] Stopped
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:SurfaceComms] Stopped
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-10-09T22:39:35.382Z,1570660775.382 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:J.Mass] Stopped
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:StartingMission] Stopped
2019-10-09T22:39:35.383Z,1570660775.383 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-10-09T22:39:35.763Z,1570660775.763 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T22:39:35.763Z,1570660775.763 [Default] Running Loop=1
2019-10-09T22:39:35.763Z,1570660775.763 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T22:39:35.763Z,1570660775.763 [Default:B.GoToSurface] Running Loop=1
2019-10-09T22:39:35.763Z,1570660775.763 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:39:35.764Z,1570660775.764 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T22:39:35.764Z,1570660775.764 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T22:39:35.764Z,1570660775.764 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T22:39:35.765Z,1570660775.765 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:39:35.765Z,1570660775.765 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:39:35.766Z,1570660775.766 [Default:A.Wait] Running Loop=1
2019-10-09T22:39:35.766Z,1570660775.766 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:39:49.129Z,1570660789.129 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T22:39:49.129Z,1570660789.129 [Default:A.Wait] Stopped
2019-10-09T22:39:49.129Z,1570660789.129 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:39:49.541Z,1570660789.541 [Default:CheckIn] Running Loop=1
2019-10-09T22:39:49.541Z,1570660789.541 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T22:39:49.541Z,1570660789.541 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T22:39:51.101Z,1570660791.101 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:39:51.491Z,1570660791.491 [Micromodem](INFO): Nmea in: $CAERR,223951,DATA_TIMEOUT,2*43

2019-10-09T22:39:51.494Z,1570660791.494 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223345.00,A,3648.16295,N,12147.28254,W,0.078,0.00,091019,,,D*7F
2019-10-09T22:39:51.496Z,1570660791.496 [NAL9602](INFO): GPS fix at 20191009T223345: (36.802716, -121.788042)
2019-10-09T22:39:51.559Z,1570660791.559 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T22:39:51.560Z,1570660791.560 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T22:39:51.899Z,1570660791.899 [Micromodem](INFO): Nmea in: $CATXP,64*70

2019-10-09T22:39:52.358Z,1570660792.358 [DataOverHttps](INFO): Sending 896 bytes from file Logs/20191009T221224/Express0019.lzma
2019-10-09T22:39:53.510Z,1570660793.510 [Micromodem](INFO): Nmea in: $CATXF,64*66

2019-10-09T22:39:53.919Z,1570660793.919 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,223951.619459,3,0,200,4000,10000,1,1,9,1,3,1,3,64*70

2019-10-09T22:39:54.362Z,1570660794.362 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0019.lzma.bak
2019-10-09T22:39:54.363Z,1570660794.363 [DataOverHttps](INFO): SBD MOMSN=11867314
2019-10-09T22:40:14.152Z,1570660814.152 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191009T221224/Courier0024.lzma
2019-10-09T22:40:16.159Z,1570660816.159 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0024.lzma.bak
2019-10-09T22:40:16.160Z,1570660816.160 [DataOverHttps](IMPORTANT): SBD MOMSN=11867343, MTMSN=20191009T223409
2019-10-09T22:40:21.841Z,1570660821.841 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-10-09T22:40:21.841Z,1570660821.841 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,    +2    -4,A
2019-10-09T22:40:23.407Z,1570660823.407 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:40:25.854Z,1570660825.854 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:40:29.353Z,1570660829.353 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" 426ot 1 3
2019-10-09T22:40:29.386Z,1570660829.386 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" 426ot 1 3.000000
2019-10-09T22:40:29.386Z,1570660829.386 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=426ot
2019-10-09T22:40:29.387Z,1570660829.387 [CommandLine](IMPORTANT): Scheduled #12 (#1 of 3 with id='426ot'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" ASAP
2019-10-09T22:40:31.355Z,1570660831.355 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T223424
2019-10-09T22:40:40.548Z,1570660840.548 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191009T221224/Express0022.lzma
2019-10-09T22:40:40.550Z,1570660840.550 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 426ot 2 3
2019-10-09T22:40:40.590Z,1570660840.590 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 426ot 2 3.000000
2019-10-09T22:40:40.590Z,1570660840.590 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=426ot
2019-10-09T22:40:40.591Z,1570660840.591 [CommandLine](IMPORTANT): Scheduled #13 (#2 of 3 with id='426ot'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" ASAP
2019-10-09T22:40:42.555Z,1570660842.555 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0022.lzma.bak
2019-10-09T22:40:42.555Z,1570660842.555 [DataOverHttps](IMPORTANT): SBD MOMSN=11867347, MTMSN=20191009T223435
2019-10-09T22:40:57.568Z,1570660857.568 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 426ot 3 3
2019-10-09T22:40:57.607Z,1570660857.607 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 426ot 3 3.000000
2019-10-09T22:40:57.608Z,1570660857.608 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=426ot
2019-10-09T22:40:57.609Z,1570660857.609 [CommandLine](IMPORTANT): Scheduled #14 (#3 of 3 with id='426ot'): "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " ASAP
2019-10-09T22:40:57.914Z,1570660857.914 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:40:57.914Z,1570660857.914 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:40:58.296Z,1570660858.296 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-10-09T22:40:58.303Z,1570660858.303 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-10-09T22:40:58.309Z,1570660858.309 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-10-09T22:40:58.312Z,1570660858.312 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-10-09T22:40:58.318Z,1570660858.318 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-10-09T22:40:58.320Z,1570660858.320 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-10-09T22:40:58.327Z,1570660858.327 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-10-09T22:40:58.333Z,1570660858.333 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-10-09T22:40:58.335Z,1570660858.335 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-10-09T22:40:58.374Z,1570660858.374 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-10-09T22:40:58.376Z,1570660858.376 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-10-09T22:40:58.383Z,1570660858.383 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-10-09T22:40:58.402Z,1570660858.402 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-10-09T22:40:58.404Z,1570660858.404 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-10-09T22:40:58.410Z,1570660858.410 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-10-09T22:40:58.421Z,1570660858.421 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-10-09T22:40:58.423Z,1570660858.423 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-10-09T22:40:58.430Z,1570660858.430 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-10-09T22:40:58.432Z,1570660858.432 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-10-09T22:40:58.447Z,1570660858.447 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-10-09T22:40:58.457Z,1570660858.457 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-10-09T22:40:58.460Z,1570660858.460 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-10-09T22:40:58.484Z,1570660858.484 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-10-09T22:40:58.513Z,1570660858.513 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-10-09T22:40:58.515Z,1570660858.515 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-10-09T22:40:58.532Z,1570660858.532 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-10-09T22:40:58.535Z,1570660858.535 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-10-09T22:40:58.553Z,1570660858.553 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-10-09T22:40:58.556Z,1570660858.556 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-10-09T22:40:58.558Z,1570660858.558 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-10-09T22:40:58.613Z,1570660858.613 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-10-09T22:40:58.615Z,1570660858.615 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-10-09T22:40:58.642Z,1570660858.642 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-10-09T22:40:58.661Z,1570660858.661 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-10-09T22:40:58.661Z,1570660858.661 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-10-09T22:40:58.738Z,1570660858.738 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-10-09T22:40:58.740Z,1570660858.740 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-10-09T22:40:58.742Z,1570660858.742 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-10-09T22:40:58.743Z,1570660858.743 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-10-09T22:40:58.776Z,1570660858.776 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-10-09T22:40:58.839Z,1570660858.839 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-10-09T22:40:58.868Z,1570660858.868 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-10-09T22:40:59.043Z,1570660859.043 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-10-09T22:40:59.046Z,1570660859.046 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-10-09T22:40:59.048Z,1570660859.048 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-10-09T22:40:59.076Z,1570660859.076 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-10-09T22:40:59.078Z,1570660859.078 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-10-09T22:40:59.080Z,1570660859.080 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-10-09T22:40:59.134Z,1570660859.134 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-10-09T22:40:59.144Z,1570660859.144 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T22:40:59.250Z,1570660859.250 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-10-09T22:40:59.268Z,1570660859.268 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:40:59.271Z,1570660859.271 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-10-09T22:40:59.285Z,1570660859.285 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-10-09T22:40:59.312Z,1570660859.312 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:40:59.314Z,1570660859.314 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-10-09T22:40:59.329Z,1570660859.329 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-10-09T22:40:59.334Z,1570660859.334 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-10-09T22:40:59.336Z,1570660859.336 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-10-09T22:40:59.355Z,1570660859.355 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-10-09T22:40:59.377Z,1570660859.377 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:40:59.395Z,1570660859.395 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-10-09T22:40:59.424Z,1570660859.424 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-10-09T22:40:59.431Z,1570660859.431 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-10-09T22:40:59.435Z,1570660859.435 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-10-09T22:40:59.460Z,1570660859.460 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:40:59.482Z,1570660859.482 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:40:59.488Z,1570660859.488 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:40:59.591Z,1570660859.591 [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: 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">Initiating homing sequence.</Syslog>
        
        <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>
        
        
        <Syslog Severity="Info">Transition to TerminalGuidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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">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>
        
        
        <Syslog Severity="Info">Transition to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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="Info">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>
        
        
        <Syslog Severity="Info">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <!-- 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>
        
    </Aggregate>
    
    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-10-09T22:40:59.592Z,1570660859.592 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:41:12.064Z,1570660872.064 [DataOverHttps](INFO): Sending 152 bytes from file Logs/20191009T221224/Express0025.lzma
2019-10-09T22:41:14.071Z,1570660874.071 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0025.lzma.bak
2019-10-09T22:41:14.071Z,1570660874.071 [DataOverHttps](INFO): SBD MOMSN=11867352
2019-10-09T22:41:15.366Z,1570660875.366 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 5.000000 count
2019-10-09T22:41:15.367Z,1570660875.367 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.799999 degree
2019-10-09T22:41:15.368Z,1570660875.368 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.900002 degree
2019-10-09T22:41:15.405Z,1570660875.405 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 200.000000 meter
2019-10-09T22:41:41.690Z,1570660901.690 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-10-09T22:41:41.691Z,1570660901.691 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-10-09T22:41:41.692Z,1570660901.692 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second
2019-10-09T22:41:41.692Z,1570660901.692 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-10-09T22:41:43.379Z,1570660903.379 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2019-10-09T22:41:43.379Z,1570660903.379 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-10-09T22:41:43.379Z,1570660903.379 [RDI_Pathfinder](ERROR): Communications Fault
2019-10-09T22:41:43.494Z,1570660903.494 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-10-09T22:41:43.759Z,1570660903.759 [RDI_Pathfinder](INFO): Powering down
2019-10-09T22:41:48.094Z,1570660908.094 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000010 kilometer
2019-10-09T22:41:48.095Z,1570660908.095 [CommandLine](IMPORTANT): got command run 
2019-10-09T22:41:48.117Z,1570660908.117 [CommandLine](IMPORTANT): Running 
2019-10-09T22:41:50.669Z,1570660910.669 [Default] Stopped
2019-10-09T22:41:50.669Z,1570660910.669 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T22:41:50.669Z,1570660910.669 [Default:B.GoToSurface] Stopped
2019-10-09T22:41:50.669Z,1570660910.669 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:41:50.669Z,1570660910.669 [Default:CheckIn] Stopped
2019-10-09T22:41:50.669Z,1570660910.669 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T22:41:50.669Z,1570660910.669 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T22:41:50.670Z,1570660910.670 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming] Running Loop=1
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:41:50.670Z,1570660910.670 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-10-09T22:41:50.671Z,1570660910.671 [lineCaptureHoming:B] Running Loop=1
2019-10-09T22:41:50.672Z,1570660910.672 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:41:50.681Z,1570660910.681 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:41:50.681Z,1570660910.681 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:41:50.681Z,1570660910.681 [lineCaptureHoming:B] Stopped
2019-10-09T22:41:50.682Z,1570660910.682 [lineCaptureHoming:C] Running Loop=1
2019-10-09T22:41:50.682Z,1570660910.682 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:41:50.682Z,1570660910.682 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:41:50.682Z,1570660910.682 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:41:50.682Z,1570660910.682 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:41:50.738Z,1570660910.738 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-10-09T22:41:50.738Z,1570660910.738 [RDI_Pathfinder] No Fault, FailCount= 1
2019-10-09T22:41:50.903Z,1570660910.903 [lineCaptureHoming:C] Stopped
2019-10-09T22:41:50.903Z,1570660910.903 [lineCaptureHoming:D] Running Loop=1
2019-10-09T22:41:51.407Z,1570660911.407 [lineCaptureHoming:D] Stopped
2019-10-09T22:41:51.407Z,1570660911.407 [lineCaptureHoming:F] Running Loop=1
2019-10-09T22:41:51.654Z,1570660911.654 [lineCaptureHoming:F] Stopped
2019-10-09T22:41:51.654Z,1570660911.654 [lineCaptureHoming:G] Running Loop=1
2019-10-09T22:41:52.065Z,1570660912.065 [lineCaptureHoming:G] Stopped
2019-10-09T22:41:52.065Z,1570660912.065 [lineCaptureHoming:StartingMission] Running Loop=1
2019-10-09T22:41:52.065Z,1570660912.065 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-10-09T22:41:52.426Z,1570660912.426 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-10-09T22:41:52.426Z,1570660912.426 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-10-09T22:41:52.426Z,1570660912.426 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-10-09T22:41:52.427Z,1570660912.427 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-10-09T22:41:52.427Z,1570660912.427 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-10-09T22:41:52.427Z,1570660912.427 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:41:52.842Z,1570660912.842 [lineCaptureHoming:NeedComms] Running Loop=1
2019-10-09T22:41:52.842Z,1570660912.842 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-10-09T22:41:52.842Z,1570660912.842 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-10-09T22:41:52.842Z,1570660912.842 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:41:52.843Z,1570660912.843 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-10-09T22:41:52.843Z,1570660912.843 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-10-09T22:41:52.843Z,1570660912.843 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-10-09T22:41:52.844Z,1570660912.844 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:41:52.844Z,1570660912.844 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:41:52.844Z,1570660912.844 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-10-09T22:41:52.858Z,1570660912.858 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1570660425.000000 second since 1970/01/01T00:00:00Z 
2019-10-09T22:41:52.858Z,1570660912.858 [lineCaptureHoming:NeedComms:A] Stopped
2019-10-09T22:41:53.247Z,1570660913.247 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-10-09T22:41:53.673Z,1570660913.673 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:41:54.805Z,1570660914.805 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:41:54.846Z,1570660914.846 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:41:54.922Z,1570660914.922 [DataOverHttps](INFO): Sending 316 bytes from file Logs/20191009T221224/Express0028.lzma
2019-10-09T22:41:55.205Z,1570660915.205 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,223549.00,A,3648.16403,N,12147.28701,W,0.564,6.77,091019,,,D*77
2019-10-09T22:41:55.207Z,1570660915.207 [NAL9602](INFO): GPS fix at 20191009T223549: (36.802734, -121.788117)
2019-10-09T22:41:55.264Z,1570660915.264 [lineCaptureHoming:NeedComms:C] Stopped
2019-10-09T22:41:55.264Z,1570660915.264 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-10-09T22:41:55.619Z,1570660915.619 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:41:55.726Z,1570660915.726 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T22:41:56.062Z,1570660916.062 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:41:56.926Z,1570660916.926 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0028.lzma.bak
2019-10-09T22:41:56.926Z,1570660916.926 [DataOverHttps](INFO): SBD MOMSN=11867357
2019-10-09T22:41:58.194Z,1570660918.194 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D240000005D00000400370000000000000000151D80030C5669C010B1F866C1CB445EE5A8F1DF2DF6CB8D5AF0B8B1E134EC6FB0F28841C959B366DC10
2019-10-09T22:41:58.195Z,1570660918.195 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 7B39EA50B225
2019-10-09T22:41:58.195Z,1570660918.195 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T22:41:58.274Z,1570660918.274 [NAL9602](ERROR): parseGSV uart error: serial buffer full
2019-10-09T22:41:58.398Z,1570660918.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224155.99*5B

2019-10-09T22:41:58.398Z,1570660918.398 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,224155.99*5B

2019-10-09T22:41:58.575Z,1570660918.575 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 5.160000 m
2019-10-09T22:41:58.575Z,1570660918.575 [Reporter](INFO): acoustic_contact_range 5.160000 m
2019-10-09T22:41:58.576Z,1570660918.576 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.944596 rad
2019-10-09T22:41:58.577Z,1570660918.577 [Reporter](INFO): DUSBL_Hydroid.xAngle 17.649999 arcdeg
2019-10-09T22:41:59.586Z,1570660919.586 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T22:42:00.002Z,1570660920.002 [Micromodem](INFO): Nmea in: $CADRQ,224158,1,9,0,64,1*46

2019-10-09T22:42:00.002Z,1570660920.002 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D240000005D00000400370000000000000000151D80030C5669C010B1F866C1CB445EE5A8F1DF2DF6CB8D5AF0B8B1E134EC6FB0F28841C959B366DC10*02

2019-10-09T22:42:00.406Z,1570660920.406 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:42:00.818Z,1570660920.818 [Micromodem](INFO): Nmea in: $CADRQ,224200,1,9,0,64,2*4B

2019-10-09T22:42:00.818Z,1570660920.818 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,7B39EA50B225*78

2019-10-09T22:42:01.188Z,1570660921.188 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2019-10-09T22:42:01.598Z,1570660921.598 [Micromodem](INFO): Nmea in: $CATXP,70*75

2019-10-09T22:42:02.862Z,1570660922.862 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:03.615Z,1570660923.615 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:04.026Z,1570660924.026 [Micromodem](INFO): Nmea in: $CATXF,70*63

2019-10-09T22:42:04.027Z,1570660924.027 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2019-10-09T22:42:04.077Z,1570660924.077 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-10-09T22:42:04.431Z,1570660924.431 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,224201.164087,3,0,200,4000,10000,1,1,9,1,2,2,3,70*74

2019-10-09T22:42:04.432Z,1570660924.432 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20191009,224201.164087,3,0,200,4000,10000,1,1,9,1,2,2,3,70*74

2019-10-09T22:42:06.968Z,1570660926.968 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:11.355Z,1570660931.355 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:14.966Z,1570660934.966 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:15.341Z,1570660935.341 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:15.439Z,1570660935.439 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:15.895Z,1570660935.895 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 30.779999 m
2019-10-09T22:42:15.895Z,1570660935.895 [Reporter](INFO): acoustic_contact_range 30.779999 m
2019-10-09T22:42:15.896Z,1570660935.896 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.445820 rad
2019-10-09T22:42:15.913Z,1570660935.913 [Reporter](INFO): DUSBL_Hydroid.xAngle -1.300000 arcdeg
2019-10-09T22:42:16.169Z,1570660936.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224215.34*5B

