2019-11-13T16:58:34.171Z,1573664314.171 [Supervisor](DEBUG): Initializing supervisor.
2019-11-13T16:58:34.174Z,1573664314.174 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-11-13T16:58:34.175Z,1573664314.175 [SyncHandler](INFO): Protected caller Thread ID is 806
2019-11-13T16:58:34.175Z,1573664314.175 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-11-13T16:58:34.176Z,1573664314.176 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-11-13T16:58:34.176Z,1573664314.176 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 807
2019-11-13T16:58:34.179Z,1573664314.179 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-11-13T16:58:34.190Z,1573664314.190 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-11-13T16:58:34.191Z,1573664314.191 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-11-13T16:58:34.191Z,1573664314.191 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 808
2019-11-13T16:58:34.192Z,1573664314.192 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-11-13T16:58:34.193Z,1573664314.193 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-11-13T16:58:34.193Z,1573664314.193 [logger ThreadHandler](INFO): Protected caller Thread ID is 809
2019-11-13T16:58:34.195Z,1573664314.195 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-11-13T16:58:34.196Z,1573664314.196 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-11-13T16:58:34.200Z,1573664314.200 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-11-13T16:58:34.613Z,1573664314.613 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-11-13T16:58:34.615Z,1573664314.615 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-11-13T16:58:34.711Z,1573664314.711 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-11-13T16:58:34.713Z,1573664314.713 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-11-13T16:58:35.028Z,1573664315.028 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-11-13T16:58:35.030Z,1573664315.030 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-11-13T16:58:35.169Z,1573664315.169 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-11-13T16:58:35.171Z,1573664315.171 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-11-13T16:58:35.354Z,1573664315.354 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-11-13T16:58:35.356Z,1573664315.356 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-11-13T16:58:35.789Z,1573664315.789 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-11-13T16:58:35.791Z,1573664315.791 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-11-13T16:58:35.991Z,1573664315.991 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-11-13T16:58:35.992Z,1573664315.992 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-11-13T16:58:36.132Z,1573664316.132 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-11-13T16:58:36.133Z,1573664316.133 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-11-13T16:58:36.325Z,1573664316.325 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-11-13T16:58:36.325Z,1573664316.325 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-11-13T16:58:36.420Z,1573664316.420 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-11-13T16:58:36.422Z,1573664316.422 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-11-13T16:58:36.712Z,1573664316.712 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-11-13T16:58:36.713Z,1573664316.713 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-11-13T16:58:36.793Z,1573664316.793 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-11-13T16:58:36.895Z,1573664316.895 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-11-13T16:58:36.895Z,1573664316.895 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-11-13T16:58:37.517Z,1573664317.517 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-11-13T16:58:37.518Z,1573664317.518 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-11-13T16:58:37.917Z,1573664317.917 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-11-13T16:58:37.919Z,1573664317.919 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-11-13T16:58:38.073Z,1573664318.073 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-11-13T16:58:38.648Z,1573664318.648 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-11-13T16:58:38.931Z,1573664318.931 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-11-13T16:58:39.028Z,1573664319.028 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-11-13T16:58:39.250Z,1573664319.250 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-11-13T16:58:39.251Z,1573664319.251 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-11-13T16:58:39.335Z,1573664319.335 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-11-13T16:58:39.427Z,1573664319.427 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-11-13T16:58:39.523Z,1573664319.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-11-13T16:58:39.606Z,1573664319.606 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-11-13T16:58:39.711Z,1573664319.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-11-13T16:58:39.888Z,1573664319.888 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-11-13T16:58:40.015Z,1573664320.015 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-11-13T16:58:40.030Z,1573664320.030 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-11-13T16:58:40.553Z,1573664320.553 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-11-13T16:58:40.559Z,1573664320.559 [AHRS_M2](INFO): created writer for : platform_orientation
2019-11-13T16:58:40.560Z,1573664320.560 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-11-13T16:58:40.565Z,1573664320.565 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-11-13T16:58:40.566Z,1573664320.566 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-11-13T16:58:40.571Z,1573664320.571 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-11-13T16:58:40.571Z,1573664320.571 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-11-13T16:58:40.576Z,1573664320.576 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-11-13T16:58:40.751Z,1573664320.751 [AHRS_M2] Loaded
2019-11-13T16:58:40.752Z,1573664320.752 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-11-13T16:58:40.897Z,1573664320.897 [DataOverHttps] Loaded
2019-11-13T16:58:40.898Z,1573664320.898 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-11-13T16:58:40.899Z,1573664320.899 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407684E0
2019-11-13T16:58:40.899Z,1573664320.899 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 888
2019-11-13T16:58:40.918Z,1573664320.918 [DDM] Loaded
2019-11-13T16:58:40.918Z,1573664320.918 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2019-11-13T16:58:40.932Z,1573664320.932 [Depth_Keller] Loaded
2019-11-13T16:58:40.932Z,1573664320.932 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-11-13T16:58:40.936Z,1573664320.936 [DropWeight] Loaded
2019-11-13T16:58:40.937Z,1573664320.937 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-11-13T16:58:40.997Z,1573664320.997 [DUSBL_Hydroid] Loaded
2019-11-13T16:58:40.998Z,1573664320.998 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-11-13T16:58:41.043Z,1573664321.043 [Micromodem] Loaded
2019-11-13T16:58:41.043Z,1573664321.043 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-11-13T16:58:41.137Z,1573664321.137 [NAL9602] Loaded
2019-11-13T16:58:41.137Z,1573664321.137 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-11-13T16:58:41.153Z,1573664321.153 [Onboard] Loaded
2019-11-13T16:58:41.153Z,1573664321.153 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-11-13T16:58:41.159Z,1573664321.159 [PowerOnly] Loaded
2019-11-13T16:58:41.159Z,1573664321.159 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-11-13T16:58:41.165Z,1573664321.165 [Radio_Surface] Loaded
2019-11-13T16:58:41.166Z,1573664321.166 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-11-13T16:58:41.167Z,1573664321.167 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407984E0
2019-11-13T16:58:41.167Z,1573664321.167 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 889
2019-11-13T16:58:41.209Z,1573664321.209 [RDI_Pathfinder] Loaded
2019-11-13T16:58:41.209Z,1573664321.209 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-11-13T16:58:42.658Z,1573664322.658 [BPC1] Loaded
2019-11-13T16:58:42.658Z,1573664322.658 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-11-13T16:58:42.659Z,1573664322.659 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-11-13T16:58:42.659Z,1573664322.659 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-11-13T16:58:42.683Z,1573664322.683 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-11-13T16:58:42.684Z,1573664322.684 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-11-13T16:58:42.801Z,1573664322.801 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-11-13T16:58:42.802Z,1573664322.802 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-11-13T16:58:42.822Z,1573664322.822 [NavChart] Loaded
2019-11-13T16:58:42.822Z,1573664322.822 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-11-13T16:58:42.826Z,1573664322.826 [UniversalFixResidualReporter] Loaded
2019-11-13T16:58:42.826Z,1573664322.826 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-11-13T16:58:42.826Z,1573664322.826 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-11-13T16:58:42.827Z,1573664322.827 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-11-13T16:58:42.956Z,1573664322.956 [BuoyancyServo] Loaded
2019-11-13T16:58:42.956Z,1573664322.956 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-11-13T16:58:42.971Z,1573664322.971 [ElevatorServo] Loaded
2019-11-13T16:58:42.971Z,1573664322.971 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-11-13T16:58:42.986Z,1573664322.986 [MassServo] Loaded
2019-11-13T16:58:42.986Z,1573664322.986 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-11-13T16:58:43.001Z,1573664323.001 [RudderServo] Loaded
2019-11-13T16:58:43.001Z,1573664323.001 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-11-13T16:58:43.015Z,1573664323.015 [ThrusterServo] Loaded
2019-11-13T16:58:43.015Z,1573664323.015 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-11-13T16:58:43.016Z,1573664323.016 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-11-13T16:58:43.016Z,1573664323.016 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-11-13T16:58:43.594Z,1573664323.594 [CTD_NeilBrown] Loaded
2019-11-13T16:58:43.594Z,1573664323.594 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-11-13T16:58:43.595Z,1573664323.595 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408E34E0
2019-11-13T16:58:43.595Z,1573664323.595 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 890
2019-11-13T16:58:43.610Z,1573664323.610 [PAR_Licor] Loaded
2019-11-13T16:58:43.610Z,1573664323.610 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-11-13T16:58:43.652Z,1573664323.652 [WetLabsSeaOWL_UV_A] Loaded
2019-11-13T16:58:43.653Z,1573664323.653 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-11-13T16:58:43.654Z,1573664323.654 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409134E0
2019-11-13T16:58:43.654Z,1573664323.654 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 891
2019-11-13T16:58:43.655Z,1573664323.655 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-11-13T16:58:43.655Z,1573664323.655 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-11-13T16:58:43.000Z,1573664324.000 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-11-13T16:58:44.000Z,1573664324.000 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-11-13T16:58:44.055Z,1573664324.055 [DepthRateCalculator] Loaded
2019-11-13T16:58:44.055Z,1573664324.055 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-11-13T16:58:44.061Z,1573664324.061 [PitchRateCalculator] Loaded
2019-11-13T16:58:44.061Z,1573664324.061 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-11-13T16:58:44.073Z,1573664324.073 [SpeedCalculator] Loaded
2019-11-13T16:58:44.073Z,1573664324.073 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-11-13T16:58:44.093Z,1573664324.093 [TempGradientCalculator] Loaded
2019-11-13T16:58:44.093Z,1573664324.093 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-11-13T16:58:44.098Z,1573664324.098 [YawRateCalculator] Loaded
2019-11-13T16:58:44.099Z,1573664324.099 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-11-13T16:58:44.138Z,1573664324.138 [ElevatorOffsetCalculator] Loaded
2019-11-13T16:58:44.138Z,1573664324.138 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-11-13T16:58:44.138Z,1573664324.138 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-11-13T16:58:44.140Z,1573664324.140 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-11-13T16:58:44.298Z,1573664324.298 [SBIT](DEBUG): Construct Startup Built In Test.
2019-11-13T16:58:44.320Z,1573664324.320 [SBIT] Loaded
2019-11-13T16:58:44.320Z,1573664324.320 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-11-13T16:58:44.321Z,1573664324.321 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-11-13T16:58:44.333Z,1573664324.333 [IBIT] Loaded
2019-11-13T16:58:44.334Z,1573664324.334 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-11-13T16:58:44.337Z,1573664324.337 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-11-13T16:58:44.471Z,1573664324.471 [CBIT] Loaded
2019-11-13T16:58:44.471Z,1573664324.471 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-11-13T16:58:44.472Z,1573664324.472 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-11-13T16:58:44.472Z,1573664324.472 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-11-13T16:58:44.596Z,1573664324.596 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-11-13T16:58:44.597Z,1573664324.597 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-11-13T16:58:44.719Z,1573664324.719 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-11-13T16:58:44.720Z,1573664324.720 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-11-13T16:58:44.805Z,1573664324.805 [VerticalControl](DEBUG): Construct VerticalControl.