2019-10-09T22:42:19.372Z,1570660939.372 [NAL9602](INFO): SBD MO Status=2, MOMSN=9094, MT Status=2, MTMSN=0
2019-10-09T22:42:19.372Z,1570660939.372 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T22:42:19.855Z,1570660939.855 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:20.618Z,1570660940.618 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:21.179Z,1570660941.179 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:42:21.203Z,1570660941.203 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:21.810Z,1570660941.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224220.99*5A

2019-10-09T22:42:22.657Z,1570660942.657 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191009T221224/Courier0036.lzma
2019-10-09T22:42:23.892Z,1570660943.892 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:24.632Z,1570660944.632 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:24.678Z,1570660944.678 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0036.lzma.bak
2019-10-09T22:42:24.678Z,1570660944.678 [DataOverHttps](INFO): SBD MOMSN=11867363
2019-10-09T22:42:25.029Z,1570660945.029 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:25.839Z,1570660945.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224225.01*5E

2019-10-09T22:42:27.991Z,1570660947.991 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:28.258Z,1570660948.258 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:42:32.008Z,1570660952.008 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:32.703Z,1570660952.703 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:33.121Z,1570660953.121 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:33.514Z,1570660953.514 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:42:33.930Z,1570660953.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224233.08*50

2019-10-09T22:42:36.010Z,1570660956.010 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:36.747Z,1570660956.747 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:37.153Z,1570660957.153 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:37.562Z,1570660957.562 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:42:38.002Z,1570660958.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224237.12*5F

2019-10-09T22:42:40.060Z,1570660960.060 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:40.787Z,1570660960.787 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:41.193Z,1570660961.193 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:41.659Z,1570660961.659 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 33.959999 m
2019-10-09T22:42:41.659Z,1570660961.659 [Reporter](INFO): acoustic_contact_range 33.959999 m
2019-10-09T22:42:41.660Z,1570660961.660 [Reporter](INFO): TrackAcousticContact.heading_to_contact 5.928402 rad
2019-10-09T22:42:41.660Z,1570660961.660 [Reporter](INFO): DUSBL_Hydroid.xAngle 6.350000 arcdeg
2019-10-09T22:42:42.014Z,1570660962.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224241.17*5B

2019-10-09T22:42:45.670Z,1570660965.670 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:46.443Z,1570660966.443 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:46.452Z,1570660966.452 [NAL9602](INFO): SBD MO Status=2, MOMSN=9094, MT Status=2, MTMSN=0
2019-10-09T22:42:46.453Z,1570660966.453 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T22:42:46.854Z,1570660966.854 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:47.250Z,1570660967.250 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:42:47.666Z,1570660967.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224246.82*50

2019-10-09T22:42:49.730Z,1570660969.730 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:50.479Z,1570660970.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:50.885Z,1570660970.885 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:51.286Z,1570660971.286 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:42:51.702Z,1570660971.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224250.86*53

2019-10-09T22:42:52.381Z,1570660972.381 [DataOverHttps](INFO): Sending 297 bytes from file Logs/20191009T221224/Express0031.lzma
2019-10-09T22:42:53.769Z,1570660973.769 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:54.386Z,1570660974.386 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0031.lzma.bak
2019-10-09T22:42:54.387Z,1570660974.387 [DataOverHttps](INFO): SBD MOMSN=11867366
2019-10-09T22:42:54.523Z,1570660974.523 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:54.927Z,1570660974.927 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:55.330Z,1570660975.330 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:42:55.754Z,1570660975.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224254.90*50

2019-10-09T22:42:57.805Z,1570660977.805 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:42:58.559Z,1570660978.559 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:42:58.990Z,1570660978.990 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:42:59.451Z,1570660979.451 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 20.459999 m
2019-10-09T22:42:59.452Z,1570660979.452 [Reporter](INFO): acoustic_contact_range 20.459999 m
2019-10-09T22:42:59.452Z,1570660979.452 [Reporter](INFO): TrackAcousticContact.heading_to_contact 5.666691 rad
2019-10-09T22:42:59.461Z,1570660979.461 [Reporter](INFO): DUSBL_Hydroid.xAngle 6.650000 arcdeg
2019-10-09T22:42:59.786Z,1570660979.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224258.94*58

2019-10-09T22:43:02.600Z,1570660982.600 [NAL9602](INFO): SBD MO Status=2, MOMSN=9094, MT Status=2, MTMSN=0
2019-10-09T22:43:02.601Z,1570660982.601 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T22:43:03.407Z,1570660983.407 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:43:03.445Z,1570660983.445 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:07.370Z,1570660987.370 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:07.467Z,1570660987.467 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:07.761Z,1570660987.761 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:09.762Z,1570660989.762 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:43:09.763Z,1570660989.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224307.75*5C

2019-10-09T22:43:11.636Z,1570660991.636 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:15.648Z,1570660995.648 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:16.132Z,1570660996.132 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:16.529Z,1570660996.529 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:16.930Z,1570660996.930 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:43:19.581Z,1570660999.581 [DataOverHttps](INFO): Sending 300 bytes from file Logs/20191009T221224/Express0034.lzma
2019-10-09T22:43:19.655Z,1570660999.655 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:19.719Z,1570660999.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224316.51*5A

2019-10-09T22:43:20.088Z,1570661000.088 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:21.586Z,1570661001.586 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0034.lzma.bak
2019-10-09T22:43:21.587Z,1570661001.587 [DataOverHttps](INFO): SBD MOMSN=11867372
2019-10-09T22:43:22.476Z,1570661002.476 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:43:22.480Z,1570661002.480 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:27.313Z,1570661007.313 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:29.971Z,1570661009.971 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:30.318Z,1570661010.318 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:33.835Z,1570661013.835 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:34.023Z,1570661014.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224330.35*5C

2019-10-09T22:43:37.329Z,1570661017.329 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:38.089Z,1570661018.089 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:43:38.092Z,1570661018.092 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:40.011Z,1570661020.011 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:40.090Z,1570661020.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224337.70*5A

2019-10-09T22:43:44.497Z,1570661024.497 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:44.996Z,1570661024.996 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:45.365Z,1570661025.365 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:48.751Z,1570661028.751 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 77.220001 m
2019-10-09T22:43:48.752Z,1570661028.752 [Reporter](INFO): acoustic_contact_range 77.220001 m
2019-10-09T22:43:48.752Z,1570661028.752 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.298539 rad
2019-10-09T22:43:48.753Z,1570661028.753 [Reporter](INFO): DUSBL_Hydroid.xAngle -1.300000 arcdeg
2019-10-09T22:43:48.816Z,1570661028.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224345.37*5C

2019-10-09T22:43:49.079Z,1570661029.079 [DataOverHttps](INFO): Sending 379 bytes from file Logs/20191009T221224/Express0037.lzma
2019-10-09T22:43:51.082Z,1570661031.082 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0037.lzma.bak
2019-10-09T22:43:51.083Z,1570661031.083 [DataOverHttps](INFO): SBD MOMSN=11867379
2019-10-09T22:43:54.894Z,1570661034.894 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:55.371Z,1570661035.371 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:43:55.773Z,1570661035.773 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:43:59.547Z,1570661039.547 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:43:59.547Z,1570661039.547 [lineCaptureHoming:NeedComms:D] Stopped
2019-10-09T22:43:59.548Z,1570661039.548 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-10-09T22:43:59.654Z,1570661039.654 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:43:59.655Z,1570661039.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224355.75*5B

2019-10-09T22:43:59.766Z,1570661039.766 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:44:03.672Z,1570661043.672 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:04.435Z,1570661044.435 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:04.841Z,1570661044.841 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:05.254Z,1570661045.254 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:05.662Z,1570661045.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224404.81*53

2019-10-09T22:44:07.721Z,1570661047.721 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:08.475Z,1570661048.475 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:08.885Z,1570661048.885 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:09.286Z,1570661049.286 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:09.702Z,1570661049.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224408.85*5B

2019-10-09T22:44:11.780Z,1570661051.780 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:12.537Z,1570661052.537 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:12.929Z,1570661052.929 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:13.321Z,1570661053.321 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:13.754Z,1570661053.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224412.91*55

2019-10-09T22:44:15.802Z,1570661055.802 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:16.559Z,1570661056.559 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:16.992Z,1570661056.992 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:17.366Z,1570661057.366 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:17.786Z,1570661057.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224416.94*54

2019-10-09T22:44:19.847Z,1570661059.847 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:20.602Z,1570661060.602 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:21.013Z,1570661061.013 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:21.406Z,1570661061.406 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:21.822Z,1570661061.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224420.98*5D

2019-10-09T22:44:23.887Z,1570661063.887 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:24.637Z,1570661064.637 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:25.044Z,1570661065.044 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:25.515Z,1570661065.515 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 77.220001 m
2019-10-09T22:44:25.515Z,1570661065.515 [Reporter](INFO): acoustic_contact_range 77.220001 m
2019-10-09T22:44:25.516Z,1570661065.516 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.219734 rad
2019-10-09T22:44:25.516Z,1570661065.516 [Reporter](INFO): DUSBL_Hydroid.xAngle 0.750000 arcdeg
2019-10-09T22:44:25.862Z,1570661065.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224425.01*58

2019-10-09T22:44:29.518Z,1570661069.518 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:30.295Z,1570661070.295 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:30.701Z,1570661070.701 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:31.096Z,1570661071.096 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:31.518Z,1570661071.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224430.67*5C

2019-10-09T22:44:33.566Z,1570661073.566 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:34.329Z,1570661074.329 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:34.748Z,1570661074.748 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:35.136Z,1570661075.136 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:35.562Z,1570661075.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224434.71*5F

2019-10-09T22:44:37.606Z,1570661077.606 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:38.369Z,1570661078.369 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:38.781Z,1570661078.781 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:39.187Z,1570661079.187 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:39.594Z,1570661079.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224438.75*57

2019-10-09T22:44:41.655Z,1570661081.655 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:42.415Z,1570661082.415 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:42.815Z,1570661082.815 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:43.218Z,1570661083.218 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:43.638Z,1570661083.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224442.79*56

2019-10-09T22:44:45.698Z,1570661085.698 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:46.449Z,1570661086.449 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:46.868Z,1570661086.868 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:47.324Z,1570661087.324 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 9.059999 m
2019-10-09T22:44:47.324Z,1570661087.324 [Reporter](INFO): acoustic_contact_range 9.059999 m
2019-10-09T22:44:47.325Z,1570661087.325 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.785999 rad
2019-10-09T22:44:47.326Z,1570661087.326 [Reporter](INFO): DUSBL_Hydroid.xAngle 16.400000 arcdeg
2019-10-09T22:44:47.682Z,1570661087.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224446.82*56

2019-10-09T22:44:51.352Z,1570661091.352 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:52.107Z,1570661092.107 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:52.513Z,1570661092.513 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:52.914Z,1570661092.914 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:44:53.334Z,1570661093.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224452.48*55

2019-10-09T22:44:55.400Z,1570661095.400 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:56.151Z,1570661096.151 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:44:56.569Z,1570661096.569 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:44:57.362Z,1570661097.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224456.53*5B

2019-10-09T22:44:59.437Z,1570661099.437 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:44:59.793Z,1570661099.793 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:45:03.474Z,1570661103.474 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:04.231Z,1570661104.231 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:04.637Z,1570661104.637 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:05.122Z,1570661105.122 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 51.059994 m
2019-10-09T22:45:05.123Z,1570661105.123 [Reporter](INFO): acoustic_contact_range 51.059994 m
2019-10-09T22:45:05.123Z,1570661105.123 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.642392 rad
2019-10-09T22:45:05.124Z,1570661105.124 [Reporter](INFO): DUSBL_Hydroid.xAngle 28.099999 arcdeg
2019-10-09T22:45:05.458Z,1570661105.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224504.61*5C

2019-10-09T22:45:09.119Z,1570661109.119 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:09.887Z,1570661109.887 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:10.288Z,1570661110.288 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:11.097Z,1570661111.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224510.27*5B

2019-10-09T22:45:13.170Z,1570661113.170 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:13.522Z,1570661113.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:45:17.200Z,1570661117.200 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:17.984Z,1570661117.984 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:18.373Z,1570661118.373 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:19.181Z,1570661119.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224518.36*53

2019-10-09T22:45:21.241Z,1570661121.241 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:21.602Z,1570661121.602 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:45:25.300Z,1570661125.300 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:26.043Z,1570661126.043 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:26.449Z,1570661126.449 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:27.012Z,1570661127.012 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 124.500008 m
2019-10-09T22:45:27.012Z,1570661127.012 [Reporter](INFO): acoustic_contact_range 124.500008 m
2019-10-09T22:45:27.021Z,1570661127.021 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.354942 rad
2019-10-09T22:45:27.022Z,1570661127.022 [Reporter](INFO): DUSBL_Hydroid.xAngle -7.100000 arcdeg
2019-10-09T22:45:27.273Z,1570661127.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224526.42*5D

2019-10-09T22:45:31.357Z,1570661131.357 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:32.101Z,1570661132.101 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:32.513Z,1570661132.513 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:33.316Z,1570661133.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224532.48*52

2019-10-09T22:45:35.376Z,1570661135.376 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:35.740Z,1570661135.740 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:45:39.404Z,1570661139.404 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:40.193Z,1570661140.193 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:40.593Z,1570661140.593 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:40.994Z,1570661140.994 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:45:41.414Z,1570661141.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224540.57*59

2019-10-09T22:45:43.470Z,1570661143.470 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:44.222Z,1570661144.222 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:44.629Z,1570661144.629 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:45.034Z,1570661145.034 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:45:45.446Z,1570661145.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224544.60*59

2019-10-09T22:45:47.518Z,1570661147.518 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:48.263Z,1570661148.263 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:48.679Z,1570661148.679 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:49.074Z,1570661149.074 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:45:49.486Z,1570661149.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224548.64*51

2019-10-09T22:45:51.538Z,1570661151.538 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:52.307Z,1570661152.307 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:52.719Z,1570661152.719 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:53.108Z,1570661153.108 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:45:53.530Z,1570661153.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224552.69*57

2019-10-09T22:45:55.578Z,1570661155.578 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:45:56.341Z,1570661156.341 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:45:56.753Z,1570661156.753 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:45:57.227Z,1570661157.227 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 42.119999 m
2019-10-09T22:45:57.227Z,1570661157.227 [Reporter](INFO): acoustic_contact_range 42.119999 m
2019-10-09T22:45:57.228Z,1570661157.228 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.401019 rad
2019-10-09T22:45:57.228Z,1570661157.228 [Reporter](INFO): DUSBL_Hydroid.xAngle -13.950000 arcdeg
2019-10-09T22:45:57.574Z,1570661157.574 [Micromodem](INFO): Nmea in: $SNTTA,,,0.314639,,224556.72*4D

2019-10-09T22:46:01.262Z,1570661161.262 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:01.999Z,1570661161.999 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:02.413Z,1570661162.413 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:02.806Z,1570661162.806 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:46:03.226Z,1570661163.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224602.38*55

2019-10-09T22:46:05.298Z,1570661165.298 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:06.043Z,1570661166.043 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:06.449Z,1570661166.449 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:06.866Z,1570661166.866 [NAL9602](INFO): SBD MO Status=2, MOMSN=9094, MT Status=2, MTMSN=0
2019-10-09T22:46:06.867Z,1570661166.867 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T22:46:06.988Z,1570661166.988 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 171.660004 m
2019-10-09T22:46:06.993Z,1570661166.993 [Reporter](INFO): acoustic_contact_range 171.660004 m
2019-10-09T22:46:06.994Z,1570661166.994 [Reporter](INFO): TrackAcousticContact.heading_to_contact 0.031987 rad
2019-10-09T22:46:06.994Z,1570661166.994 [Reporter](INFO): DUSBL_Hydroid.xAngle 5.350000 arcdeg
2019-10-09T22:46:07.274Z,1570661167.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224606.42*5C

2019-10-09T22:46:11.359Z,1570661171.359 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:12.101Z,1570661172.101 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:12.508Z,1570661172.508 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:13.017Z,1570661173.017 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:46:13.017Z,1570661173.017 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:46:13.018Z,1570661173.018 [Reporter](INFO): TrackAcousticContact.heading_to_contact 5.946946 rad
2019-10-09T22:46:13.018Z,1570661173.018 [Reporter](INFO): DUSBL_Hydroid.xAngle 5.950000 arcdeg
2019-10-09T22:46:13.326Z,1570661173.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224612.48*53

2019-10-09T22:46:17.009Z,1570661177.009 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:17.759Z,1570661177.759 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:18.165Z,1570661178.165 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:18.566Z,1570661178.566 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:46:19.002Z,1570661179.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224618.13*57

2019-10-09T22:46:21.048Z,1570661181.048 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:21.794Z,1570661181.794 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:22.212Z,1570661182.212 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:22.668Z,1570661182.668 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:46:22.673Z,1570661182.673 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:46:22.674Z,1570661182.674 [Reporter](INFO): TrackAcousticContact.heading_to_contact 0.579307 rad
2019-10-09T22:46:22.674Z,1570661182.674 [Reporter](INFO): DUSBL_Hydroid.xAngle 4.200000 arcdeg
2019-10-09T22:46:23.045Z,1570661183.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224622.17*5A

2019-10-09T22:46:26.675Z,1570661186.675 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:27.455Z,1570661187.455 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:27.861Z,1570661187.861 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:28.328Z,1570661188.328 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:46:28.333Z,1570661188.333 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:46:28.333Z,1570661188.333 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.669160 rad
2019-10-09T22:46:28.334Z,1570661188.334 [Reporter](INFO): DUSBL_Hydroid.xAngle 25.400000 arcdeg
2019-10-09T22:46:28.686Z,1570661188.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224627.83*52

2019-10-09T22:46:32.344Z,1570661192.344 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:33.111Z,1570661193.111 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:33.511Z,1570661193.511 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:34.025Z,1570661194.025 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 70.079994 m
2019-10-09T22:46:34.026Z,1570661194.026 [Reporter](INFO): acoustic_contact_range 70.079994 m
2019-10-09T22:46:34.026Z,1570661194.026 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.389114 rad
2019-10-09T22:46:34.027Z,1570661194.027 [Reporter](INFO): DUSBL_Hydroid.xAngle -16.500000 arcdeg
2019-10-09T22:46:34.334Z,1570661194.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224633.49*51

2019-10-09T22:46:38.074Z,1570661198.074 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:38.763Z,1570661198.763 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:39.169Z,1570661199.169 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:39.574Z,1570661199.574 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:46:39.998Z,1570661199.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224639.14*53