2019-11-13T16:58:44.885Z,1573664324.885 [VerticalControl] Loaded
2019-11-13T16:58:44.886Z,1573664324.886 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-11-13T16:58:44.886Z,1573664324.886 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-11-13T16:58:44.941Z,1573664324.941 [HorizontalControl] Loaded
2019-11-13T16:58:44.942Z,1573664324.942 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-11-13T16:58:44.943Z,1573664324.943 [SpeedControl](DEBUG): Construct SpeedControl.
2019-11-13T16:58:44.944Z,1573664324.944 [SpeedControl] Loaded
2019-11-13T16:58:44.944Z,1573664324.944 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-11-13T16:58:44.945Z,1573664324.945 [LoopControl](DEBUG): Construct LoopControl.
2019-11-13T16:58:44.946Z,1573664324.946 [LoopControl] Loaded
2019-11-13T16:58:44.946Z,1573664324.946 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-11-13T16:58:44.946Z,1573664324.946 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-11-13T16:58:44.947Z,1573664324.947 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-11-13T16:58:44.997Z,1573664324.997 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-11-13T16:58:45.001Z,1573664325.001 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-11-13T16:58:45.001Z,1573664325.001 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-11-13T16:58:45.008Z,1573664325.008 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-11-13T16:58:45.009Z,1573664325.009 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF74E0
2019-11-13T16:58:45.009Z,1573664325.009 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 892
2019-11-13T16:58:45.014Z,1573664325.014 [Supervisor](INFO): Main Thread ID is 802
2019-11-13T16:58:45.014Z,1573664325.014 [Supervisor](DEBUG): Running supervisor.
2019-11-13T16:58:45.015Z,1573664325.015 [CommandLine ThreadHandler](INFO): Handler Thread ID is 893
2019-11-13T16:58:45.017Z,1573664325.017 [controlThread ThreadHandler](INFO): Handler Thread ID is 894
2019-11-13T16:58:45.017Z,1573664325.017 [controlThread](DEBUG): Initializing ControlThread
2019-11-13T16:58:45.026Z,1573664325.026 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-11-13T16:58:45.026Z,1573664325.026 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-11-13T16:58:45.031Z,1573664325.031 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-11-13T16:58:45.031Z,1573664325.031 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-11-13T16:58:45.031Z,1573664325.031 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-11-13T16:58:45.032Z,1573664325.032 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-11-13T16:58:45.032Z,1573664325.032 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-11-13T16:58:45.033Z,1573664325.033 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-11-13T16:58:45.033Z,1573664325.033 [SBIT](INFO): Initialize SBIT Component.
2019-11-13T16:58:45.034Z,1573664325.034 [SBIT](IMPORTANT): git: 2019-11-13
2019-11-13T16:58:45.034Z,1573664325.034 [SBIT](INFO): git hash: 2b7b585d339468b8f6e14f82c7141d4679f332ef
2019-11-13T16:58:45.035Z,1573664325.035 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-11-13T16:58:45.036Z,1573664325.036 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #2 PREEMPT Wed May 15 08:34:03 PDT 2019
2019-11-13T16:58:45.037Z,1573664325.037 [SBIT](INFO): Beginning SBIT in 28.000000 seconds.
2019-11-13T16:58:45.037Z,1573664325.037 [IBIT](INFO): Initialize IBIT Component.
2019-11-13T16:58:45.038Z,1573664325.038 [CBIT](DEBUG): Initialize CBIT Component.
2019-11-13T16:58:45.039Z,1573664325.039 [logger ThreadHandler](INFO): Handler Thread ID is 895
2019-11-13T16:58:45.050Z,1573664325.050 [CBIT](DEBUG): Initialized mux pins.
2019-11-13T16:58:45.050Z,1573664325.050 [CBIT](DEBUG): Initializing the watchdog timer.
2019-11-13T16:58:45.059Z,1573664325.059 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 896
2019-11-13T16:58:45.060Z,1573664325.060 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-11-13T16:58:45.071Z,1573664325.071 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 897
2019-11-13T16:58:45.074Z,1573664325.074 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-11-13T16:58:45.074Z,1573664325.074 [CBIT](DEBUG): Initializing heartbeat.
2019-11-13T16:58:45.083Z,1573664325.083 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 898
2019-11-13T16:58:45.084Z,1573664325.084 [CTD_NeilBrown](INFO): Powering down
2019-11-13T16:58:45.111Z,1573664325.111 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 899
2019-11-13T16:58:45.112Z,1573664325.112 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-13T16:58:45.135Z,1573664325.135 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 900
2019-11-13T16:58:45.143Z,1573664325.143 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-11-13T16:58:45.144Z,1573664325.144 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-11-13T16:58:45.144Z,1573664325.144 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-11-13T16:58:45.144Z,1573664325.144 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-11-13T16:58:45.144Z,1573664325.144 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-11-13T16:58:45.144Z,1573664325.144 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-11-13T16:58:45.144Z,1573664325.144 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-11-13T16:58:45.145Z,1573664325.145 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-11-13T16:58:45.145Z,1573664325.145 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-11-13T16:58:45.145Z,1573664325.145 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-11-13T16:58:45.145Z,1573664325.145 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-11-13T16:58:45.145Z,1573664325.145 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-11-13T16:58:45.146Z,1573664325.146 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-11-13T16:58:45.146Z,1573664325.146 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-11-13T16:58:45.146Z,1573664325.146 [CBIT](DEBUG): Deactivating GF circuits.
2019-11-13T16:58:45.146Z,1573664325.146 [CBIT](DEBUG): Deactivating emergency mode.
2019-11-13T16:58:45.146Z,1573664325.146 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-11-13T16:58:45.147Z,1573664325.147 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-11-13T16:58:45.182Z,1573664325.182 [CBIT](DEBUG): Backplane powered.
2019-11-13T16:58:45.183Z,1573664325.183 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-11-13T16:58:45.184Z,1573664325.184 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-11-13T16:58:45.185Z,1573664325.185 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-11-13T16:58:45.185Z,1573664325.185 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-11-13T16:58:45.186Z,1573664325.186 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-11-13T16:58:45.216Z,1573664325.216 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-13T16:58:45.263Z,1573664325.263 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2019-11-13T16:58:45.264Z,1573664325.264 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-11-13T16:58:45.317Z,1573664325.317 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-11-13T16:58:45.318Z,1573664325.318 [Default:A.Wait](DEBUG): Construct Wait.
2019-11-13T16:58:45.320Z,1573664325.320 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-13T16:58:45.364Z,1573664325.364 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-11-13T16:58:45.382Z,1573664325.382 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-11-13T16:58:45.388Z,1573664325.388 [Default:E.Execute](DEBUG): Construct Execute.
2019-11-13T16:58:45.411Z,1573664325.411 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2019-11-13T16:58:45.416Z,1573664325.416 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,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,
2019-11-13T16:58:45.426Z,1573664325.426 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-11-13T16:58:45.474Z,1573664325.474 [Radio_Surface](INFO): Powering up
2019-11-13T16:58:45.509Z,1573664325.509 [DDM](INFO): Powering up
2019-11-13T16:58:45.509Z,1573664325.509 [DDM](DEBUG): Initializing DDM.
2019-11-13T16:58:45.563Z,1573664325.563 [DUSBL_Hydroid](INFO): Powering up
2019-11-13T16:58:45.563Z,1573664325.563 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-11-13T16:58:45.760Z,1573664325.760 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-11-13T16:58:45.763Z,1573664325.763 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-11-13T16:58:45.764Z,1573664325.764 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-11-13T16:58:45.771Z,1573664325.771 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-11-13T16:58:45.772Z,1573664325.772 [MassServo](DEBUG): Initializing EZServoServo.
2019-11-13T16:58:45.779Z,1573664325.779 [MassServo](DEBUG): Initializing MassServo.
2019-11-13T16:58:45.779Z,1573664325.779 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-13T16:58:45.787Z,1573664325.787 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-13T16:58:45.787Z,1573664325.787 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-11-13T16:58:45.795Z,1573664325.795 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-11-13T16:58:45.857Z,1573664325.857 [Micromodem](INFO): Powering up
2019-11-13T16:58:45.857Z,1573664325.857 [Micromodem](DEBUG): Initializing Micromodem.
2019-11-13T16:58:50.714Z,1573664330.714 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-11-13T16:58:51.117Z,1573664331.117 [Micromodem](INFO): Nmea in: $CATMG,2019-11-13T16:59:56.972625Z,RTC,RTC*5D

2019-11-13T16:58:51.117Z,1573664331.117 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-11-13T16:59:56.972625Z,RTC,RTC*5D

2019-11-13T16:58:51.520Z,1573664331.520 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-11-13T16:58:51.521Z,1573664331.521 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-11-13T16:58:51.924Z,1573664331.924 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-11-13T16:58:51.925Z,1573664331.925 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-11-13T16:58:52.329Z,1573664332.329 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-11-13T16:58:52.329Z,1573664332.329 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-11-13T16:58:52.733Z,1573664332.733 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-11-13T16:58:52.733Z,1573664332.733 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-11-13T16:58:53.140Z,1573664333.140 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-11-13T16:58:53.141Z,1573664333.141 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-11-13T16:58:53.529Z,1573664333.529 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-11-13T16:58:53.529Z,1573664333.529 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-11-13T16:58:54.389Z,1573664334.389 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-11-13T16:58:54.389Z,1573664334.389 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-11-13T16:58:54.571Z,1573664334.571 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-11-13T16:58:54.571Z,1573664334.571 [Micromodem](INFO): Nmea out: $CCCLK,2019,11,13,16,58,55*46

2019-11-13T16:58:54.957Z,1573664334.957 [Micromodem](INFO): Nmea in: $CACLK,2019,11,13,16,58,55*44

2019-11-13T16:58:54.958Z,1573664334.958 [Micromodem](INFO): Nmea in: $CATMS,0,2019-11-13T16:58:56Z*77

2019-11-13T16:58:54.960Z,1573664334.960 [Micromodem](INFO): Nmea in: $CATMG,2019-11-13T16:58:56.026115Z,USER_CMD,RTC*11

2019-11-13T16:58:56.163Z,1573664336.163 [DDM](INFO): Dynamic Docking Module:
2019-11-13T16:58:56.970Z,1573664336.970 [DDM](INFO): Retracting Whiskers.