2019-10-09T22:46:42.438Z,1570661202.438 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:43.207Z,1570661203.207 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:43.625Z,1570661203.625 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:44.113Z,1570661204.113 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 77.460007 m
2019-10-09T22:46:44.113Z,1570661204.113 [Reporter](INFO): acoustic_contact_range 77.460007 m
2019-10-09T22:46:44.114Z,1570661204.114 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.694523 rad
2019-10-09T22:46:44.115Z,1570661204.115 [Reporter](INFO): DUSBL_Hydroid.xAngle 23.350001 arcdeg
2019-10-09T22:46:44.438Z,1570661204.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224643.58*56

2019-10-09T22:46:48.094Z,1570661208.094 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:48.867Z,1570661208.867 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:49.267Z,1570661209.267 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:49.674Z,1570661209.674 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:46:50.102Z,1570661210.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224649.24*57

2019-10-09T22:46:52.151Z,1570661212.151 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:52.968Z,1570661212.968 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:46:53.318Z,1570661213.318 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:46:54.528Z,1570661214.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224653.35*5C

2019-10-09T22:46:56.180Z,1570661216.180 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:46:56.542Z,1570661216.542 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:46:56.994Z,1570661216.994 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-10-09T22:46:56.994Z,1570661216.994 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +1.29,       -0.2  +0.40,   9.51,  0.00
2019-10-09T22:46:58.557Z,1570661218.557 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-10-09T22:46:59.383Z,1570661219.383 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:47:00.225Z,1570661220.225 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:00.996Z,1570661220.996 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:01.387Z,1570661221.387 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:01.860Z,1570661221.860 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:47:01.860Z,1570661221.860 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:47:01.861Z,1570661221.861 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.690665 rad
2019-10-09T22:47:01.862Z,1570661221.862 [Reporter](INFO): DUSBL_Hydroid.xAngle 21.699999 arcdeg
2019-10-09T22:47:02.214Z,1570661222.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224701.37*58

2019-10-09T22:47:03.829Z,1570661223.829 [NAL9602](ERROR): parseGSV uart error: serial buffer full
2019-10-09T22:47:04.645Z,1570661224.645 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:47:05.023Z,1570661225.023 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224059.00,A,3648.16047,N,12147.28455,W,0.136,6.77,091019,,,D*71
2019-10-09T22:47:05.025Z,1570661225.025 [NAL9602](INFO): GPS fix at 20191009T224059: (36.802675, -121.788076)
2019-10-09T22:47:05.093Z,1570661225.093 [lineCaptureHoming:NeedComms:E] Stopped
2019-10-09T22:47:05.094Z,1570661225.094 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-10-09T22:47:05.094Z,1570661225.094 [lineCaptureHoming:NeedComms] Stopped
2019-10-09T22:47:05.095Z,1570661225.095 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-10-09T22:47:05.095Z,1570661225.095 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-10-09T22:47:05.095Z,1570661225.095 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:47:05.485Z,1570661225.485 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-10-09T22:47:05.485Z,1570661225.485 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-10-09T22:47:05.485Z,1570661225.485 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:47:05.486Z,1570661225.486 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-10-09T22:47:05.866Z,1570661225.866 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:05.867Z,1570661225.867 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-10-09T22:47:05.867Z,1570661225.867 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-10-09T22:47:05.867Z,1570661225.867 [lineCaptureHoming:SurfaceComms] Stopped
2019-10-09T22:47:05.867Z,1570661225.867 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-10-09T22:47:06.285Z,1570661226.285 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-10-09T22:47:06.285Z,1570661226.285 [lineCaptureHoming:StartingMission] Stopped
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:Lap] Running Loop=1
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-10-09T22:47:06.286Z,1570661226.286 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:47:06.287Z,1570661226.287 [lineCaptureHoming:Lap:B] Running Loop=1
2019-10-09T22:47:06.639Z,1570661226.639 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:06.719Z,1570661226.719 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-10-09T22:47:06.720Z,1570661226.720 [lineCaptureHoming:Lap:B] Stopped
2019-10-09T22:47:06.720Z,1570661226.720 [lineCaptureHoming:Lap:C] Running Loop=1
2019-10-09T22:47:06.720Z,1570661226.720 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-10-09T22:47:06.720Z,1570661226.720 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-10-09T22:47:06.720Z,1570661226.720 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-10-09T22:47:06.720Z,1570661226.720 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-10-09T22:47:06.737Z,1570661226.737 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-10-09T22:47:06.737Z,1570661226.737 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-10-09T22:47:06.738Z,1570661226.738 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-10-09T22:47:06.738Z,1570661226.738 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-10-09T22:47:06.738Z,1570661226.738 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:47:06.738Z,1570661226.738 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-10-09T22:47:06.738Z,1570661226.738 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Initialize.
2019-10-09T22:47:06.738Z,1570661226.738 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Running Loop=1
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Initialize.
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-10-09T22:47:06.739Z,1570661226.739 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-10-09T22:47:06.740Z,1570661226.740 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-10-09T22:47:06.740Z,1570661226.740 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-10-09T22:47:06.740Z,1570661226.740 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-10-09T22:47:06.740Z,1570661226.740 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-10-09T22:47:06.740Z,1570661226.740 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-10-09T22:47:06.740Z,1570661226.740 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-10-09T22:47:06.745Z,1570661226.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:47:06.745Z,1570661226.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-10-09T22:47:06.745Z,1570661226.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:47:06.745Z,1570661226.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-10-09T22:47:06.745Z,1570661226.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-10-09T22:47:06.745Z,1570661226.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-10-09T22:47:06.746Z,1570661226.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-10-09T22:47:06.746Z,1570661226.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-10-09T22:47:06.746Z,1570661226.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-10-09T22:47:06.746Z,1570661226.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-10-09T22:47:06.746Z,1570661226.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-10-09T22:47:06.746Z,1570661226.746 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-10-09T22:47:06.747Z,1570661226.747 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-10-09T22:47:06.748Z,1570661226.748 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-10-09T22:47:06.748Z,1570661226.748 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-10-09T22:47:06.748Z,1570661226.748 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-10-09T22:47:07.045Z,1570661227.045 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:07.079Z,1570661227.079 [NAL9602](ERROR): parseGSV uart error: serial buffer full
2019-10-09T22:47:07.127Z,1570661227.127 [lineCaptureHoming:Lap:C] Stopped
2019-10-09T22:47:07.127Z,1570661227.127 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-10-09T22:47:07.127Z,1570661227.127 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:47:07.127Z,1570661227.127 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-10-09T22:47:07.128Z,1570661227.128 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-10-09T22:47:07.497Z,1570661227.497 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-10-09T22:47:07.498Z,1570661227.498 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-10-09T22:47:07.498Z,1570661227.498 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-10-09T22:47:07.498Z,1570661227.498 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-10-09T22:47:07.498Z,1570661227.498 [lineCaptureHoming:Lap:E] Running Loop=1
2019-10-09T22:47:07.578Z,1570661227.578 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:47:07.579Z,1570661227.579 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:47:07.579Z,1570661227.579 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.855059 rad
2019-10-09T22:47:07.580Z,1570661227.580 [Reporter](INFO): DUSBL_Hydroid.xAngle 11.400000 arcdeg
2019-10-09T22:47:07.870Z,1570661227.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224707.01*5B

2019-10-09T22:47:07.925Z,1570661227.925 [lineCaptureHoming:Lap:E](INFO): Transition to TerminalGuidance at range: 44.400002 m .
2019-10-09T22:47:07.925Z,1570661227.925 [lineCaptureHoming:Lap:E] Stopped
2019-10-09T22:47:07.925Z,1570661227.925 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-10-09T22:47:07.926Z,1570661227.926 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:47:07.926Z,1570661227.926 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:47:07.926Z,1570661227.926 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Initialize.
2019-10-09T22:47:07.926Z,1570661227.926 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-10-09T22:47:08.327Z,1570661228.327 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Running Loop=1
2019-10-09T22:47:08.327Z,1570661228.327 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-10-09T22:47:08.328Z,1570661228.328 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-10-09T22:47:08.328Z,1570661228.328 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Running Loop=1
2019-10-09T22:47:08.328Z,1570661228.328 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Running Loop=1
2019-10-09T22:47:08.329Z,1570661228.329 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B](DEBUG): Initialize ReadDataComponent to sense PowerOnly.samplePowerOnly
2019-10-09T22:47:08.330Z,1570661228.330 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A](IMPORTANT): Lights, Camera on at range: 44.400002 m .
2019-10-09T22:47:08.330Z,1570661228.330 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A] Stopped
2019-10-09T22:47:08.330Z,1570661228.330 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Running Loop=1
2019-10-09T22:47:08.330Z,1570661228.330 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Running Loop=1
2019-10-09T22:47:08.331Z,1570661228.331 [lineCaptureHoming:Lap:TerminalGuidance:A](IMPORTANT): Terminal guidance at range: 44.400002 m .
2019-10-09T22:47:08.331Z,1570661228.331 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-10-09T22:47:08.331Z,1570661228.331 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait] Running Loop=1
2019-10-09T22:47:08.331Z,1570661228.331 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:47:08.402Z,1570661228.402 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.017509 rad
2019-10-09T22:47:08.684Z,1570661228.684 [PowerOnly](INFO): Powering up
2019-10-09T22:47:08.723Z,1570661228.723 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C] Stopped
2019-10-09T22:47:08.723Z,1570661228.723 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](INFO): Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-10-09T22:47:08.723Z,1570661228.723 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera] Stopped
2019-10-09T22:47:08.724Z,1570661228.724 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera
2019-10-09T22:47:08.724Z,1570661228.724 [lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B] Stopped
2019-10-09T22:47:08.794Z,1570661228.794 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.033412 rad
2019-10-09T22:47:09.214Z,1570661229.214 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.062433 rad
2019-10-09T22:47:09.643Z,1570661229.643 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.093944 rad
2019-10-09T22:47:10.026Z,1570661230.026 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.127508 rad
2019-10-09T22:47:10.434Z,1570661230.434 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.163590 rad
2019-10-09T22:47:10.808Z,1570661230.808 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.195846 rad
2019-10-09T22:47:11.378Z,1570661231.378 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.232953 rad
2019-10-09T22:47:11.545Z,1570661231.545 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:11.615Z,1570661231.615 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.261799 rad
2019-10-09T22:47:12.295Z,1570661232.295 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:12.701Z,1570661232.701 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:13.102Z,1570661233.102 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:13.525Z,1570661233.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224712.67*5F

2019-10-09T22:47:15.581Z,1570661235.581 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:16.335Z,1570661236.335 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:16.741Z,1570661236.741 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:17.242Z,1570661237.242 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:47:17.243Z,1570661237.243 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:47:17.243Z,1570661237.243 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.699289 rad
2019-10-09T22:47:17.244Z,1570661237.244 [Reporter](INFO): DUSBL_Hydroid.xAngle 18.100000 arcdeg
2019-10-09T22:47:17.570Z,1570661237.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224716.71*5C

2019-10-09T22:47:21.233Z,1570661241.233 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:21.999Z,1570661241.999 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:22.399Z,1570661242.399 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:22.801Z,1570661242.801 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:23.222Z,1570661243.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224722.38*56

2019-10-09T22:47:25.275Z,1570661245.275 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:26.035Z,1570661246.035 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:26.442Z,1570661246.442 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:26.836Z,1570661246.836 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:27.262Z,1570661247.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224726.41*5C

2019-10-09T22:47:29.335Z,1570661249.335 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:30.069Z,1570661250.069 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:30.481Z,1570661250.481 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:30.887Z,1570661250.887 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:31.304Z,1570661251.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224730.45*5F

2019-10-09T22:47:33.372Z,1570661253.372 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:34.115Z,1570661254.115 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:34.521Z,1570661254.521 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:35.042Z,1570661255.042 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 102.840004 m
2019-10-09T22:47:35.043Z,1570661255.043 [Reporter](INFO): acoustic_contact_range 102.840004 m
2019-10-09T22:47:35.043Z,1570661255.043 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.822129 rad
2019-10-09T22:47:35.044Z,1570661255.044 [Reporter](INFO): DUSBL_Hydroid.xAngle 10.750000 arcdeg
2019-10-09T22:47:35.342Z,1570661255.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224734.49*57

2019-10-09T22:47:37.751Z,1570661257.751 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:47:39.045Z,1570661259.045 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:39.771Z,1570661259.771 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:40.182Z,1570661260.182 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:40.670Z,1570661260.670 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:47:40.671Z,1570661260.671 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:47:40.672Z,1570661260.672 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.784130 rad
2019-10-09T22:47:40.672Z,1570661260.672 [Reporter](INFO): DUSBL_Hydroid.xAngle 11.250000 arcdeg
2019-10-09T22:47:41.002Z,1570661261.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224740.15*5D

2019-10-09T22:47:44.655Z,1570661264.655 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:45.427Z,1570661265.427 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:45.827Z,1570661265.827 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:46.228Z,1570661266.228 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:46.654Z,1570661266.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224745.81*55

2019-10-09T22:47:48.736Z,1570661268.736 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:49.467Z,1570661269.467 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:49.873Z,1570661269.873 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:50.270Z,1570661270.270 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:50.693Z,1570661270.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224749.84*5C

2019-10-09T22:47:52.758Z,1570661272.758 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:53.507Z,1570661273.507 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:53.929Z,1570661273.929 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:53.995Z,1570661273.995 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,   -19,   +21,    -8,A
2019-10-09T22:47:54.326Z,1570661274.326 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:47:54.730Z,1570661274.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224753.89*5A

2019-10-09T22:47:55.986Z,1570661275.986 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,    +8,   +17,    -6,A
2019-10-09T22:47:56.793Z,1570661276.793 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:47:57.559Z,1570661277.559 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:47:57.980Z,1570661277.980 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:47:58.421Z,1570661278.421 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:47:58.422Z,1570661278.422 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:47:58.422Z,1570661278.422 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.614301 rad
2019-10-09T22:47:58.423Z,1570661278.423 [Reporter](INFO): DUSBL_Hydroid.xAngle 28.600000 arcdeg
2019-10-09T22:47:58.778Z,1570661278.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224757.94*52

2019-10-09T22:48:02.426Z,1570661282.426 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:03.203Z,1570661283.203 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:03.609Z,1570661283.609 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:04.006Z,1570661284.006 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:04.426Z,1570661284.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224803.58*5C

2019-10-09T22:48:06.485Z,1570661286.485 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:07.243Z,1570661287.243 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:07.649Z,1570661287.649 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:08.133Z,1570661288.133 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 102.840004 m
2019-10-09T22:48:08.134Z,1570661288.134 [Reporter](INFO): acoustic_contact_range 102.840004 m
2019-10-09T22:48:08.134Z,1570661288.134 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.924648 rad
2019-10-09T22:48:08.135Z,1570661288.135 [Reporter](INFO): DUSBL_Hydroid.xAngle 8.400000 arcdeg
2019-10-09T22:48:08.470Z,1570661288.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224807.62*51

2019-10-09T22:48:10.096Z,1570661290.096 [PowerOnly](INFO): Powering down
2019-10-09T22:48:12.136Z,1570661292.136 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:12.896Z,1570661292.896 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:13.305Z,1570661293.305 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:13.782Z,1570661293.782 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:48:13.783Z,1570661293.783 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:48:13.783Z,1570661293.783 [Reporter](INFO): TrackAcousticContact.heading_to_contact 0.042174 rad
2019-10-09T22:48:13.784Z,1570661293.784 [Reporter](INFO): DUSBL_Hydroid.xAngle 5.100000 arcdeg
2019-10-09T22:48:14.118Z,1570661294.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224813.27*55

2019-10-09T22:48:17.786Z,1570661297.786 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:18.555Z,1570661298.555 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:18.986Z,1570661298.986 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:19.362Z,1570661299.362 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:19.778Z,1570661299.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224818.93*51

2019-10-09T22:48:21.828Z,1570661301.828 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:22.591Z,1570661302.591 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:22.997Z,1570661302.997 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:23.398Z,1570661303.398 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:23.826Z,1570661303.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224822.97*5C

2019-10-09T22:48:25.888Z,1570661305.888 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:26.630Z,1570661306.630 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:27.035Z,1570661307.035 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:27.516Z,1570661307.516 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:48:27.521Z,1570661307.521 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:48:27.521Z,1570661307.521 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.709945 rad
2019-10-09T22:48:27.522Z,1570661307.522 [Reporter](INFO): DUSBL_Hydroid.xAngle 13.850000 arcdeg
2019-10-09T22:48:27.862Z,1570661307.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224827.01*56

2019-10-09T22:48:31.521Z,1570661311.521 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:32.291Z,1570661312.291 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:32.709Z,1570661312.709 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:33.101Z,1570661313.101 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:33.522Z,1570661313.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224832.67*52

2019-10-09T22:48:35.569Z,1570661315.569 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:36.331Z,1570661316.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:36.742Z,1570661316.742 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:37.213Z,1570661317.213 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:48:37.214Z,1570661317.214 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:48:37.214Z,1570661317.214 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.678481 rad
2019-10-09T22:48:37.215Z,1570661317.215 [Reporter](INFO): DUSBL_Hydroid.xAngle 16.300001 arcdeg
2019-10-09T22:48:37.554Z,1570661317.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224836.71*51

2019-10-09T22:48:41.222Z,1570661321.222 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:41.987Z,1570661321.987 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:42.393Z,1570661322.393 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:42.788Z,1570661322.788 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:43.234Z,1570661323.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224842.37*50

2019-10-09T22:48:45.277Z,1570661325.277 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:46.027Z,1570661326.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:46.429Z,1570661326.429 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:46.831Z,1570661326.831 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:47.258Z,1570661327.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224846.40*54

2019-10-09T22:48:49.318Z,1570661329.318 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:50.067Z,1570661330.067 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:50.473Z,1570661330.473 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:50.874Z,1570661330.874 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:51.290Z,1570661331.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224850.44*57

2019-10-09T22:48:53.355Z,1570661333.355 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:54.111Z,1570661334.111 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:54.513Z,1570661334.513 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:54.908Z,1570661334.908 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:48:55.334Z,1570661335.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224854.49*5E

2019-10-09T22:48:57.416Z,1570661337.416 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:48:58.143Z,1570661338.143 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:48:58.549Z,1570661338.549 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:48:59.145Z,1570661339.145 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:48:59.146Z,1570661339.146 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:48:59.147Z,1570661339.147 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.664535 rad
2019-10-09T22:48:59.147Z,1570661339.147 [Reporter](INFO): DUSBL_Hydroid.xAngle 18.200000 arcdeg
2019-10-09T22:48:59.370Z,1570661339.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224858.52*58

2019-10-09T22:49:03.432Z,1570661343.432 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:04.209Z,1570661344.209 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:04.613Z,1570661344.613 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:05.008Z,1570661345.008 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:05.430Z,1570661345.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224904.58*5A