2019-11-13T16:58:59.021Z,1573664339.021 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-13T16:59:03.452Z,1573664343.452 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-11-13T16:59:11.524Z,1573664351.524 [NAL9602](INFO): Powering up NAL9602
2019-11-13T16:59:13.596Z,1573664353.596 [SBIT](IMPORTANT): Beginning Startup BIT
2019-11-13T16:59:13.624Z,1573664353.624 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-13T16:59:22.521Z,1573664362.521 [NAL9602](INFO): NAL9602 initialized
2019-11-13T16:59:24.665Z,1573664364.665 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.012490
CHAN A1 (24V): -0.028894
CHAN A2 (12V): -0.007291
CHAN A3 (5V): -0.002039
CHAN B0 (3.3V): 0.000426
CHAN B1 (3.15aV): 0.000184
CHAN B2 (3.15bV): 0.000317
CHAN B3 (GND): 0.002195
OPEN: 0.005279
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-13T16:59:59.189Z,1573664399.189 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T16:59:59.189Z,1573664399.189 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111310115480,35.0, -0.1,  8.9,  0
2019-11-13T17:00:06.951Z,1573664406.951 [SBIT](IMPORTANT): SBIT PASSED
2019-11-13T17:00:06.969Z,1573664406.969 [CommandLine](IMPORTANT): got command configSet list
2019-11-13T17:00:06.969Z,1573664406.969 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-11-13T17:00:06.970Z,1573664406.970 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-11-13T17:00:06.971Z,1573664406.971 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2019-11-13T17:00:06.971Z,1573664406.971 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=250 cubic_centimeter;

2019-11-13T17:00:07.285Z,1573664407.285 [MissionManager](IMPORTANT): Started mission Startup
2019-11-13T17:00:07.286Z,1573664407.286 [Startup] Running Loop=1
2019-11-13T17:00:07.286Z,1573664407.286 [Startup](DEBUG): Aggregate::initialize Startup
2019-11-13T17:00:07.286Z,1573664407.286 [Startup:A.GoToSurface] Running Loop=1
2019-11-13T17:00:07.286Z,1573664407.286 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-13T17:00:07.291Z,1573664407.291 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-13T17:00:07.291Z,1573664407.291 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-13T17:00:07.291Z,1573664407.291 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-13T17:00:07.292Z,1573664407.292 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-13T17:00:07.292Z,1573664407.292 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-13T17:00:07.293Z,1573664407.293 [Startup:StartupSatComms] Running Loop=1
2019-11-13T17:00:07.294Z,1573664407.294 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-11-13T17:00:07.294Z,1573664407.294 [Startup:StartupSatComms:A] Running Loop=1
2019-11-13T17:00:07.685Z,1573664407.685 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-11-13T17:00:38.864Z,1573664438.864 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-13T17:00:50.993Z,1573664450.993 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-13T17:01:07.485Z,1573664467.485 [Startup:StartupSatComms:A](INFO): Timed out from 2019-11-13T17:00:07.3Z
2019-11-13T17:01:07.485Z,1573664467.485 [Startup:StartupSatComms:A] Stopped
2019-11-13T17:01:07.485Z,1573664467.485 [Startup:StartupSatComms:B] Running Loop=1
2019-11-13T17:01:07.880Z,1573664467.880 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-13T17:01:14.369Z,1573664474.369 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005140
2019-11-13T17:01:22.148Z,1573664482.148 [DataOverHttps](INFO): Sending 330 bytes from file Logs/20191113T164337/Express0008.lzma
2019-11-13T17:01:24.152Z,1573664484.152 [DataOverHttps](INFO): Moved sent file to Logs/20191113T164337/Express0008.lzma.bak
2019-11-13T17:01:24.152Z,1573664484.152 [DataOverHttps](INFO): SBD MOMSN=11975711
2019-11-13T17:01:25.244Z,1573664485.244 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:01:25.245Z,1573664485.245 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111310132080,35.0, -0.11448.9,  0
2019-11-13T17:01:32.220Z,1573664492.220 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-13T17:01:43.387Z,1573664503.387 [DataOverHttps](INFO): Sending 797 bytes from file Logs/20191113T165834/Express0001.lzma
2019-11-13T17:01:45.056Z,1573664505.056 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-11-13T17:01:45.056Z,1573664505.056 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:01:45.086Z,1573664505.086 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:01:45.388Z,1573664505.388 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0001.lzma.bak
2019-11-13T17:01:45.388Z,1573664505.388 [DataOverHttps](INFO): SBD MOMSN=11975721
2019-11-13T17:01:45.528Z,1573664505.528 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:01:45.528Z,1573664505.528 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-11-13T17:01:47.072Z,1573664507.072 [Startup:StartupSatComms:B] Stopped
2019-11-13T17:01:47.072Z,1573664507.072 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-11-13T17:01:47.072Z,1573664507.072 [Startup:StartupSatComms] Stopped
2019-11-13T17:01:47.072Z,1573664507.072 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-11-13T17:01:47.073Z,1573664507.073 [Startup](INFO): Completed Startup
2019-11-13T17:01:47.073Z,1573664507.073 [MissionManager](INFO): Startup is completed.
2019-11-13T17:01:47.073Z,1573664507.073 [MissionManager](INFO): Uninitializing Mission Startup
2019-11-13T17:01:47.074Z,1573664507.074 [Startup] Stopped
2019-11-13T17:01:47.074Z,1573664507.074 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-11-13T17:01:47.074Z,1573664507.074 [Startup:A.GoToSurface] Stopped
2019-11-13T17:01:47.074Z,1573664507.074 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-13T17:01:47.499Z,1573664507.499 [MissionManager](IMPORTANT): Started mission Default
2019-11-13T17:01:47.499Z,1573664507.499 [Default] Running Loop=1
2019-11-13T17:01:47.499Z,1573664507.499 [Default](DEBUG): Aggregate::initialize Default
2019-11-13T17:01:47.499Z,1573664507.499 [Default:B.GoToSurface] Running Loop=1
2019-11-13T17:01:47.499Z,1573664507.499 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-13T17:01:47.499Z,1573664507.499 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-13T17:01:47.500Z,1573664507.500 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-13T17:01:47.500Z,1573664507.500 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-13T17:01:47.500Z,1573664507.500 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-13T17:01:47.501Z,1573664507.501 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-13T17:01:47.501Z,1573664507.501 [Default:A.Wait] Running Loop=1
2019-11-13T17:01:47.501Z,1573664507.501 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:02:00.828Z,1573664520.828 [Default:A.Wait](INFO): Done Waiting.