2019-10-09T22:49:07.497Z,1570661347.497 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:08.241Z,1570661348.241 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:08.665Z,1570661348.665 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:09.139Z,1570661349.139 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:49:09.139Z,1570661349.139 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:49:09.140Z,1570661349.140 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.642900 rad
2019-10-09T22:49:09.140Z,1570661349.140 [Reporter](INFO): DUSBL_Hydroid.xAngle 21.550000 arcdeg
2019-10-09T22:49:09.481Z,1570661349.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224908.62*5F

2019-10-09T22:49:13.132Z,1570661353.132 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:13.903Z,1570661353.903 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:14.309Z,1570661354.309 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:14.716Z,1570661354.716 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:15.133Z,1570661355.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224914.28*5C

2019-10-09T22:49:17.194Z,1570661357.194 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:17.966Z,1570661357.966 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:18.353Z,1570661358.353 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:18.798Z,1570661358.798 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:49:18.799Z,1570661358.799 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:49:18.799Z,1570661358.799 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.762259 rad
2019-10-09T22:49:18.800Z,1570661358.800 [Reporter](INFO): DUSBL_Hydroid.xAngle 11.300000 arcdeg
2019-10-09T22:49:19.166Z,1570661359.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224918.34*5D

2019-10-09T22:49:22.818Z,1570661362.818 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:23.599Z,1570661363.599 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:24.005Z,1570661364.005 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:24.400Z,1570661364.400 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:24.826Z,1570661364.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224923.97*5C

2019-10-09T22:49:26.869Z,1570661366.869 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:27.639Z,1570661367.639 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:28.039Z,1570661368.039 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:28.446Z,1570661368.446 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:28.862Z,1570661368.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224928.02*5B

2019-10-09T22:49:30.943Z,1570661370.943 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:31.679Z,1570661371.679 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:32.085Z,1570661372.085 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:32.524Z,1570661372.524 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:49:32.541Z,1570661372.541 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:49:32.541Z,1570661372.541 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.638263 rad
2019-10-09T22:49:32.542Z,1570661372.542 [Reporter](INFO): DUSBL_Hydroid.xAngle 23.700000 arcdeg
2019-10-09T22:49:32.905Z,1570661372.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224932.06*54

2019-10-09T22:49:36.585Z,1570661376.585 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:37.331Z,1570661377.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:37.741Z,1570661377.741 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:38.237Z,1570661378.237 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:49:38.238Z,1570661378.238 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:49:38.239Z,1570661378.239 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.631740 rad
2019-10-09T22:49:38.239Z,1570661378.239 [Reporter](INFO): DUSBL_Hydroid.xAngle 25.500001 arcdeg
2019-10-09T22:49:38.558Z,1570661378.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224937.71*51

2019-10-09T22:49:42.228Z,1570661382.228 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:43.009Z,1570661383.009 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:43.397Z,1570661383.397 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:43.865Z,1570661383.865 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 102.780006 m
2019-10-09T22:49:43.866Z,1570661383.866 [Reporter](INFO): acoustic_contact_range 102.780006 m
2019-10-09T22:49:43.867Z,1570661383.867 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.695675 rad
2019-10-09T22:49:43.867Z,1570661383.867 [Reporter](INFO): DUSBL_Hydroid.xAngle 14.849999 arcdeg
2019-10-09T22:49:44.222Z,1570661384.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224943.39*5E

2019-10-09T22:49:47.880Z,1570661387.880 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:48.647Z,1570661388.647 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:49.054Z,1570661389.054 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:49.454Z,1570661389.454 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:49.870Z,1570661389.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224949.02*5C

2019-10-09T22:49:51.940Z,1570661391.940 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:52.687Z,1570661392.687 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:53.093Z,1570661393.093 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:53.494Z,1570661393.494 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:53.910Z,1570661393.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224953.06*53

2019-10-09T22:49:55.989Z,1570661395.989 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:49:56.727Z,1570661396.727 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:49:57.135Z,1570661397.135 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:49:57.534Z,1570661397.534 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:49:57.975Z,1570661397.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224957.11*51

2019-10-09T22:50:00.041Z,1570661400.041 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:00.767Z,1570661400.767 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:01.169Z,1570661401.169 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:01.989Z,1570661401.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225001.14*5F

2019-10-09T22:50:04.049Z,1570661404.049 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:04.398Z,1570661404.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:50:08.121Z,1570661408.121 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:08.843Z,1570661408.843 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:09.249Z,1570661409.249 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:09.650Z,1570661409.650 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:50:10.070Z,1570661410.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225009.22*52

2019-10-09T22:50:12.122Z,1570661412.122 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:12.883Z,1570661412.883 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:13.296Z,1570661413.296 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:13.694Z,1570661413.694 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:50:14.122Z,1570661414.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.270636,225013.26*45

2019-10-09T22:50:16.177Z,1570661416.177 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:16.925Z,1570661416.925 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:17.345Z,1570661417.345 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:17.806Z,1570661417.806 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:50:17.807Z,1570661417.807 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:50:17.807Z,1570661417.807 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.631920 rad
2019-10-09T22:50:17.808Z,1570661417.808 [Reporter](INFO): DUSBL_Hydroid.xAngle 25.050001 arcdeg
2019-10-09T22:50:18.162Z,1570661418.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225017.30*5E

2019-10-09T22:50:18.208Z,1570661418.208 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-10-09T22:50:21.809Z,1570661421.809 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:22.578Z,1570661422.578 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:22.989Z,1570661422.989 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:23.390Z,1570661423.390 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:50:23.810Z,1570661423.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225022.95*57

2019-10-09T22:50:25.861Z,1570661425.861 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:26.623Z,1570661426.623 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:27.030Z,1570661427.030 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:27.494Z,1570661427.494 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 18.359997 m
2019-10-09T22:50:27.495Z,1570661427.495 [Reporter](INFO): acoustic_contact_range 18.359997 m
2019-10-09T22:50:27.495Z,1570661427.495 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.620411 rad
2019-10-09T22:50:27.496Z,1570661427.496 [Reporter](INFO): DUSBL_Hydroid.xAngle 29.299999 arcdeg
2019-10-09T22:50:27.850Z,1570661427.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225027.00*5E

2019-10-09T22:50:31.505Z,1570661431.505 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:32.279Z,1570661432.279 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:32.685Z,1570661432.685 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:33.080Z,1570661433.080 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:50:33.506Z,1570661433.506 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225032.66*5A

2019-10-09T22:50:35.568Z,1570661435.568 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:36.319Z,1570661436.319 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:36.725Z,1570661436.725 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:37.199Z,1570661437.199 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.400002 m
2019-10-09T22:50:37.200Z,1570661437.200 [Reporter](INFO): acoustic_contact_range 44.400002 m
2019-10-09T22:50:37.200Z,1570661437.200 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.631363 rad
2019-10-09T22:50:37.205Z,1570661437.205 [Reporter](INFO): DUSBL_Hydroid.xAngle 25.650000 arcdeg
2019-10-09T22:50:37.553Z,1570661437.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225036.70*59

2019-10-09T22:50:41.233Z,1570661441.233 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:41.983Z,1570661441.983 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:42.381Z,1570661442.381 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:42.787Z,1570661442.787 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:50:43.198Z,1570661443.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225042.36*58

2019-10-09T22:50:45.272Z,1570661445.272 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:46.011Z,1570661446.011 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:46.417Z,1570661446.417 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:46.913Z,1570661446.913 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:50:46.914Z,1570661446.914 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:50:46.915Z,1570661446.915 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.653146 rad
2019-10-09T22:50:46.925Z,1570661446.925 [Reporter](INFO): DUSBL_Hydroid.xAngle 19.999999 arcdeg
2019-10-09T22:50:47.242Z,1570661447.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225046.39*53

2019-10-09T22:50:50.897Z,1570661450.897 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:51.671Z,1570661451.671 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:52.077Z,1570661452.077 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:52.551Z,1570661452.551 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 44.339996 m
2019-10-09T22:50:52.551Z,1570661452.551 [Reporter](INFO): acoustic_contact_range 44.339996 m
2019-10-09T22:50:52.552Z,1570661452.552 [Reporter](INFO): TrackAcousticContact.heading_to_contact 0.934469 rad
2019-10-09T22:50:52.552Z,1570661452.552 [Reporter](INFO): DUSBL_Hydroid.xAngle 3.350000 arcdeg
2019-10-09T22:50:52.906Z,1570661452.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225052.05*59

2019-10-09T22:50:56.555Z,1570661456.555 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:50:57.331Z,1570661457.331 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:50:57.733Z,1570661457.733 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:50:58.214Z,1570661458.214 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 18.420000 m
2019-10-09T22:50:58.215Z,1570661458.215 [Reporter](INFO): acoustic_contact_range 18.420000 m
2019-10-09T22:50:58.215Z,1570661458.215 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.625660 rad
2019-10-09T22:50:58.216Z,1570661458.216 [Reporter](INFO): DUSBL_Hydroid.xAngle 26.700000 arcdeg
2019-10-09T22:50:58.554Z,1570661458.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225057.71*5F

2019-10-09T22:51:02.215Z,1570661462.215 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:51:02.986Z,1570661462.986 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:51:03.392Z,1570661463.392 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:51:03.786Z,1570661463.786 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:51:04.216Z,1570661464.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225103.36*5C

2019-10-09T22:51:06.273Z,1570661466.273 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:51:07.023Z,1570661467.023 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:51:07.429Z,1570661467.429 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:51:07.910Z,1570661467.910 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 18.420000 m
2019-10-09T22:51:07.911Z,1570661467.911 [Reporter](INFO): acoustic_contact_range 18.420000 m
2019-10-09T22:51:07.911Z,1570661467.911 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.621334 rad
2019-10-09T22:51:07.912Z,1570661467.912 [Reporter](INFO): DUSBL_Hydroid.xAngle 28.800001 arcdeg
2019-10-09T22:51:08.246Z,1570661468.246 [Micromodem](INFO): Nmea in: $SNTTA,0.352582,,,,225107.40*4C

2019-10-09T22:51:11.908Z,1570661471.908 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:51:12.682Z,1570661472.682 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:51:13.085Z,1570661473.085 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:51:13.486Z,1570661473.486 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:51:13.909Z,1570661473.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225113.06*5E

2019-10-09T22:51:16.030Z,1570661476.030 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:51:16.726Z,1570661476.726 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:51:17.125Z,1570661477.125 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:51:17.526Z,1570661477.526 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:51:17.974Z,1570661477.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225117.10*5D

2019-10-09T22:51:20.087Z,1570661480.087 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:51:20.759Z,1570661480.759 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:51:21.161Z,1570661481.161 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:51:21.566Z,1570661481.566 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:51:21.990Z,1570661481.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225121.14*5C

2019-10-09T22:51:22.278Z,1570661482.278 [CommandLine](IMPORTANT): got command stop
2019-10-09T22:51:22.278Z,1570661482.278 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T22:51:22.444Z,1570661482.444 [MissionManager](INFO): MissionManager is completed.
2019-10-09T22:51:22.444Z,1570661482.444 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming] Stopped
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-10-09T22:51:22.457Z,1570661482.457 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:J.Mass] Stopped
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:DiveCmd] Stopped
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-10-09T22:51:22.458Z,1570661482.458 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Stopped
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Stopped
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Stopped
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap] Stopped
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap:Dive] Stopped
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-10-09T22:51:22.459Z,1570661482.459 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-10-09T22:51:22.460Z,1570661482.460 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-10-09T22:51:22.460Z,1570661482.460 [lineCaptureHoming:Lap:TerminalGuidance:B.Point] Stopped
2019-10-09T22:51:22.460Z,1570661482.460 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait] Stopped
2019-10-09T22:51:22.460Z,1570661482.460 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:51:22.826Z,1570661482.826 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T22:51:22.826Z,1570661482.826 [Default] Running Loop=1
2019-10-09T22:51:22.826Z,1570661482.826 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T22:51:22.827Z,1570661482.827 [Default:B.GoToSurface] Running Loop=1
2019-10-09T22:51:22.827Z,1570661482.827 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:51:22.827Z,1570661482.827 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T22:51:22.827Z,1570661482.827 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T22:51:22.827Z,1570661482.827 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T22:51:22.828Z,1570661482.828 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:51:22.828Z,1570661482.828 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:51:22.841Z,1570661482.841 [Default:A.Wait] Running Loop=1
2019-10-09T22:51:22.841Z,1570661482.841 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:51:22.879Z,1570661482.879 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.000000 rad
2019-10-09T22:51:23.597Z,1570661483.597 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2019-10-09T22:51:23.597Z,1570661483.597 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2019-10-09T22:51:23.597Z,1570661483.597 [BuoyancyServo] Communications Fault, FailCount= 1
2019-10-09T22:51:23.597Z,1570661483.597 [BuoyancyServo](ERROR): Communications Fault
2019-10-09T22:51:23.613Z,1570661483.613 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2019-10-09T22:51:25.391Z,1570661485.391 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-10-09T22:51:25.391Z,1570661485.391 [BuoyancyServo](INFO): Powering down
2019-10-09T22:51:26.333Z,1570661486.333 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-10-09T22:51:26.333Z,1570661486.333 [BuoyancyServo] No Fault, FailCount= 1
2019-10-09T22:51:26.521Z,1570661486.521 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-10-09T22:51:26.550Z,1570661486.550 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-10-09T22:51:36.200Z,1570661496.200 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T22:51:36.200Z,1570661496.200 [Default:A.Wait] Stopped
2019-10-09T22:51:36.200Z,1570661496.200 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:51:36.592Z,1570661496.592 [Default:CheckIn] Running Loop=1
2019-10-09T22:51:36.592Z,1570661496.592 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T22:51:36.592Z,1570661496.592 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T22:51:38.185Z,1570661498.185 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:51:38.578Z,1570661498.578 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,224532.00,A,3648.16066,N,12147.28790,W,0.175,6.77,091019,,,D*77
2019-10-09T22:51:38.580Z,1570661498.580 [NAL9602](INFO): GPS fix at 20191009T224532: (36.802678, -121.788132)
2019-10-09T22:51:38.627Z,1570661498.627 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T22:51:38.627Z,1570661498.627 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T22:51:39.802Z,1570661499.802 [NAL9602](ERROR): parseGSV uart error: serial buffer full
2019-10-09T22:51:43.298Z,1570661503.298 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D270000005D00000400370000000000000000151D80030C5669C010B1F83EB2E61BF19CDE994045C7B4EB6F353D7E630887E661C1A038B79BFE872C85
2019-10-09T22:51:43.299Z,1570661503.299 [Micromodem](INFO): Outgoing frame #2, 5 bytes: D00C734E00
2019-10-09T22:51:43.299Z,1570661503.299 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T22:51:44.287Z,1570661504.287 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T22:51:44.690Z,1570661504.690 [Micromodem](INFO): Nmea in: $CADRQ,225143,1,9,0,64,1*4D

2019-10-09T22:51:44.691Z,1570661504.691 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D270000005D00000400370000000000000000151D80030C5669C010B1F83EB2E61BF19CDE994045C7B4EB6F353D7E630887E661C1A038B79BFE872C85*70

2019-10-09T22:51:45.095Z,1570661505.095 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:51:45.498Z,1570661505.498 [Micromodem](INFO): Nmea in: $CADRQ,225145,1,9,0,64,2*48

2019-10-09T22:51:45.499Z,1570661505.499 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,D00C734E00*03

2019-10-09T22:51:45.902Z,1570661505.902 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,5*46

2019-10-09T22:51:46.331Z,1570661506.331 [Micromodem](INFO): Nmea in: $CATXP,69*7D

2019-10-09T22:51:48.730Z,1570661508.730 [Micromodem](INFO): Nmea in: $CATXF,69*6B

2019-10-09T22:51:49.136Z,1570661509.136 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,225145.848660,3,0,200,4000,10000,1,1,9,1,2,2,3,69*76