2019-11-13T17:02:00.828Z,1573664520.828 [Default:A.Wait] Stopped
2019-11-13T17:02:00.829Z,1573664520.829 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T17:02:01.197Z,1573664521.197 [Default:CheckIn] Running Loop=1
2019-11-13T17:02:01.197Z,1573664521.197 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T17:02:01.197Z,1573664521.197 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T17:02:01.616Z,1573664521.616 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-13T17:02:53.818Z,1573664573.818 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-13T17:04:26.023Z,1573664666.023 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-13T17:04:39.808Z,1573664679.808 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:04:39.809Z,1573664679.809 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3768,V
2019-11-13T17:04:46.265Z,1573664686.265 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-11-13T17:04:46.266Z,1573664686.266 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:04:46.275Z,1573664686.275 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:04:46.676Z,1573664686.676 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:04:46.676Z,1573664686.676 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-11-13T17:05:22.656Z,1573664722.656 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-13T17:05:24.232Z,1573664724.232 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-13T17:05:24.235Z,1573664724.235 [BPC1](INFO): Received data from all battery sticks.
2019-11-13T17:05:36.347Z,1573664736.347 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T17:06:40.173Z,1573664800.173 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:06:40.173Z,1573664800.173 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111310183580,35.0, -0.1,   0.0, 0
2019-11-13T17:07:01.593Z,1573664821.593 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-13T17:02:01.2Z
2019-11-13T17:07:01.593Z,1573664821.593 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T17:07:01.593Z,1573664821.593 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T17:07:02.011Z,1573664822.011 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-13T17:07:09.266Z,1573664829.266 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20191113T165834/Courier0004.lzma
2019-11-13T17:07:11.268Z,1573664831.268 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0004.lzma.bak
2019-11-13T17:07:11.268Z,1573664831.268 [DataOverHttps](INFO): SBD MOMSN=11975750
2019-11-13T17:07:28.302Z,1573664848.302 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20191113T165834/Express0005.lzma
2019-11-13T17:07:30.308Z,1573664850.308 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0005.lzma.bak
2019-11-13T17:07:30.308Z,1573664850.308 [DataOverHttps](INFO): SBD MOMSN=11975752
2019-11-13T17:07:31.919Z,1573664851.919 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T17:07:31.919Z,1573664851.919 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T17:07:31.919Z,1573664851.919 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:07:41.188Z,1573664861.188 [RDI_Pathfinder](ERROR): Failed to parse:
:0,   0.00,   0.00,   0.00,   0.00
2019-11-13T17:07:47.265Z,1573664867.265 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-11-13T17:07:47.265Z,1573664867.265 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:07:47.275Z,1573664867.275 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:07:47.675Z,1573664867.675 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:07:47.675Z,1573664867.675 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-11-13T17:08:42.998Z,1573664922.998 [RDI_Pathfinder](ERROR): Failed to parse:     +0.00,        +0.00,        +0.00,   0.00,582.99
2019-11-13T17:08:57.153Z,1573664937.153 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T17:09:23.381Z,1573664963.381 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-13T17:09:23.381Z,1573664963.381 [NAL9602] Data Fault, FailCount= 1
2019-11-13T17:09:23.381Z,1573664963.381 [NAL9602](ERROR): Data Fault
2019-11-13T17:09:23.459Z,1573664963.459 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-13T17:09:23.776Z,1573664963.776 [NAL9602](INFO): Powering down
2019-11-13T17:09:24.615Z,1573664964.615 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-13T17:09:24.615Z,1573664964.615 [NAL9602] No Fault, FailCount= 1
2019-11-13T17:09:54.073Z,1573664994.073 [NAL9602](INFO): Powering up NAL9602
2019-11-13T17:10:04.985Z,1573665004.985 [NAL9602](INFO): NAL9602 initialized
2019-11-13T17:10:42.173Z,1573665042.173 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:10:42.173Z,1573665042.173 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T17:10:48.271Z,1573665048.271 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-11-13T17:10:48.271Z,1573665048.271 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:10:48.280Z,1573665048.280 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:10:48.652Z,1573665048.652 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:10:48.652Z,1573665048.652 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-11-13T17:12:22.789Z,1573665142.789 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:12:22.789Z,1573665142.789 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T17:12:32.473Z,1573665152.473 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T17:12:32.473Z,1573665152.473 [Default:CheckIn:C.Wait] Stopped
2019-11-13T17:12:32.473Z,1573665152.473 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T17:12:32.473Z,1573665152.473 [Default:CheckIn:D] Running Loop=1
2019-11-13T17:12:32.890Z,1573665152.890 [Default:CheckIn:D] Stopped
2019-11-13T17:12:32.890Z,1573665152.890 [Default:CheckIn:E] Running Loop=1
2019-11-13T17:12:33.277Z,1573665153.277 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.756526 min 
2019-11-13T17:12:33.277Z,1573665153.277 [Default:CheckIn:E] Stopped
2019-11-13T17:12:33.277Z,1573665153.277 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T17:12:33.278Z,1573665153.278 [Default:CheckIn] Stopped
2019-11-13T17:12:33.278Z,1573665153.278 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T17:12:33.278Z,1573665153.278 [Default:CheckIn](INFO): Running loop #2
2019-11-13T17:12:33.278Z,1573665153.278 [Default:CheckIn] Running Loop=2
2019-11-13T17:12:33.278Z,1573665153.278 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T17:12:33.278Z,1573665153.278 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T17:13:03.161Z,1573665183.161 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:13:03.162Z,1573665183.162 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2019-11-13T17:13:43.170Z,1573665223.170 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:13:43.170Z,1573665223.170 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111310253880,35.0, -0.1,   0.0, 0
2019-11-13T17:13:49.231Z,1573665229.231 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-11-13T17:13:49.231Z,1573665229.231 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:13:49.241Z,1573665229.241 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:13:49.659Z,1573665229.659 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:13:49.659Z,1573665229.659 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-11-13T17:15:30.032Z,1573665330.032 [CommandLine](IMPORTANT): got command show variable stopDepth
2019-11-13T17:15:30.067Z,1573665330.067 [CommandLine](IMPORTANT): VerticalControl.stopDepthExcursion (meter)
2019-11-13T17:15:30.069Z,1573665330.069 [CommandLine](IMPORTANT): CBIT.stopDepth (meter)
2019-11-13T17:15:34.432Z,1573665334.432 [CommandLine](IMPORTANT): got command get CBIT.stopDepth
2019-11-13T17:15:34.433Z,1573665334.433 [CommandLine](IMPORTANT): CBIT.stopDepth 215.000000 m
2019-11-13T17:15:38.915Z,1573665338.915 [CommandLine](IMPORTANT): got command get CBIT.abortDepth
2019-11-13T17:15:38.916Z,1573665338.916 [CommandLine](IMPORTANT): CBIT.abortDepth 255.000000 m
2019-11-13T17:15:42.784Z,1573665342.784 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:15:42.784Z,1573665342.784 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T17:16:17.117Z,1573665377.117 [CommandLine](IMPORTANT): got command show variable massDefault
2019-11-13T17:16:17.173Z,1573665377.173 [CommandLine](IMPORTANT): VerticalControl.massDefault (centimeter)
2019-11-13T17:16:21.065Z,1573665381.065 [CommandLine](IMPORTANT): got command get VerticalControl.massDefault
2019-11-13T17:16:21.066Z,1573665381.066 [CommandLine](IMPORTANT): VerticalControl.massDefault 0.200000 cm
2019-11-13T17:16:50.216Z,1573665410.216 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-11-13T17:16:50.216Z,1573665410.216 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:16:50.238Z,1573665410.238 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:16:50.635Z,1573665410.635 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:16:50.635Z,1573665410.635 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-11-13T17:17:22.148Z,1573665442.148 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:17:22.149Z,1573665442.149 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191113102917800.1,   0.0,1448.9,  0
2019-11-13T17:17:33.457Z,1573665453.457 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-13T17:12:33.3Z
2019-11-13T17:17:33.457Z,1573665453.457 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T17:17:33.457Z,1573665453.457 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T17:17:40.719Z,1573665460.719 [DataOverHttps](INFO): Sending 360 bytes from file Logs/20191113T165834/Express0008.lzma
2019-11-13T17:17:42.726Z,1573665462.726 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0008.lzma.bak
2019-11-13T17:17:42.726Z,1573665462.726 [DataOverHttps](INFO): SBD MOMSN=11975772
2019-11-13T17:17:44.361Z,1573665464.361 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T17:17:44.361Z,1573665464.361 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T17:17:44.361Z,1573665464.361 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:19:51.234Z,1573665591.234 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-11-13T17:19:51.234Z,1573665591.234 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:19:51.244Z,1573665591.244 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:19:51.648Z,1573665591.648 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:19:51.648Z,1573665591.648 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-11-13T17:20:06.137Z,1573665606.137 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-13T17:20:06.138Z,1573665606.138 [NAL9602] Data Fault, FailCount= 2
2019-11-13T17:20:06.138Z,1573665606.138 [NAL9602](ERROR): Data Fault
2019-11-13T17:20:06.178Z,1573665606.178 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-13T17:20:06.537Z,1573665606.537 [NAL9602](INFO): Powering down
2019-11-13T17:20:07.416Z,1573665607.416 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-13T17:20:07.416Z,1573665607.416 [NAL9602] No Fault, FailCount= 2
2019-11-13T17:20:28.809Z,1573665628.809 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-13T17:20:28.809Z,1573665628.809 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,1289.93
2019-11-13T17:20:36.843Z,1573665636.843 [NAL9602](INFO): Powering up NAL9602
2019-11-13T17:20:47.787Z,1573665647.787 [NAL9602](INFO): NAL9602 initialized
2019-11-13T17:22:05.299Z,1573665725.299 [CommandLine](IMPORTANT): got command failComponent
2019-11-13T17:22:05.299Z,1573665725.299 [CommandLine](IMPORTANT): Failed components:
2019-11-13T17:22:05.299Z,1573665725.299 [CommandLine](IMPORTANT): No failed Components.