2019-10-09T22:51:50.320Z,1570661510.320 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191009T221224/Courier0039.lzma
2019-10-09T22:51:52.326Z,1570661512.326 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0039.lzma.bak
2019-10-09T22:51:52.326Z,1570661512.326 [DataOverHttps](INFO): SBD MOMSN=11867394
2019-10-09T22:52:09.334Z,1570661529.334 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-10-09T22:52:09.849Z,1570661529.849 [NAL9602](FAULT): received: 
2019-10-09T22:52:09.849Z,1570661529.849 [NAL9602] Data Fault, FailCount= 1
2019-10-09T22:52:09.849Z,1570661529.849 [NAL9602](ERROR): Data Fault
2019-10-09T22:52:10.077Z,1570661530.077 [CBIT](ERROR): Data Fault in component: NAL9602
2019-10-09T22:52:10.158Z,1570661530.158 [NAL9602](INFO): Powering down
2019-10-09T22:52:10.953Z,1570661530.953 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,   -11,   +15,   -19,   +47,A
2019-10-09T22:52:11.088Z,1570661531.088 [CBIT](INFO): Clearing failed state for component NAL9602
2019-10-09T22:52:11.088Z,1570661531.088 [NAL9602] No Fault, FailCount= 1
2019-10-09T22:52:12.132Z,1570661532.132 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,    +7,   +23,   -15,A
2019-10-09T22:52:14.223Z,1570661534.223 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T224607
2019-10-09T22:52:21.931Z,1570661541.931 [DataOverHttps](INFO): Sending 518 bytes from file Logs/20191009T221224/Express0040.lzma
2019-10-09T22:52:21.943Z,1570661541.943 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" 4278m 1 3
2019-10-09T22:52:21.998Z,1570661541.998 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" 4278m 1 3.000000
2019-10-09T22:52:21.999Z,1570661541.999 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=4278m
2019-10-09T22:52:21.000Z,1570661542.000 [CommandLine](IMPORTANT): Scheduled #15 (#1 of 3 with id='4278m'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" ASAP
2019-10-09T22:52:23.942Z,1570661543.942 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0040.lzma.bak
2019-10-09T22:52:23.943Z,1570661543.943 [DataOverHttps](IMPORTANT): SBD MOMSN=11867398, MTMSN=20191009T224616
2019-10-09T22:52:36.065Z,1570661556.065 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 4278m 2 3
2019-10-09T22:52:36.102Z,1570661556.102 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 4278m 2 3.000000
2019-10-09T22:52:36.102Z,1570661556.102 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=4278m
2019-10-09T22:52:36.103Z,1570661556.103 [CommandLine](IMPORTANT): Scheduled #16 (#2 of 3 with id='4278m'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" ASAP
2019-10-09T22:52:38.070Z,1570661558.070 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T224630
2019-10-09T22:52:40.395Z,1570661560.395 [NAL9602](INFO): Powering up NAL9602
2019-10-09T22:52:46.933Z,1570661566.933 [DataOverHttps](INFO): Sending 321 bytes from file Logs/20191009T221224/Express0043.lzma
2019-10-09T22:52:46.937Z,1570661566.937 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 4278m 3 3
2019-10-09T22:52:47.002Z,1570661567.002 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 4278m 3 3.000000
2019-10-09T22:52:47.002Z,1570661567.002 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=4278m
2019-10-09T22:52:47.003Z,1570661567.003 [CommandLine](IMPORTANT): Scheduled #17 (#3 of 3 with id='4278m'): "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " ASAP
2019-10-09T22:52:47.232Z,1570661567.232 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:52:47.233Z,1570661567.233 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:52:47.547Z,1570661567.547 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-10-09T22:52:47.564Z,1570661567.564 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-10-09T22:52:47.567Z,1570661567.567 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-10-09T22:52:47.570Z,1570661567.570 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-10-09T22:52:47.573Z,1570661567.573 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-10-09T22:52:47.575Z,1570661567.575 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-10-09T22:52:47.578Z,1570661567.578 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-10-09T22:52:47.580Z,1570661567.580 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-10-09T22:52:47.582Z,1570661567.582 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-10-09T22:52:47.585Z,1570661567.585 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-10-09T22:52:47.587Z,1570661567.587 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-10-09T22:52:47.589Z,1570661567.589 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-10-09T22:52:47.592Z,1570661567.592 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-10-09T22:52:47.594Z,1570661567.594 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-10-09T22:52:47.596Z,1570661567.596 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-10-09T22:52:47.599Z,1570661567.599 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-10-09T22:52:47.621Z,1570661567.621 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-10-09T22:52:47.623Z,1570661567.623 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-10-09T22:52:47.630Z,1570661567.630 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-10-09T22:52:47.632Z,1570661567.632 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-10-09T22:52:47.639Z,1570661567.639 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-10-09T22:52:47.645Z,1570661567.645 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-10-09T22:52:47.648Z,1570661567.648 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-10-09T22:52:47.694Z,1570661567.694 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-10-09T22:52:47.696Z,1570661567.696 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-10-09T22:52:47.707Z,1570661567.707 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-10-09T22:52:47.717Z,1570661567.717 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-10-09T22:52:47.719Z,1570661567.719 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-10-09T22:52:47.730Z,1570661567.730 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-10-09T22:52:47.732Z,1570661567.732 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-10-09T22:52:47.745Z,1570661567.745 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-10-09T22:52:47.747Z,1570661567.747 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-10-09T22:52:47.751Z,1570661567.751 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-10-09T22:52:47.762Z,1570661567.762 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-10-09T22:52:47.763Z,1570661567.763 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-10-09T22:52:47.831Z,1570661567.831 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-10-09T22:52:47.834Z,1570661567.834 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-10-09T22:52:47.849Z,1570661567.849 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-10-09T22:52:47.850Z,1570661567.850 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-10-09T22:52:47.859Z,1570661567.859 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-10-09T22:52:47.874Z,1570661567.874 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-10-09T22:52:47.898Z,1570661567.898 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-10-09T22:52:48.009Z,1570661568.009 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-10-09T22:52:48.012Z,1570661568.012 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-10-09T22:52:48.034Z,1570661568.034 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-10-09T22:52:48.042Z,1570661568.042 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-10-09T22:52:48.045Z,1570661568.045 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-10-09T22:52:48.047Z,1570661568.047 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-10-09T22:52:48.069Z,1570661568.069 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-10-09T22:52:48.130Z,1570661568.130 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T22:52:48.268Z,1570661568.268 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-10-09T22:52:48.290Z,1570661568.290 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:52:48.301Z,1570661568.301 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-10-09T22:52:48.303Z,1570661568.303 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-10-09T22:52:48.338Z,1570661568.338 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T22:52:48.349Z,1570661568.349 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-10-09T22:52:48.351Z,1570661568.351 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-10-09T22:52:48.374Z,1570661568.374 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-10-09T22:52:48.376Z,1570661568.376 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-10-09T22:52:48.398Z,1570661568.398 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-10-09T22:52:48.437Z,1570661568.437 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:52:48.474Z,1570661568.474 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:52:48.480Z,1570661568.480 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-10-09T22:52:48.543Z,1570661568.543 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-10-09T22:52:48.570Z,1570661568.570 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-10-09T22:52:48.598Z,1570661568.598 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-10-09T22:52:48.612Z,1570661568.612 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:52:48.655Z,1570661568.655 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T22:52:48.698Z,1570661568.698 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-10-09T22:52:48.774Z,1570661568.774 [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">Initiating homing sequence.</Syslog>
        
        <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>
        
        
        <Syslog Severity="Info">Transition to TerminalGuidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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">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>
        
        
        <Syslog Severity="Info">Transition to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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="Info">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>
        
        
        <Syslog Severity="Info">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <!-- 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>
        
    </Aggregate>
    
    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-10-09T22:52:48.775Z,1570661568.775 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T22:52:48.938Z,1570661568.938 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0043.lzma.bak
2019-10-09T22:52:48.938Z,1570661568.938 [DataOverHttps](INFO): SBD MOMSN=11867410
2019-10-09T22:52:55.075Z,1570661575.075 [NAL9602](INFO): NAL9602 initialized
2019-10-09T22:53:02.353Z,1570661582.353 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-10-09T22:53:02.354Z,1570661582.354 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191009155.0, -0.1,   0.0,1448.9,  0
2019-10-09T22:53:04.826Z,1570661584.826 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 5.000000 count
2019-10-09T22:53:04.827Z,1570661584.827 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.799999 degree
2019-10-09T22:53:04.828Z,1570661584.828 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.900002 degree
2019-10-09T22:53:04.885Z,1570661584.885 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 200.000000 meter
2019-10-09T22:53:23.170Z,1570661603.170 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-10-09T22:53:23.171Z,1570661603.171 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-10-09T22:53:23.172Z,1570661603.172 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second
2019-10-09T22:53:23.173Z,1570661603.173 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-10-09T22:53:26.183Z,1570661606.183 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:53:27.061Z,1570661607.061 [DataOverHttps](INFO): Sending 309 bytes from file Logs/20191009T221224/Express0046.lzma
2019-10-09T22:53:27.221Z,1570661607.221 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000010 kilometer
2019-10-09T22:53:27.221Z,1570661607.221 [CommandLine](IMPORTANT): got command run 
2019-10-09T22:53:27.223Z,1570661607.223 [CommandLine](IMPORTANT): Running 
2019-10-09T22:53:29.066Z,1570661609.066 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0046.lzma.bak
2019-10-09T22:53:29.067Z,1570661609.067 [DataOverHttps](INFO): SBD MOMSN=11867418
2019-10-09T22:53:29.288Z,1570661609.288 [Default] Stopped
2019-10-09T22:53:29.288Z,1570661609.288 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T22:53:29.288Z,1570661609.288 [Default:B.GoToSurface] Stopped
2019-10-09T22:53:29.288Z,1570661609.288 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:53:29.288Z,1570661609.288 [Default:CheckIn] Stopped
2019-10-09T22:53:29.288Z,1570661609.288 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T22:53:29.288Z,1570661609.288 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T22:53:29.288Z,1570661609.288 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming] Running Loop=1
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-10-09T22:53:29.289Z,1570661609.289 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-10-09T22:53:29.290Z,1570661609.290 [lineCaptureHoming:B] Running Loop=1
2019-10-09T22:53:29.291Z,1570661609.291 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T22:53:29.291Z,1570661609.291 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T22:53:29.291Z,1570661609.291 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T22:53:29.292Z,1570661609.292 [lineCaptureHoming:B] Stopped
2019-10-09T22:53:29.292Z,1570661609.292 [lineCaptureHoming:C] Running Loop=1
2019-10-09T22:53:29.292Z,1570661609.292 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T22:53:29.292Z,1570661609.292 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T22:53:29.293Z,1570661609.293 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T22:53:29.293Z,1570661609.293 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T22:53:29.428Z,1570661609.428 [lineCaptureHoming:C] Stopped
2019-10-09T22:53:29.428Z,1570661609.428 [lineCaptureHoming:D] Running Loop=1
2019-10-09T22:53:29.770Z,1570661609.770 [lineCaptureHoming:D] Stopped
2019-10-09T22:53:29.770Z,1570661609.770 [lineCaptureHoming:F] Running Loop=1
2019-10-09T22:53:30.187Z,1570661610.187 [lineCaptureHoming:F] Stopped
2019-10-09T22:53:30.187Z,1570661610.187 [lineCaptureHoming:G] Running Loop=1
2019-10-09T22:53:30.565Z,1570661610.565 [lineCaptureHoming:G] Stopped
2019-10-09T22:53:30.565Z,1570661610.565 [lineCaptureHoming:StartingMission] Running Loop=1
2019-10-09T22:53:30.565Z,1570661610.565 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-10-09T22:53:31.012Z,1570661611.012 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-10-09T22:53:31.012Z,1570661611.012 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-10-09T22:53:31.017Z,1570661611.017 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-10-09T22:53:31.017Z,1570661611.017 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-10-09T22:53:31.017Z,1570661611.017 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-10-09T22:53:31.017Z,1570661611.017 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:53:31.376Z,1570661611.376 [lineCaptureHoming:NeedComms] Running Loop=1
2019-10-09T22:53:31.376Z,1570661611.376 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-10-09T22:53:31.376Z,1570661611.376 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-10-09T22:53:31.376Z,1570661611.376 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:53:31.381Z,1570661611.381 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-10-09T22:53:31.381Z,1570661611.381 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-10-09T22:53:31.381Z,1570661611.381 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-10-09T22:53:31.382Z,1570661611.382 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:53:31.382Z,1570661611.382 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:53:31.382Z,1570661611.382 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-10-09T22:53:31.384Z,1570661611.384 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1570661132.000000 second since 1970/01/01T00:00:00Z 
2019-10-09T22:53:31.384Z,1570661611.384 [lineCaptureHoming:NeedComms:A] Stopped
2019-10-09T22:53:31.792Z,1570661611.792 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-10-09T22:53:32.223Z,1570661612.223 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T22:53:33.373Z,1570661613.373 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:53:33.430Z,1570661613.430 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:53:34.167Z,1570661614.167 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:53:34.573Z,1570661614.573 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:53:34.986Z,1570661614.986 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:53:35.390Z,1570661615.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225334.54*5E

2019-10-09T22:53:37.454Z,1570661617.454 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:53:38.211Z,1570661618.211 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:53:38.613Z,1570661618.613 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:53:39.014Z,1570661619.014 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:53:39.434Z,1570661619.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225338.59*5F

2019-10-09T22:53:41.496Z,1570661621.496 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:53:42.251Z,1570661622.251 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:53:42.665Z,1570661622.665 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:53:43.144Z,1570661623.144 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 56.400005 m
2019-10-09T22:53:43.145Z,1570661623.145 [Reporter](INFO): acoustic_contact_range 56.400005 m
2019-10-09T22:53:43.145Z,1570661623.145 [Reporter](INFO): TrackAcousticContact.heading_to_contact 0.510257 rad
2019-10-09T22:53:43.146Z,1570661623.146 [Reporter](INFO): DUSBL_Hydroid.xAngle 5.350000 arcdeg
2019-10-09T22:53:43.478Z,1570661623.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225342.63*5B

2019-10-09T22:53:47.132Z,1570661627.132 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:53:47.907Z,1570661627.907 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:53:48.313Z,1570661628.313 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:53:48.752Z,1570661628.752 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 4.740000 m
2019-10-09T22:53:48.753Z,1570661628.753 [Reporter](INFO): acoustic_contact_range 4.740000 m
2019-10-09T22:53:48.753Z,1570661628.753 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.230322 rad
2019-10-09T22:53:48.754Z,1570661628.754 [Reporter](INFO): DUSBL_Hydroid.xAngle -21.000001 arcdeg
2019-10-09T22:53:49.130Z,1570661629.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225348.28*5E

2019-10-09T22:53:52.794Z,1570661632.794 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:53:53.559Z,1570661633.559 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:53:53.981Z,1570661633.981 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:53:54.370Z,1570661634.370 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:53:54.786Z,1570661634.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.289219,225353.94*44

2019-10-09T22:53:56.852Z,1570661636.852 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:53:57.603Z,1570661637.603 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:53:58.004Z,1570661638.004 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:53:58.416Z,1570661638.416 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:53:58.833Z,1570661638.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225357.98*5B

2019-10-09T22:54:00.946Z,1570661640.946 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:01.672Z,1570661641.672 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:02.062Z,1570661642.062 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:02.491Z,1570661642.491 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 62.760002 m
2019-10-09T22:54:02.492Z,1570661642.492 [Reporter](INFO): acoustic_contact_range 62.760002 m
2019-10-09T22:54:02.492Z,1570661642.492 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.276707 rad
2019-10-09T22:54:02.509Z,1570661642.509 [Reporter](INFO): DUSBL_Hydroid.xAngle -5.550000 arcdeg
2019-10-09T22:54:02.878Z,1570661642.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225402.05*58

2019-10-09T22:54:06.525Z,1570661646.525 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:07.299Z,1570661647.299 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:07.709Z,1570661647.709 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:08.227Z,1570661648.227 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 74.700005 m
2019-10-09T22:54:08.228Z,1570661648.228 [Reporter](INFO): acoustic_contact_range 74.700005 m
2019-10-09T22:54:08.228Z,1570661648.228 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.347967 rad
2019-10-09T22:54:08.237Z,1570661648.237 [Reporter](INFO): DUSBL_Hydroid.xAngle -2.050000 arcdeg
2019-10-09T22:54:08.526Z,1570661648.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225407.68*56

2019-10-09T22:54:12.586Z,1570661652.586 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:13.359Z,1570661653.359 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:13.765Z,1570661653.765 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:14.166Z,1570661654.166 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:54:14.582Z,1570661654.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225413.73*59

2019-10-09T22:54:16.655Z,1570661656.655 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:17.399Z,1570661657.399 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:17.811Z,1570661657.811 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:18.608Z,1570661658.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225417.78*56

2019-10-09T22:54:20.687Z,1570661660.687 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:21.027Z,1570661661.027 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:54:24.706Z,1570661664.706 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:25.479Z,1570661665.479 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:25.879Z,1570661665.879 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:26.689Z,1570661666.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225425.86*56

2019-10-09T22:54:28.735Z,1570661668.735 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:29.114Z,1570661669.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T22:54:32.787Z,1570661672.787 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:33.555Z,1570661673.555 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:33.983Z,1570661673.983 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:34.366Z,1570661674.366 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:54:34.782Z,1570661674.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225433.93*55

2019-10-09T22:54:36.847Z,1570661676.847 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:37.593Z,1570661677.593 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:37.000Z,1570661678.000 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:38.493Z,1570661678.493 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 62.820007 m
2019-10-09T22:54:38.494Z,1570661678.494 [Reporter](INFO): acoustic_contact_range 62.820007 m
2019-10-09T22:54:38.495Z,1570661678.495 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.490427 rad
2019-10-09T22:54:38.495Z,1570661678.495 [Reporter](INFO): DUSBL_Hydroid.xAngle -5.800000 arcdeg
2019-10-09T22:54:38.818Z,1570661678.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225437.97*55

2019-10-09T22:54:42.905Z,1570661682.905 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:43.655Z,1570661683.655 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:44.061Z,1570661684.061 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:44.462Z,1570661684.462 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:54:44.882Z,1570661684.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225444.03*5C

2019-10-09T22:54:46.982Z,1570661686.982 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:47.699Z,1570661687.699 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:48.106Z,1570661688.106 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:48.563Z,1570661688.563 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 83.340004 m
2019-10-09T22:54:48.564Z,1570661688.564 [Reporter](INFO): acoustic_contact_range 83.340004 m
2019-10-09T22:54:48.564Z,1570661688.564 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.883435 rad
2019-10-09T22:54:48.581Z,1570661688.581 [Reporter](INFO): DUSBL_Hydroid.xAngle 21.600000 arcdeg
2019-10-09T22:54:48.922Z,1570661688.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225448.08*5B

2019-10-09T22:54:52.572Z,1570661692.572 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:53.351Z,1570661693.351 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:53.761Z,1570661693.761 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:54.156Z,1570661694.156 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:54:54.574Z,1570661694.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225453.73*5D

2019-10-09T22:54:56.650Z,1570661696.650 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:54:57.394Z,1570661697.394 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:54:57.800Z,1570661697.800 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:54:58.198Z,1570661698.198 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:54:58.614Z,1570661698.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225457.77*5D

2019-10-09T22:55:00.681Z,1570661700.681 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:01.429Z,1570661701.429 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:01.841Z,1570661701.841 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:02.236Z,1570661702.236 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:02.658Z,1570661702.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225501.81*56

2019-10-09T22:55:04.710Z,1570661704.710 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:05.475Z,1570661705.475 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:05.882Z,1570661705.882 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:06.282Z,1570661706.282 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:06.698Z,1570661706.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225505.85*56

2019-10-09T22:55:08.774Z,1570661708.774 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:09.515Z,1570661709.515 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:09.919Z,1570661709.919 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:10.327Z,1570661710.327 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:10.744Z,1570661710.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225509.89*56

2019-10-09T22:55:12.794Z,1570661712.794 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:13.562Z,1570661713.562 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:13.987Z,1570661713.987 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:14.422Z,1570661714.422 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 30.839998 m
2019-10-09T22:55:14.422Z,1570661714.422 [Reporter](INFO): acoustic_contact_range 30.839998 m
2019-10-09T22:55:14.423Z,1570661714.423 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.426796 rad
2019-10-09T22:55:14.423Z,1570661714.423 [Reporter](INFO): DUSBL_Hydroid.xAngle -1.150000 arcdeg
2019-10-09T22:55:14.782Z,1570661714.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225513.94*51

2019-10-09T22:55:18.457Z,1570661718.457 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:19.207Z,1570661719.207 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:19.613Z,1570661719.613 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:20.014Z,1570661720.014 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:20.434Z,1570661720.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225519.58*5B

2019-10-09T22:55:22.494Z,1570661722.494 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:23.255Z,1570661723.255 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:23.663Z,1570661723.663 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:24.052Z,1570661724.052 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:24.478Z,1570661724.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225523.63*5A

2019-10-09T22:55:26.542Z,1570661726.542 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:27.291Z,1570661727.291 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:27.697Z,1570661727.697 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:28.162Z,1570661728.162 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 58.680004 m
2019-10-09T22:55:28.162Z,1570661728.162 [Reporter](INFO): acoustic_contact_range 58.680004 m
2019-10-09T22:55:28.163Z,1570661728.163 [Reporter](INFO): TrackAcousticContact.heading_to_contact 1.531174 rad
2019-10-09T22:55:28.164Z,1570661728.164 [Reporter](INFO): DUSBL_Hydroid.xAngle -10.950000 arcdeg
2019-10-09T22:55:28.514Z,1570661728.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225527.67*5A

2019-10-09T22:55:28.920Z,1570661728.920 [NAL9602](INFO): SBD MO Status=0, MOMSN=9094, MT Status=0, MTMSN=0
2019-10-09T22:55:28.920Z,1570661728.920 [NAL9602](INFO): No messages in MT queue
2019-10-09T22:55:29.737Z,1570661729.737 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:55:30.973Z,1570661730.973 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-10-09T22:55:30.974Z,1570661730.974 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.41,  89.43,  92.93,  98.42
2019-10-09T22:55:32.176Z,1570661732.176 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:32.561Z,1570661732.561 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:55:32.973Z,1570661732.973 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:33.357Z,1570661733.357 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:33.752Z,1570661733.752 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:34.178Z,1570661734.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225533.35*58

2019-10-09T22:55:35.389Z,1570661735.389 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:55:36.260Z,1570661736.260 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:36.985Z,1570661736.985 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:37.393Z,1570661737.393 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:37.794Z,1570661737.794 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:38.214Z,1570661738.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225537.36*5F

2019-10-09T22:55:38.229Z,1570661738.229 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:55:40.290Z,1570661740.290 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:40.639Z,1570661740.639 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:55:41.027Z,1570661741.027 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T22:55:41.433Z,1570661741.433 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T22:55:41.834Z,1570661741.834 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T22:55:42.250Z,1570661742.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225541.40*5F

2019-10-09T22:55:43.473Z,1570661743.473 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:55:43.990Z,1570661743.990 [CommandLine](IMPORTANT): got command stop
2019-10-09T22:55:43.991Z,1570661743.991 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T22:55:44.328Z,1570661744.328 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T22:55:44.334Z,1570661744.334 [MissionManager](INFO): MissionManager is completed.
2019-10-09T22:55:44.334Z,1570661744.334 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-10-09T22:55:44.334Z,1570661744.334 [lineCaptureHoming] Stopped
2019-10-09T22:55:44.334Z,1570661744.334 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-10-09T22:55:44.334Z,1570661744.334 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-10-09T22:55:44.334Z,1570661744.334 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-10-09T22:55:44.334Z,1570661744.334 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:NeedComms] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:NeedComms:C] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:SurfaceComms] Stopped
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-10-09T22:55:44.335Z,1570661744.335 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:J.Mass] Stopped
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:StartingMission] Stopped
2019-10-09T22:55:44.336Z,1570661744.336 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-10-09T22:55:44.698Z,1570661744.698 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T22:55:44.698Z,1570661744.698 [Default] Running Loop=1
2019-10-09T22:55:44.698Z,1570661744.698 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T22:55:44.698Z,1570661744.698 [Default:B.GoToSurface] Running Loop=1
2019-10-09T22:55:44.698Z,1570661744.698 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T22:55:44.698Z,1570661744.698 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T22:55:44.699Z,1570661744.699 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T22:55:44.699Z,1570661744.699 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T22:55:44.699Z,1570661744.699 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T22:55:44.700Z,1570661744.700 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T22:55:44.700Z,1570661744.700 [Default:A.Wait] Running Loop=1
2019-10-09T22:55:44.700Z,1570661744.700 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:55:58.070Z,1570661758.070 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T22:55:58.070Z,1570661758.070 [Default:A.Wait] Stopped
2019-10-09T22:55:58.070Z,1570661758.070 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T22:55:58.447Z,1570661758.447 [Default:CheckIn] Running Loop=1
2019-10-09T22:55:58.447Z,1570661758.447 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T22:55:58.447Z,1570661758.447 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T22:56:00.053Z,1570661760.053 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:02.473Z,1570661762.473 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:05.717Z,1570661765.717 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:08.533Z,1570661768.533 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:11.765Z,1570661771.765 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:14.593Z,1570661774.593 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:17.825Z,1570661777.825 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:20.653Z,1570661780.653 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:23.473Z,1570661783.473 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:26.715Z,1570661786.715 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:29.537Z,1570661789.537 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:32.773Z,1570661792.773 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:35.597Z,1570661795.597 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:38.833Z,1570661798.833 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:41.667Z,1570661801.667 [NAL9602](DEBUG): Fix Requested
2019-10-09T22:56:42.052Z,1570661802.052 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225035.00,A,3648.16402,N,12147.27765,W,1.030,285.45,091019,,,A*7B
2019-10-09T22:56:42.055Z,1570661802.055 [NAL9602](INFO): GPS fix at 20191009T225035: (36.802734, -121.787961)
2019-10-09T22:56:42.117Z,1570661802.117 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T22:56:42.117Z,1570661802.117 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T22:56:48.736Z,1570661808.736 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D330000005D00000400370000000000000000151D80030C5669C010B1F83E6391C599B2539E2EF542FE55E0577F6A506E259725F46037023BF64BCD76
2019-10-09T22:56:48.745Z,1570661808.745 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 416826BC75EC
2019-10-09T22:56:48.745Z,1570661808.745 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T22:56:49.110Z,1570661809.110 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T22:56:49.452Z,1570661809.452 [Micromodem](INFO): Nmea in: $CADRQ,225649,1,9,0,64,1*40

2019-10-09T22:56:49.453Z,1570661809.453 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D330000005D00000400370000000000000000151D80030C5669C010B1F83E6391C599B2539E2EF542FE55E0577F6A506E259725F46037023BF64BCD76*00

2019-10-09T22:56:49.862Z,1570661809.862 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T22:56:50.263Z,1570661810.263 [Micromodem](INFO): Nmea in: $CADRQ,225649,1,9,0,64,2*43

2019-10-09T22:56:50.263Z,1570661810.263 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,416826BC75EC*7B

2019-10-09T22:56:50.344Z,1570661810.344 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00, 101.91,   0.00,  94.92,  98.92
2019-10-09T22:56:50.654Z,1570661810.654 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,6*45

2019-10-09T22:56:51.058Z,1570661811.058 [Micromodem](INFO): Nmea in: $CATXP,70*75

2019-10-09T22:56:53.486Z,1570661813.486 [Micromodem](INFO): Nmea in: $CATXF,70*63

2019-10-09T22:56:54.699Z,1570661814.699 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,225650.610991,3,0,200,4000,10000,1,1,9,1,2,2,3,70*7F

2019-10-09T22:56:55.970Z,1570661815.970 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-10-09T22:56:55.970Z,1570661815.970 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19100916021573,35.0, -0.1,   .9,  0
2019-10-09T22:56:56.311Z,1570661816.311 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2019-10-09T22:56:56.722Z,1570661816.722 [Micromodem](INFO): Nmea in: $CACST,6,1,20191009225655.148626,06,5154,37,0123,0150,07,00,00,00,00,5,-01,-01,2,3,1,0,150,-14.5,5.00,00,-2.00,-01,1.27,79,10000,4000*70

2019-10-09T22:57:00.236Z,1570661820.236 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191009T221224/Courier0051.lzma
2019-10-09T22:57:02.242Z,1570661822.242 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0051.lzma.bak
2019-10-09T22:57:02.243Z,1570661822.243 [DataOverHttps](INFO): SBD MOMSN=11867433
2019-10-09T22:57:19.339Z,1570661839.339 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T22:57:26.137Z,1570661846.137 [DataOverHttps](INFO): Sending 287 bytes from file Logs/20191009T221224/Express0049.lzma
2019-10-09T22:57:28.142Z,1570661848.142 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0049.lzma.bak
2019-10-09T22:57:28.142Z,1570661848.142 [DataOverHttps](INFO): SBD MOMSN=11867439
2019-10-09T22:57:30.890Z,1570661850.890 [CommandLine](IMPORTANT): got command show variable poweronly
2019-10-09T22:57:30.902Z,1570661850.902 [CommandLine](IMPORTANT): PowerOnly.loadControl (none)
2019-10-09T22:57:30.992Z,1570661850.992 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup (bool)
2019-10-09T22:57:30.997Z,1570661850.997 [CommandLine](IMPORTANT): PowerOnly.simulateHardware (bool)
2019-10-09T22:57:30.997Z,1570661850.997 [CommandLine](IMPORTANT): PowerOnly.sampleTime (second)
2019-10-09T22:57:31.024Z,1570661851.024 [CommandLine](IMPORTANT): PowerOnly.samplePowerOnly (bool)
2019-10-09T22:57:31.286Z,1570661851.286 [CommandLine](IMPORTANT): PowerOnly.component_voltage (volt)
2019-10-09T22:57:31.286Z,1570661851.286 [CommandLine](IMPORTANT): PowerOnly.component_avgVoltage (volt)
2019-10-09T22:57:31.287Z,1570661851.287 [CommandLine](IMPORTANT): PowerOnly.component_current (milliampere)
2019-10-09T22:57:31.287Z,1570661851.287 [CommandLine](IMPORTANT): PowerOnly.component_avgCurrent (milliampere)
2019-10-09T22:57:39.027Z,1570661859.027 [CommandLine](IMPORTANT): got command get PowerOnly.loadAtStartup
2019-10-09T22:57:39.027Z,1570661859.027 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup 1 bool
2019-10-09T22:57:54.082Z,1570661874.082 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T22:57:55.221Z,1570661875.221 [DataOverHttps](INFO): Sending 470 bytes from file Logs/20191009T221224/Express0052.lzma
2019-10-09T22:57:57.226Z,1570661877.226 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0052.lzma.bak
2019-10-09T22:57:57.227Z,1570661877.227 [DataOverHttps](INFO): SBD MOMSN=11867451
2019-10-09T22:58:04.662Z,1570661884.662 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T22:58:04.663Z,1570661884.663 [Default:CheckIn:C.Wait] Running Loop=1
2019-10-09T22:58:04.663Z,1570661884.663 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-10-09T22:58:28.178Z,1570661908.178 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-10-09T23:01:00.731Z,1570662060.731 [CommandLine](IMPORTANT): got command maintain control VerticalControl.massPositionAction 3.000000 centimeter
2019-10-09T23:01:00.732Z,1570662060.732 [ComponentRegistry](DEBUG): SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.
2019-10-09T23:01:00.916Z,1570662060.916 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-10-09T23:02:24.761Z,1570662144.761 [CommandLine](IMPORTANT): got command maintain clear
2019-10-09T23:02:25.048Z,1570662145.048 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,Depth_Keller,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-10-09T23:02:37.338Z,1570662157.338 [CommandLine](IMPORTANT): got command show variable poweronly
2019-10-09T23:02:37.350Z,1570662157.350 [CommandLine](IMPORTANT): PowerOnly.loadControl (none)
2019-10-09T23:02:37.396Z,1570662157.396 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup (bool)
2019-10-09T23:02:37.396Z,1570662157.396 [CommandLine](IMPORTANT): PowerOnly.simulateHardware (bool)
2019-10-09T23:02:37.396Z,1570662157.396 [CommandLine](IMPORTANT): PowerOnly.sampleTime (second)
2019-10-09T23:02:37.433Z,1570662157.433 [CommandLine](IMPORTANT): PowerOnly.samplePowerOnly (bool)
2019-10-09T23:02:37.546Z,1570662157.546 [CommandLine](IMPORTANT): PowerOnly.component_voltage (volt)
2019-10-09T23:02:37.546Z,1570662157.546 [CommandLine](IMPORTANT): PowerOnly.component_avgVoltage (volt)
2019-10-09T23:02:37.547Z,1570662157.547 [CommandLine](IMPORTANT): PowerOnly.component_current (milliampere)
2019-10-09T23:02:37.547Z,1570662157.547 [CommandLine](IMPORTANT): PowerOnly.component_avgCurrent (milliampere)
2019-10-09T23:03:05.052Z,1570662185.052 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-10-09T23:03:05.052Z,1570662185.052 [Default:CheckIn:C.Wait] Stopped
2019-10-09T23:03:05.052Z,1570662185.052 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T23:03:05.069Z,1570662185.069 [Default:CheckIn:D] Running Loop=1
2019-10-09T23:03:05.453Z,1570662185.453 [Default:CheckIn:D] Stopped
2019-10-09T23:03:05.453Z,1570662185.453 [Default:CheckIn:E] Running Loop=1
2019-10-09T23:03:05.872Z,1570662185.872 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 7.345918 min 
2019-10-09T23:03:05.872Z,1570662185.872 [Default:CheckIn:E] Stopped
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn] Stopped
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn](INFO): Running loop #2
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn] Running Loop=2
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T23:03:05.881Z,1570662185.881 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T23:03:07.462Z,1570662187.462 [NAL9602](DEBUG): Fix Requested
2019-10-09T23:03:07.848Z,1570662187.848 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,225702.00,A,3648.16342,N,12147.28239,W,0.253,338.01,091019,,,A*79
2019-10-09T23:03:07.854Z,1570662187.854 [NAL9602](INFO): GPS fix at 20191009T225702: (36.802724, -121.788040)
2019-10-09T23:03:07.910Z,1570662187.910 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T23:03:07.910Z,1570662187.910 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T23:03:12.680Z,1570662192.680 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191009T221224/Courier0054.lzma
2019-10-09T23:03:13.871Z,1570662193.871 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D360000005D00000400370000000000000000151D80030C5669C010B1F841EEF5C68EF4EF2B0E61AF9D894A6357FD4B82DBE86CE631B08FC6D3B7D5DE
2019-10-09T23:03:13.871Z,1570662193.871 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 6427CE4732D300
2019-10-09T23:03:13.872Z,1570662193.872 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T23:03:14.087Z,1570662194.087 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T23:03:14.434Z,1570662194.434 [Micromodem](INFO): Nmea in: $CADRQ,230314,1,9,0,64,1*49

2019-10-09T23:03:14.435Z,1570662194.435 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D360000005D00000400370000000000000000151D80030C5669C010B1F841EEF5C68EF4EF2B0E61AF9D894A6357FD4B82DBE86CE631B08FC6D3B7D5DE*07

2019-10-09T23:03:14.691Z,1570662194.691 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0054.lzma.bak
2019-10-09T23:03:14.692Z,1570662194.692 [DataOverHttps](IMPORTANT): SBD MOMSN=11867556, MTMSN=20191009T225707
2019-10-09T23:03:14.839Z,1570662194.839 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T23:03:15.247Z,1570662195.247 [Micromodem](INFO): Nmea in: $CADRQ,230314,1,9,0,64,2*4A

2019-10-09T23:03:15.247Z,1570662195.247 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,6427CE4732D300*05

2019-10-09T23:03:15.646Z,1570662195.646 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,7*44

2019-10-09T23:03:16.054Z,1570662196.054 [Micromodem](INFO): Nmea in: $CATXP,71*74

2019-10-09T23:03:18.485Z,1570662198.485 [Micromodem](INFO): Nmea in: $CATXF,71*62

2019-10-09T23:03:19.691Z,1570662199.691 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,230315.598706,3,0,200,4000,10000,1,1,9,1,2,2,3,71*7D

2019-10-09T23:03:26.981Z,1570662206.981 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" 427qo 1 3
2019-10-09T23:03:27.050Z,1570662207.050 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" 427qo 1 3.000000
2019-10-09T23:03:27.050Z,1570662207.050 [CommandLine](IMPORTANT): Scheduling command #1 of 3 with id=427qo
2019-10-09T23:03:27.051Z,1570662207.051 [CommandLine](IMPORTANT): Scheduled #18 (#1 of 3 with id='427qo'): "load Engineering/lineCaptureHomingUpdate.xml;set lineCaptureHoming.Repeat 5 count;set lineCaptureHoming.DockLat 36.8 degree;set lineCaptureHoming.DockLon -121.9 degree;set lineCaptureHoming.CameraRange 200 meter" ASAP
2019-10-09T23:03:28.987Z,1570662208.987 [DataOverHttps](IMPORTANT): SBD MTMSN=20191009T225721
2019-10-09T23:03:36.691Z,1570662216.691 [DataOverHttps](INFO): Sending 494 bytes from file Logs/20191009T221224/Express0055.lzma
2019-10-09T23:03:36.695Z,1570662216.695 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 427qo 2 3
2019-10-09T23:03:36.704Z,1570662216.704 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" 427qo 2 3.000000
2019-10-09T23:03:36.704Z,1570662216.704 [CommandLine](IMPORTANT): Scheduling command #2 of 3 with id=427qo
2019-10-09T23:03:36.705Z,1570662216.705 [CommandLine](IMPORTANT): Scheduled #19 (#2 of 3 with id='427qo'): "set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter;set lineCaptureHoming.TrackingUpdatePeriod 4 second;set lineCaptureHoming.Speed 0 meter_per_second" ASAP
2019-10-09T23:03:38.695Z,1570662218.695 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0055.lzma.bak
2019-10-09T23:03:38.696Z,1570662218.696 [DataOverHttps](IMPORTANT): SBD MOMSN=11867561, MTMSN=20191009T225731
2019-10-09T23:03:42.340Z,1570662222.340 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,   +14,   -24,    +3,A
2019-10-09T23:03:52.140Z,1570662232.140 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 427qo 3 3
2019-10-09T23:03:52.217Z,1570662232.217 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " 427qo 3 3.000000
2019-10-09T23:03:52.218Z,1570662232.218 [CommandLine](IMPORTANT): Scheduling command #3 of 3 with id=427qo
2019-10-09T23:03:52.219Z,1570662232.219 [CommandLine](IMPORTANT): Scheduled #20 (#3 of 3 with id='427qo'): "set lineCaptureHoming.MinOffshore 0.00001 kilometer;run " ASAP
2019-10-09T23:03:52.516Z,1570662232.516 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T23:03:52.517Z,1570662232.517 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T23:03:52.748Z,1570662232.748 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-10-09T23:03:52.758Z,1570662232.758 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-10-09T23:03:52.760Z,1570662232.760 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-10-09T23:03:52.762Z,1570662232.762 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-10-09T23:03:52.765Z,1570662232.765 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-10-09T23:03:52.767Z,1570662232.767 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-10-09T23:03:52.769Z,1570662232.769 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-10-09T23:03:52.771Z,1570662232.771 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-10-09T23:03:52.773Z,1570662232.773 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 25.000000 m
2019-10-09T23:03:52.776Z,1570662232.776 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 4.000000 m
2019-10-09T23:03:52.778Z,1570662232.778 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0.000000 bool
2019-10-09T23:03:52.780Z,1570662232.780 [MissionManager](INFO): DefineArg lineCaptureHoming.AcousticContactTimeout = 15.000000 min
2019-10-09T23:03:52.782Z,1570662232.782 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-10-09T23:03:52.785Z,1570662232.785 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-10-09T23:03:52.787Z,1570662232.787 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTimeout = 12.000000 min
2019-10-09T23:03:52.789Z,1570662232.789 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-10-09T23:03:52.791Z,1570662232.791 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = nan min
2019-10-09T23:03:52.794Z,1570662232.794 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 30.000000 m
2019-10-09T23:03:52.796Z,1570662232.796 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-10-09T23:03:52.856Z,1570662232.856 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-10-09T23:03:52.875Z,1570662232.875 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 0.100000 s
2019-10-09T23:03:52.889Z,1570662232.889 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-10-09T23:03:52.892Z,1570662232.892 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-10-09T23:03:52.954Z,1570662232.954 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.000000 m
2019-10-09T23:03:52.989Z,1570662232.989 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-10-09T23:03:52.992Z,1570662232.992 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-10-09T23:03:53.003Z,1570662233.003 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-10-09T23:03:53.005Z,1570662233.005 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-10-09T23:03:53.008Z,1570662233.008 [MissionManager](INFO): DefineOutput lineCaptureHoming.CameraRequested = 0 bool
2019-10-09T23:03:53.019Z,1570662233.019 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-10-09T23:03:53.030Z,1570662233.030 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-10-09T23:03:53.032Z,1570662233.032 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-10-09T23:03:53.043Z,1570662233.043 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-10-09T23:03:53.047Z,1570662233.047 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-10-09T23:03:53.047Z,1570662233.047 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-10-09T23:03:53.113Z,1570662233.113 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-10-09T23:03:53.115Z,1570662233.115 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-10-09T23:03:53.122Z,1570662233.122 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-10-09T23:03:53.123Z,1570662233.123 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-10-09T23:03:53.132Z,1570662233.132 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-10-09T23:03:53.160Z,1570662233.160 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-10-09T23:03:53.197Z,1570662233.197 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-10-09T23:03:53.368Z,1570662233.368 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-10-09T23:03:53.378Z,1570662233.378 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-10-09T23:03:53.389Z,1570662233.389 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-10-09T23:03:53.391Z,1570662233.391 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-10-09T23:03:53.401Z,1570662233.401 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-10-09T23:03:53.410Z,1570662233.410 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-10-09T23:03:53.412Z,1570662233.412 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-10-09T23:03:53.446Z,1570662233.446 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-10-09T23:03:53.554Z,1570662233.554 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-10-09T23:03:53.567Z,1570662233.567 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T23:03:53.578Z,1570662233.578 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-10-09T23:03:53.580Z,1570662233.580 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-10-09T23:03:53.650Z,1570662233.650 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-10-09T23:03:53.669Z,1570662233.669 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-10-09T23:03:53.672Z,1570662233.672 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-10-09T23:03:53.725Z,1570662233.725 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-10-09T23:03:53.727Z,1570662233.727 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-10-09T23:03:53.755Z,1570662233.755 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-10-09T23:03:53.786Z,1570662233.786 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T23:03:53.812Z,1570662233.812 [lineCaptureHoming:Lap:TerminalGuidance:B.Point](DEBUG): Construct.
2019-10-09T23:03:53.848Z,1570662233.848 [lineCaptureHoming:Lap:TerminalGuidance:D.Wait](DEBUG): Construct Wait.
2019-10-09T23:03:53.870Z,1570662233.870 [lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-10-09T23:03:53.879Z,1570662233.879 [lineCaptureHoming:Lap:Dock:C.Wait](DEBUG): Construct Wait.
2019-10-09T23:03:53.888Z,1570662233.888 [lineCaptureHoming:Lap:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-10-09T23:03:53.931Z,1570662233.931 [lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint](DEBUG): Construct Waypoint.
2019-10-09T23:03:53.965Z,1570662233.965 [lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait](DEBUG): Construct Wait.
2019-10-09T23:03:54.056Z,1570662234.056 [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">Initiating homing sequence.</Syslog>
        
        <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>
        
        
        <Syslog Severity="Info">Transition to TerminalGuidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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">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>
        
        
        <Syslog Severity="Info">Transition to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <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="Info">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>
        
        
        <Syslog Severity="Info">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
        
        <!-- 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>
        
    </Aggregate>
    
    <Call Id="PhoneHome" RefId="SurfaceComms"/>

</Mission>


2019-10-09T23:03:54.069Z,1570662234.069 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHomingUpdate.xml
2019-10-09T23:04:06.006Z,1570662246.006 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Repeat 5.000000 count
2019-10-09T23:04:06.006Z,1570662246.006 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.799999 degree
2019-10-09T23:04:06.007Z,1570662246.007 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.900002 degree
2019-10-09T23:04:06.008Z,1570662246.008 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 200.000000 meter
2019-10-09T23:04:06.165Z,1570662246.165 [DataOverHttps](INFO): Sending 315 bytes from file Logs/20191009T221224/Express0058.lzma
2019-10-09T23:04:08.171Z,1570662248.171 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0058.lzma.bak
2019-10-09T23:04:08.171Z,1570662248.171 [DataOverHttps](INFO): SBD MOMSN=11867590
2019-10-09T23:04:19.075Z,1570662259.075 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T23:04:19.598Z,1570662259.598 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTimeout 1.000000 minute
2019-10-09T23:04:19.599Z,1570662259.599 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 0.000000 meter
2019-10-09T23:04:19.600Z,1570662259.600 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 4.000000 second
2019-10-09T23:04:19.601Z,1570662259.601 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.000000 meter_per_second
2019-10-09T23:04:25.200Z,1570662265.200 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 0.000010 kilometer
2019-10-09T23:04:25.201Z,1570662265.201 [CommandLine](IMPORTANT): got command run 
2019-10-09T23:04:25.203Z,1570662265.203 [CommandLine](IMPORTANT): Running 
2019-10-09T23:04:26.435Z,1570662266.435 [Default] Stopped
2019-10-09T23:04:26.435Z,1570662266.435 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T23:04:26.435Z,1570662266.435 [Default:B.GoToSurface] Stopped
2019-10-09T23:04:26.435Z,1570662266.435 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T23:04:26.435Z,1570662266.435 [Default:CheckIn] Stopped
2019-10-09T23:04:26.436Z,1570662266.436 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T23:04:26.436Z,1570662266.436 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T23:04:26.436Z,1570662266.436 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-10-09T23:04:26.436Z,1570662266.436 [lineCaptureHoming] Running Loop=1
2019-10-09T23:04:26.436Z,1570662266.436 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-10-09T23:04:26.436Z,1570662266.436 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T23:04:26.473Z,1570662266.473 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-10-09T23:04:26.474Z,1570662266.474 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T23:04:26.474Z,1570662266.474 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-10-09T23:04:26.474Z,1570662266.474 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T23:04:26.474Z,1570662266.474 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-10-09T23:04:26.474Z,1570662266.474 [lineCaptureHoming:B] Running Loop=1
2019-10-09T23:04:26.475Z,1570662266.475 [lineCaptureHoming:J.Mass] Running Loop=1
2019-10-09T23:04:26.475Z,1570662266.475 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-10-09T23:04:26.475Z,1570662266.475 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-10-09T23:04:26.476Z,1570662266.476 [lineCaptureHoming:B] Stopped
2019-10-09T23:04:26.476Z,1570662266.476 [lineCaptureHoming:C] Running Loop=1
2019-10-09T23:04:26.476Z,1570662266.476 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-10-09T23:04:26.476Z,1570662266.476 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-10-09T23:04:26.503Z,1570662266.503 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-10-09T23:04:26.504Z,1570662266.504 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-10-09T23:04:26.530Z,1570662266.530 [Reporter](INFO): HorizontalControl.rudderAngleAction -0.261799 rad
2019-10-09T23:04:26.646Z,1570662266.646 [lineCaptureHoming:C] Stopped
2019-10-09T23:04:26.646Z,1570662266.646 [lineCaptureHoming:D] Running Loop=1
2019-10-09T23:04:27.064Z,1570662267.064 [lineCaptureHoming:D] Stopped
2019-10-09T23:04:27.064Z,1570662267.064 [lineCaptureHoming:F] Running Loop=1
2019-10-09T23:04:27.381Z,1570662267.381 [ThrusterServo](FAULT): getVelocity uart error serial timeout
2019-10-09T23:04:27.381Z,1570662267.381 [ThrusterServo](FAULT): Thruster uart error: serial timeout
2019-10-09T23:04:27.381Z,1570662267.381 [ThrusterServo] Communications Fault, FailCount= 1
2019-10-09T23:04:27.381Z,1570662267.381 [ThrusterServo](ERROR): Communications Fault
2019-10-09T23:04:27.385Z,1570662267.385 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2019-10-09T23:04:27.386Z,1570662267.386 [Reporter](INFO): HorizontalControl.rudderAngleAction 0.000000 rad
2019-10-09T23:04:27.542Z,1570662267.542 [lineCaptureHoming:F] Stopped
2019-10-09T23:04:27.543Z,1570662267.543 [lineCaptureHoming:G] Running Loop=1
2019-10-09T23:04:27.622Z,1570662267.622 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-10-09T23:04:27.622Z,1570662267.622 [ThrusterServo](INFO): Powering down
2019-10-09T23:04:27.854Z,1570662267.854 [lineCaptureHoming:G] Stopped
2019-10-09T23:04:27.854Z,1570662267.854 [lineCaptureHoming:StartingMission] Running Loop=1
2019-10-09T23:04:27.854Z,1570662267.854 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-10-09T23:04:28.263Z,1570662268.263 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-10-09T23:04:28.263Z,1570662268.263 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-10-09T23:04:28.263Z,1570662268.263 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-10-09T23:04:28.263Z,1570662268.263 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-10-09T23:04:28.263Z,1570662268.263 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-10-09T23:04:28.263Z,1570662268.263 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-10-09T23:04:28.509Z,1570662268.509 [CBIT](INFO): Clearing failed state for component ThrusterServo
2019-10-09T23:04:28.509Z,1570662268.509 [ThrusterServo] No Fault, FailCount= 1
2019-10-09T23:04:28.647Z,1570662268.647 [lineCaptureHoming:NeedComms] Running Loop=1
2019-10-09T23:04:28.647Z,1570662268.647 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-10-09T23:04:28.647Z,1570662268.647 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-10-09T23:04:28.647Z,1570662268.647 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T23:04:28.648Z,1570662268.648 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-10-09T23:04:28.648Z,1570662268.648 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-10-09T23:04:28.649Z,1570662268.649 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-10-09T23:04:28.649Z,1570662268.649 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T23:04:28.650Z,1570662268.650 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T23:04:28.650Z,1570662268.650 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-10-09T23:04:28.651Z,1570662268.651 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1570661822.000000 second since 1970/01/01T00:00:00Z 
2019-10-09T23:04:28.651Z,1570662268.651 [lineCaptureHoming:NeedComms:A] Stopped
2019-10-09T23:04:28.673Z,1570662268.673 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-10-09T23:04:28.681Z,1570662268.681 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-10-09T23:04:29.062Z,1570662269.062 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-10-09T23:04:29.464Z,1570662269.464 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-10-09T23:04:30.670Z,1570662270.670 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:31.447Z,1570662271.447 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:04:31.869Z,1570662271.869 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:04:32.433Z,1570662272.433 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 72.180000 m
2019-10-09T23:04:32.434Z,1570662272.434 [Reporter](INFO): acoustic_contact_range 72.180000 m
2019-10-09T23:04:32.434Z,1570662272.434 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.946448 rad
2019-10-09T23:04:32.435Z,1570662272.435 [Reporter](INFO): DUSBL_Hydroid.xAngle 13.750000 arcdeg
2019-10-09T23:04:32.678Z,1570662272.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230431.82*53

2019-10-09T23:04:36.370Z,1570662276.370 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:37.099Z,1570662277.099 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:04:37.521Z,1570662277.521 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:04:37.949Z,1570662277.949 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:04:38.362Z,1570662278.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230437.48*53

2019-10-09T23:04:38.780Z,1570662278.780 [DataOverHttps](INFO): Sending 300 bytes from file Logs/20191009T221224/Express0061.lzma
2019-10-09T23:04:40.381Z,1570662280.381 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:40.786Z,1570662280.786 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0061.lzma.bak
2019-10-09T23:04:40.787Z,1570662280.787 [DataOverHttps](INFO): SBD MOMSN=11867596
2019-10-09T23:04:41.141Z,1570662281.141 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:04:41.546Z,1570662281.546 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:04:41.972Z,1570662281.972 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:04:42.366Z,1570662282.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230441.52*59

2019-10-09T23:04:44.431Z,1570662284.431 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:45.181Z,1570662285.181 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:04:45.587Z,1570662285.587 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:04:45.984Z,1570662285.984 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:04:46.406Z,1570662286.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230445.56*59

2019-10-09T23:04:48.459Z,1570662288.459 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:49.224Z,1570662289.224 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:04:49.665Z,1570662289.665 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:04:50.030Z,1570662290.030 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:04:50.457Z,1570662290.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230449.60*50

2019-10-09T23:04:52.501Z,1570662292.501 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:53.276Z,1570662293.276 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:04:53.701Z,1570662293.701 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:04:54.488Z,1570662294.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230453.65*5E

2019-10-09T23:04:56.535Z,1570662296.535 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:04:56.895Z,1570662296.895 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T23:05:00.594Z,1570662300.594 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:01.342Z,1570662301.342 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:01.805Z,1570662301.805 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:02.354Z,1570662302.354 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 145.740005 m
2019-10-09T23:05:02.354Z,1570662302.354 [Reporter](INFO): acoustic_contact_range 145.740005 m
2019-10-09T23:05:02.355Z,1570662302.355 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.808377 rad
2019-10-09T23:05:02.356Z,1570662302.356 [Reporter](INFO): DUSBL_Hydroid.xAngle 27.350000 arcdeg
2019-10-09T23:05:02.574Z,1570662302.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230501.72*5E

2019-10-09T23:05:06.683Z,1570662306.683 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:07.406Z,1570662307.406 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:07.816Z,1570662307.816 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:08.209Z,1570662308.209 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:08.630Z,1570662308.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230507.78*52

2019-10-09T23:05:10.744Z,1570662310.744 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:11.451Z,1570662311.451 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:11.857Z,1570662311.857 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:12.286Z,1570662312.286 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:12.678Z,1570662312.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230511.83*51

2019-10-09T23:05:15.127Z,1570662315.127 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:15.885Z,1570662315.885 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:16.291Z,1570662316.291 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:16.692Z,1570662316.692 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:17.122Z,1570662317.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230516.26*59

2019-10-09T23:05:19.167Z,1570662319.167 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:19.950Z,1570662319.950 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:20.330Z,1570662320.330 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:20.772Z,1570662320.772 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 37.200001 m
2019-10-09T23:05:20.773Z,1570662320.773 [Reporter](INFO): acoustic_contact_range 37.200001 m
2019-10-09T23:05:20.774Z,1570662320.774 [Reporter](INFO): TrackAcousticContact.heading_to_contact 5.171506 rad
2019-10-09T23:05:20.774Z,1570662320.774 [Reporter](INFO): DUSBL_Hydroid.xAngle 10.150000 arcdeg
2019-10-09T23:05:21.157Z,1570662321.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230520.33*58

2019-10-09T23:05:24.810Z,1570662324.810 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:25.586Z,1570662325.586 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:25.987Z,1570662325.987 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:26.388Z,1570662326.388 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:26.814Z,1570662326.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230525.96*52

2019-10-09T23:05:28.853Z,1570662328.853 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:29.631Z,1570662329.631 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:30.026Z,1570662330.026 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:30.486Z,1570662330.486 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 62.220009 m
2019-10-09T23:05:30.487Z,1570662330.487 [Reporter](INFO): acoustic_contact_range 62.220009 m
2019-10-09T23:05:30.487Z,1570662330.487 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.865597 rad
2019-10-09T23:05:30.488Z,1570662330.488 [Reporter](INFO): DUSBL_Hydroid.xAngle 17.800001 arcdeg
2019-10-09T23:05:30.854Z,1570662330.854 [Micromodem](INFO): Nmea in: $SNTTA,,,0.466531,,230530.01*45

2019-10-09T23:05:34.500Z,1570662334.500 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:35.275Z,1570662335.275 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:35.683Z,1570662335.683 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:36.497Z,1570662336.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230535.65*5F

2019-10-09T23:05:38.545Z,1570662338.545 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:42.578Z,1570662342.578 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:43.357Z,1570662343.357 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:43.770Z,1570662343.770 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:44.248Z,1570662344.248 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 18.359997 m
2019-10-09T23:05:44.273Z,1570662344.273 [Reporter](INFO): acoustic_contact_range 18.359997 m
2019-10-09T23:05:44.274Z,1570662344.274 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.842490 rad
2019-10-09T23:05:44.274Z,1570662344.274 [Reporter](INFO): DUSBL_Hydroid.xAngle 19.100001 arcdeg
2019-10-09T23:05:44.622Z,1570662344.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230543.73*59

2019-10-09T23:05:48.261Z,1570662348.261 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:49.011Z,1570662349.011 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:49.419Z,1570662349.419 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:49.820Z,1570662349.820 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:50.238Z,1570662350.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230549.39*5D

2019-10-09T23:05:52.299Z,1570662352.299 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:53.053Z,1570662353.053 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:53.459Z,1570662353.459 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:53.856Z,1570662353.856 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:54.282Z,1570662354.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230553.43*5B

2019-10-09T23:05:56.345Z,1570662356.345 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:05:57.096Z,1570662357.096 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:05:57.529Z,1570662357.529 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:05:57.902Z,1570662357.902 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:05:58.330Z,1570662358.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230557.47*5B

2019-10-09T23:06:00.374Z,1570662360.374 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:01.148Z,1570662361.148 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:01.550Z,1570662361.550 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:01.965Z,1570662361.965 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:06:02.370Z,1570662362.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230601.52*5F

2019-10-09T23:06:04.414Z,1570662364.414 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:05.175Z,1570662365.175 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:05.576Z,1570662365.576 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:05.986Z,1570662365.986 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:06:06.398Z,1570662366.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230605.55*5C

2019-10-09T23:06:08.446Z,1570662368.446 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:09.213Z,1570662369.213 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:09.625Z,1570662369.625 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:10.431Z,1570662370.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230609.59*5C

2019-10-09T23:06:12.494Z,1570662372.494 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:12.848Z,1570662372.848 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T23:06:16.518Z,1570662376.518 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:17.293Z,1570662377.293 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:17.710Z,1570662377.710 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:18.108Z,1570662378.108 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:06:18.554Z,1570662378.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230617.67*5E

2019-10-09T23:06:20.613Z,1570662380.613 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:21.367Z,1570662381.367 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:21.769Z,1570662381.769 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:22.579Z,1570662382.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230621.74*59

2019-10-09T23:06:24.629Z,1570662384.629 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:25.002Z,1570662385.002 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T23:06:28.671Z,1570662388.671 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:29.447Z,1570662389.447 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:29.853Z,1570662389.853 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:30.248Z,1570662390.248 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:06:30.670Z,1570662390.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230629.83*59

2019-10-09T23:06:32.714Z,1570662392.714 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:33.487Z,1570662393.487 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:33.893Z,1570662393.893 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:34.369Z,1570662394.369 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 23.400002 m
2019-10-09T23:06:34.370Z,1570662394.370 [Reporter](INFO): acoustic_contact_range 23.400002 m
2019-10-09T23:06:34.370Z,1570662394.370 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.764585 rad
2019-10-09T23:06:34.371Z,1570662394.371 [Reporter](INFO): DUSBL_Hydroid.xAngle 31.049999 arcdeg
2019-10-09T23:06:34.722Z,1570662394.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230633.86*57

2019-10-09T23:06:34.725Z,1570662394.725 [NAL9602](INFO): SBD MO Status=2, MOMSN=9095, MT Status=2, MTMSN=0
2019-10-09T23:06:34.725Z,1570662394.725 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-10-09T23:06:38.365Z,1570662398.365 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:39.143Z,1570662399.143 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:39.549Z,1570662399.549 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:40.049Z,1570662400.049 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 62.220009 m
2019-10-09T23:06:40.050Z,1570662400.050 [Reporter](INFO): acoustic_contact_range 62.220009 m
2019-10-09T23:06:40.051Z,1570662400.051 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.826839 rad
2019-10-09T23:06:40.051Z,1570662400.051 [Reporter](INFO): DUSBL_Hydroid.xAngle 20.950000 arcdeg
2019-10-09T23:06:40.372Z,1570662400.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230639.52*54

2019-10-09T23:06:44.038Z,1570662404.038 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:44.793Z,1570662404.793 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:45.213Z,1570662405.213 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:45.614Z,1570662405.614 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:06:46.018Z,1570662406.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230645.17*5E

2019-10-09T23:06:48.095Z,1570662408.095 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:48.838Z,1570662408.838 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:49.243Z,1570662409.243 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:49.717Z,1570662409.717 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 138.720001 m
2019-10-09T23:06:49.718Z,1570662409.718 [Reporter](INFO): acoustic_contact_range 138.720001 m
2019-10-09T23:06:49.718Z,1570662409.718 [Reporter](INFO): TrackAcousticContact.heading_to_contact 0.888042 rad
2019-10-09T23:06:49.719Z,1570662409.719 [Reporter](INFO): DUSBL_Hydroid.xAngle 2.550000 arcdeg
2019-10-09T23:06:50.062Z,1570662410.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230649.22*54

2019-10-09T23:06:53.718Z,1570662413.718 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:54.515Z,1570662414.515 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:06:54.908Z,1570662414.908 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:06:55.708Z,1570662415.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230654.89*59

2019-10-09T23:06:57.781Z,1570662417.781 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:06:58.130Z,1570662418.130 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-10-09T23:07:01.798Z,1570662421.798 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:07:02.568Z,1570662422.568 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:07:02.981Z,1570662422.981 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:07:03.378Z,1570662423.378 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2019-10-09T23:07:03.794Z,1570662423.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230702.95*56

2019-10-09T23:07:05.853Z,1570662425.853 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:07:06.622Z,1570662426.622 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:07:07.015Z,1570662427.015 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:07:07.480Z,1570662427.480 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 23.400002 m
2019-10-09T23:07:07.481Z,1570662427.481 [Reporter](INFO): acoustic_contact_range 23.400002 m
2019-10-09T23:07:07.481Z,1570662427.481 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.765334 rad
2019-10-09T23:07:07.482Z,1570662427.482 [Reporter](INFO): DUSBL_Hydroid.xAngle 30.450001 arcdeg
2019-10-09T23:07:07.846Z,1570662427.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230707.00*5F

2019-10-09T23:07:10.249Z,1570662430.249 [NAL9602](INFO): SBD MO Status=0, MOMSN=9095, MT Status=0, MTMSN=0
2019-10-09T23:07:10.249Z,1570662430.249 [NAL9602](INFO): No messages in MT queue
2019-10-09T23:07:11.069Z,1570662431.069 [NAL9602](DEBUG): Fix Requested
2019-10-09T23:07:11.459Z,1570662431.459 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230105.00,A,3648.16075,N,12147.28715,W,0.039,338.01,091019,,,D*7B
2019-10-09T23:07:11.473Z,1570662431.473 [NAL9602](INFO): GPS fix at 20191009T230105: (36.802679, -121.788119)
2019-10-09T23:07:11.519Z,1570662431.519 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:07:11.520Z,1570662431.520 [lineCaptureHoming:NeedComms:C] Stopped
2019-10-09T23:07:11.520Z,1570662431.520 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-10-09T23:07:11.917Z,1570662431.917 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-10-09T23:07:12.265Z,1570662432.265 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:07:12.685Z,1570662432.685 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:07:13.229Z,1570662433.229 [Reporter](INFO): DUSBL_Hydroid.acoustic_contact_range 62.220009 m
2019-10-09T23:07:13.229Z,1570662433.229 [Reporter](INFO): acoustic_contact_range 62.220009 m
2019-10-09T23:07:13.230Z,1570662433.230 [Reporter](INFO): TrackAcousticContact.heading_to_contact 4.851593 rad
2019-10-09T23:07:13.231Z,1570662433.231 [Reporter](INFO): DUSBL_Hydroid.xAngle 18.650001 arcdeg
2019-10-09T23:07:13.490Z,1570662433.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230712.64*59

2019-10-09T23:07:16.736Z,1570662436.736 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 485B9E5D420000005D00000400370000000000000000151D80030C5669C010B1F864CE72C24FB167A2B1C081BA130430449A64B36E15ECE5C086600D207FADF5
2019-10-09T23:07:16.746Z,1570662436.746 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 5D6E50E7196700
2019-10-09T23:07:16.746Z,1570662436.746 [Micromodem](INFO): Nmea out: $CCCYC,0,1,9,1,0,2*52

2019-10-09T23:07:16.971Z,1570662436.971 [Micromodem](INFO): Nmea in: $CACYC,0,1,9,1,0,2*50

2019-10-09T23:07:17.311Z,1570662437.311 [Micromodem](INFO): Nmea in: $CADRQ,230717,1,9,0,64,1*4E

2019-10-09T23:07:17.311Z,1570662437.311 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,485B9E5D420000005D00000400370000000000000000151D80030C5669C010B1F864CE72C24FB167A2B1C081BA130430449A64B36E15ECE5C086600D207FADF5*06

2019-10-09T23:07:17.424Z,1570662437.424 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:07:17.711Z,1570662437.711 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,64*71

2019-10-09T23:07:18.119Z,1570662438.119 [Micromodem](INFO): Nmea in: $CADRQ,230717,1,9,0,64,2*4D

2019-10-09T23:07:18.119Z,1570662438.119 [Micromodem](INFO): Nmea out: $CCTXD,1,9,1,5D6E50E7196700*0D

2019-10-09T23:07:18.518Z,1570662438.518 [Micromodem](INFO): Nmea in: $CATXD,1,9,1,7*44

2019-10-09T23:07:18.519Z,1570662438.519 [Micromodem](INFO): Nmea out: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:07:18.930Z,1570662438.930 [Micromodem](INFO): Nmea in: $CATXP,71*74

2019-10-09T23:07:18.931Z,1570662438.931 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2019-10-09T23:07:21.354Z,1570662441.354 [Micromodem](INFO): Nmea in: $CATXF,71*62

2019-10-09T23:07:21.355Z,1570662441.355 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2019-10-09T23:07:21.438Z,1570662441.438 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:07:21.752Z,1570662441.752 [Micromodem](INFO): Nmea in: $CAXST,6,20191009,230718.471647,3,0,200,4000,10000,1,1,9,1,2,2,3,71*76

2019-10-09T23:07:21.752Z,1570662441.752 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20191009,230718.471647,3,0,200,4000,10000,1,1,9,1,2,2,3,71*76

2019-10-09T23:07:22.604Z,1570662442.604 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191009T221224/Courier0066.lzma
2019-10-09T23:07:24.610Z,1570662444.610 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0066.lzma.bak
2019-10-09T23:07:24.611Z,1570662444.611 [DataOverHttps](INFO): SBD MOMSN=11867610
2019-10-09T23:07:25.845Z,1570662445.845 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-10-09T23:07:27.007Z,1570662447.007 [CommandLine](IMPORTANT): got command stop
2019-10-09T23:07:27.007Z,1570662447.007 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-10-09T23:07:27.084Z,1570662447.084 [MissionManager](INFO): MissionManager is completed.
2019-10-09T23:07:27.093Z,1570662447.093 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-10-09T23:07:27.093Z,1570662447.093 [lineCaptureHoming] Stopped
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:NeedComms] Stopped
2019-10-09T23:07:27.094Z,1570662447.094 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:NeedComms:D] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:SurfaceComms] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:TrackTransponder] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:J.Mass] Stopped
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-10-09T23:07:27.095Z,1570662447.095 [lineCaptureHoming:StartingMission] Stopped
2019-10-09T23:07:27.096Z,1570662447.096 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-10-09T23:07:27.449Z,1570662447.449 [MissionManager](IMPORTANT): Started mission Default
2019-10-09T23:07:27.449Z,1570662447.449 [Default] Running Loop=1
2019-10-09T23:07:27.449Z,1570662447.449 [Default](DEBUG): Aggregate::initialize Default
2019-10-09T23:07:27.449Z,1570662447.449 [Default:B.GoToSurface] Running Loop=1
2019-10-09T23:07:27.449Z,1570662447.449 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-10-09T23:07:27.450Z,1570662447.450 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-10-09T23:07:27.450Z,1570662447.450 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-10-09T23:07:27.450Z,1570662447.450 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-10-09T23:07:27.451Z,1570662447.451 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-10-09T23:07:27.451Z,1570662447.451 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-10-09T23:07:27.451Z,1570662447.451 [Default:A.Wait] Running Loop=1
2019-10-09T23:07:27.451Z,1570662447.451 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-10-09T23:07:29.830Z,1570662449.830 [Micromodem](ERROR): Nmea resend: $CCPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*77

2019-10-09T23:07:30.236Z,1570662450.236 [Micromodem](INFO): Nmea in: $SNPGT,1,10000,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6A

2019-10-09T23:07:31.050Z,1570662451.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,230730.21*58

2019-10-09T23:07:39.988Z,1570662459.988 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-10-09T23:07:39.988Z,1570662459.988 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +6.06,        +5.  -1.78,   9.62,  0.00
2019-10-09T23:07:40.830Z,1570662460.830 [Default:A.Wait](INFO): Done Waiting.
2019-10-09T23:07:40.830Z,1570662460.830 [Default:A.Wait] Stopped
2019-10-09T23:07:40.830Z,1570662460.830 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-10-09T23:07:41.266Z,1570662461.266 [Default:CheckIn] Running Loop=1
2019-10-09T23:07:41.266Z,1570662461.266 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-10-09T23:07:41.267Z,1570662461.267 [Default:CheckIn:Read_GPS] Running Loop=1
2019-10-09T23:07:42.773Z,1570662462.773 [NAL9602](DEBUG): Fix Requested
2019-10-09T23:07:43.172Z,1570662463.172 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,230137.00,A,3648.16082,N,12147.28715,W,0.039,338.01,091019,,,D*72
2019-10-09T23:07:43.178Z,1570662463.178 [NAL9602](INFO): GPS fix at 20191009T230137: (36.802680, -121.788119)
2019-10-09T23:07:43.229Z,1570662463.229 [Default:CheckIn:Read_GPS] Stopped
2019-10-09T23:07:43.229Z,1570662463.229 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-10-09T23:07:51.509Z,1570662471.509 [DataOverHttps](INFO): Sending 302 bytes from file Logs/20191009T221224/Express0064.lzma
2019-10-09T23:07:53.514Z,1570662473.514 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0064.lzma.bak
2019-10-09T23:07:53.515Z,1570662473.515 [DataOverHttps](INFO): SBD MOMSN=11867617
2019-10-09T23:08:13.332Z,1570662493.332 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191009T221224/Courier0069.lzma
2019-10-09T23:08:15.488Z,1570662495.488 [NAL9602](INFO): Not Powering down - fast GPS
2019-10-09T23:08:17.367Z,1570662497.367 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Courier0069.lzma.bak
2019-10-09T23:08:17.367Z,1570662497.367 [DataOverHttps](INFO): SBD MOMSN=11867652
2019-10-09T23:08:21.971Z,1570662501.971 [Micromodem](ERROR): Buffer fill timout failure.
2019-10-09T23:08:42.437Z,1570662522.437 [DataOverHttps](INFO): Sending 513 bytes from file Logs/20191009T221224/Express0067.lzma
2019-10-09T23:08:44.443Z,1570662524.443 [DataOverHttps](INFO): Moved sent file to Logs/20191009T221224/Express0067.lzma.bak
2019-10-09T23:08:44.443Z,1570662524.443 [DataOverHttps](IMPORTANT): SBD MOMSN=11867683, MTMSN=20191009T230237
2019-10-09T23:08:58.816Z,1570662538.816 [DataOverHttps](INFO): Received command:restart app
2019-10-09T23:08:58.909Z,1570662538.909 [CommandLine](IMPORTANT): got command restart application
2019-10-09T23:08:59.913Z,1570662539.913 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:08:59.913Z,1570662539.913 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.105Z,1570662540.105 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-10-09T23:09:00.105Z,1570662540.105 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.117Z,1570662540.117 [CommandLine](INFO): Join timeout helper Thread ID is 1436
2019-10-09T23:09:00.137Z,1570662540.137 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-10-09T23:09:00.137Z,1570662540.137 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.138Z,1570662540.138 [NavChartDb](INFO): Join timeout helper Thread ID is 1437
2019-10-09T23:09:00.153Z,1570662540.153 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:09:00.153Z,1570662540.153 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.165Z,1570662540.165 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2019-10-09T23:09:00.165Z,1570662540.165 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.165Z,1570662540.165 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1438
2019-10-09T23:09:00.257Z,1570662540.257 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:09:00.257Z,1570662540.257 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-10-09T23:09:00.258Z,1570662540.258 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.261Z,1570662540.261 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-10-09T23:09:00.261Z,1570662540.261 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.261Z,1570662540.261 [Radio_Surface](INFO): Join timeout helper Thread ID is 1439
2019-10-09T23:09:00.465Z,1570662540.465 [Radio_Surface](INFO): Powering down
2019-10-09T23:09:00.466Z,1570662540.466 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:09:00.466Z,1570662540.466 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.469Z,1570662540.469 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-10-09T23:09:00.469Z,1570662540.469 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.469Z,1570662540.469 [DataOverHttps](INFO): Join timeout helper Thread ID is 1440
2019-10-09T23:09:00.821Z,1570662540.821 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:09:00.845Z,1570662540.845 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.862Z,1570662540.862 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-10-09T23:09:00.862Z,1570662540.862 [logger ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.862Z,1570662540.862 [logger](INFO): Join timeout helper Thread ID is 1441
2019-10-09T23:09:00.877Z,1570662540.877 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:09:00.877Z,1570662540.877 [logger ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.881Z,1570662540.881 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-10-09T23:09:00.882Z,1570662540.882 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.882Z,1570662540.882 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-10-09T23:09:00.882Z,1570662540.882 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:00.882Z,1570662540.882 [controlThread](INFO): Join timeout helper Thread ID is 1442
2019-10-09T23:09:01.153Z,1570662541.153 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-10-09T23:09:01.153Z,1570662541.153 [controlThread](DEBUG): Uninitializing ControlThread
2019-10-09T23:09:01.153Z,1570662541.153 [AHRS_M2](INFO): Powering down
2019-10-09T23:09:01.225Z,1570662541.225 [DUSBL_Hydroid](INFO): Powering down
2019-10-09T23:09:01.297Z,1570662541.297 [Micromodem](INFO): Powering down
2019-10-09T23:09:01.393Z,1570662541.393 [NAL9602](INFO): Powering down
2019-10-09T23:09:01.465Z,1570662541.465 [RDI_Pathfinder](INFO): Powering down
2019-10-09T23:09:01.466Z,1570662541.466 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-10-09T23:09:01.467Z,1570662541.467 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-10-09T23:09:01.468Z,1570662541.468 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-10-09T23:09:01.468Z,1570662541.468 [MissionManager](INFO): Uninitializing Mission Default
2019-10-09T23:09:01.468Z,1570662541.468 [Default] Stopped
2019-10-09T23:09:01.468Z,1570662541.468 [Default](DEBUG): Aggregate::uninitialize Default
2019-10-09T23:09:01.469Z,1570662541.469 [Default:B.GoToSurface] Stopped
2019-10-09T23:09:01.469Z,1570662541.469 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-10-09T23:09:01.469Z,1570662541.469 [Default:CheckIn] Stopped
2019-10-09T23:09:01.469Z,1570662541.469 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-10-09T23:09:01.469Z,1570662541.469 [Default:CheckIn:Read_Iridium] Stopped
2019-10-09T23:09:01.471Z,1570662541.471 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-10-09T23:09:01.472Z,1570662541.472 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-10-09T23:09:01.472Z,1570662541.472 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-10-09T23:09:01.472Z,1570662541.472 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-10-09T23:09:01.472Z,1570662541.472 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-10-09T23:09:01.473Z,1570662541.473 [BuoyancyServo](INFO): Powering down
2019-10-09T23:09:01.485Z,1570662541.485 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-10-09T23:09:01.485Z,1570662541.485 [ElevatorServo](INFO): Powering down
2019-10-09T23:09:01.486Z,1570662541.486 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-10-09T23:09:01.486Z,1570662541.486 [MassServo](INFO): Powering down
2019-10-09T23:09:01.487Z,1570662541.487 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-10-09T23:09:01.487Z,1570662541.487 [RudderServo](INFO): Powering down
2019-10-09T23:09:01.487Z,1570662541.487 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-10-09T23:09:01.487Z,1570662541.487 [ThrusterServo](INFO): Powering down
2019-10-09T23:09:01.488Z,1570662541.488 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-10-09T23:09:01.489Z,1570662541.489 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-10-09T23:09:01.489Z,1570662541.489 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-10-09T23:09:01.489Z,1570662541.489 [CBIT](DEBUG): Powering off loads.
2019-10-09T23:09:01.501Z,1570662541.501 [CBIT](DEBUG): Disabling WDT.
2019-10-09T23:09:01.513Z,1570662541.513 [CBIT](DEBUG): Opening all GF detection circuits.
2019-10-09T23:09:01.513Z,1570662541.513 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:01.560Z,1570662541.560 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
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2019-10-09T23:09:01.610Z,1570662541.610 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:01.666Z,1570662541.666 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-10-09T23:09:01.741Z,1570662541.741 [logger ThreadHandler](INFO): Thread cancelled.