2019-11-13T17:22:42.144Z,1573665762.144 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:22:42.144Z,1573665762.144 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,1911131034378-0.1,   0.0,1448.9,  0
2019-11-13T17:22:44.979Z,1573665764.979 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T17:22:44.979Z,1573665764.979 [Default:CheckIn:C.Wait] Stopped
2019-11-13T17:22:44.979Z,1573665764.979 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T17:22:44.979Z,1573665764.979 [Default:CheckIn:D] Running Loop=1
2019-11-13T17:22:45.387Z,1573665765.387 [Default:CheckIn:D] Stopped
2019-11-13T17:22:45.388Z,1573665765.388 [Default:CheckIn:E] Running Loop=1
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 20.964811 min 
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn:E] Stopped
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn] Stopped
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn](INFO): Running loop #3
2019-11-13T17:22:45.776Z,1573665765.776 [Default:CheckIn] Running Loop=3
2019-11-13T17:22:45.777Z,1573665765.777 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T17:22:45.777Z,1573665765.777 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T17:22:52.228Z,1573665772.228 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-11-13T17:22:52.228Z,1573665772.228 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:22:52.237Z,1573665772.237 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:22:52.643Z,1573665772.643 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:22:52.643Z,1573665772.643 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-11-13T17:25:08.809Z,1573665908.809 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T17:25:53.235Z,1573665953.235 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-11-13T17:25:53.235Z,1573665953.235 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:25:53.265Z,1573665953.265 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:25:53.648Z,1573665953.648 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:25:53.648Z,1573665953.648 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-11-13T17:27:15.233Z,1573666035.233 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:27:15.233Z,1573666035.233 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3276,-32768,V
2019-11-13T17:27:30.561Z,1573666050.561 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,172731,AUV.0.46*41
 expected 32
2019-11-13T17:27:45.950Z,1573666065.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:27:45.951Z,1573666065.951 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191113105.0, -0.1,   0.0,1448.9,  0
2019-11-13T17:27:45.989Z,1573666065.989 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-13T17:22:45.8Z
2019-11-13T17:27:45.989Z,1573666065.989 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T17:27:45.989Z,1573666065.989 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T17:27:53.022Z,1573666073.022 [DataOverHttps](INFO): Sending 188 bytes from file Logs/20191113T165834/Express0011.lzma
2019-11-13T17:27:55.028Z,1573666075.028 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0011.lzma.bak
2019-11-13T17:27:55.028Z,1573666075.028 [DataOverHttps](INFO): SBD MOMSN=11975830
2019-11-13T17:27:56.514Z,1573666076.514 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T17:27:56.514Z,1573666076.514 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T17:27:56.514Z,1573666076.514 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:28:54.270Z,1573666134.270 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-11-13T17:28:54.270Z,1573666134.270 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:28:54.280Z,1573666134.280 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:28:54.680Z,1573666134.680 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:28:54.680Z,1573666134.680 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-11-13T17:29:03.163Z,1573666143.163 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:29:03.163Z,1573666143.163 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2019-11-13T17:29:18.519Z,1573666158.519 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:29:18.519Z,1573666158.519 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111310411380,35.0, -0.1,   0.,  0
2019-11-13T17:29:22.159Z,1573666162.159 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:29:22.159Z,1573666162.159 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-11-13T17:30:02.145Z,1573666202.145 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:30:02.145Z,1573666202.145 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111310415780,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-13T17:30:50.598Z,1573666250.598 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-13T17:30:50.598Z,1573666250.598 [NAL9602] Data Fault, FailCount= 3
2019-11-13T17:30:50.598Z,1573666250.598 [NAL9602](ERROR): Data Fault
2019-11-13T17:30:50.633Z,1573666250.633 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-13T17:30:50.997Z,1573666250.997 [NAL9602](INFO): Powering down
2019-11-13T17:30:51.869Z,1573666251.869 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-13T17:30:51.869Z,1573666251.869 [NAL9602] No Fault, FailCount= 3
2019-11-13T17:31:21.289Z,1573666281.289 [NAL9602](INFO): Powering up NAL9602
2019-11-13T17:31:32.201Z,1573666292.201 [NAL9602](INFO): NAL9602 initialized
2019-11-13T17:31:55.255Z,1573666315.255 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-11-13T17:31:55.255Z,1573666315.255 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:31:55.265Z,1573666315.265 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:31:55.680Z,1573666315.680 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:31:55.680Z,1573666315.680 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-11-13T17:32:57.080Z,1573666377.080 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T17:32:57.080Z,1573666377.080 [Default:CheckIn:C.Wait] Stopped
2019-11-13T17:32:57.081Z,1573666377.081 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T17:32:57.081Z,1573666377.081 [Default:CheckIn:D] Running Loop=1
2019-11-13T17:32:57.497Z,1573666377.497 [Default:CheckIn:D] Stopped
2019-11-13T17:32:57.497Z,1573666377.497 [Default:CheckIn:E] Running Loop=1
2019-11-13T17:32:57.893Z,1573666377.893 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 31.166628 min 
2019-11-13T17:32:57.893Z,1573666377.893 [Default:CheckIn:E] Stopped
2019-11-13T17:32:57.893Z,1573666377.893 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T17:32:57.893Z,1573666377.893 [Default:CheckIn] Stopped
2019-11-13T17:32:57.893Z,1573666377.893 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T17:32:57.894Z,1573666377.894 [Default:CheckIn](INFO): Running loop #4
2019-11-13T17:32:57.894Z,1573666377.894 [Default:CheckIn] Running Loop=4
2019-11-13T17:32:57.894Z,1573666377.894 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T17:32:57.894Z,1573666377.894 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T17:33:10.022Z,1573666390.022 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:33:10.022Z,1573666390.022 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,
2019-11-13T17:34:56.263Z,1573666496.263 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-11-13T17:34:56.263Z,1573666496.263 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:34:56.275Z,1573666496.275 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:34:56.671Z,1573666496.671 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:34:56.671Z,1573666496.671 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-11-13T17:37:54.852Z,1573666674.852 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:37:54.852Z,1573666674.852 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-2768,-32768,V
2019-11-13T17:37:57.267Z,1573666677.267 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-11-13T17:37:57.267Z,1573666677.267 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:37:57.277Z,1573666677.277 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:37:57.663Z,1573666677.663 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:37:57.663Z,1573666677.663 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-11-13T17:37:58.097Z,1573666678.097 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-13T17:32:57.9Z
2019-11-13T17:37:58.097Z,1573666678.097 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T17:37:58.097Z,1573666678.097 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T17:38:05.390Z,1573666685.390 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20191113T165834/Express0014.lzma
2019-11-13T17:38:07.396Z,1573666687.396 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0014.lzma.bak
2019-11-13T17:38:07.396Z,1573666687.396 [DataOverHttps](INFO): SBD MOMSN=11975872
2019-11-13T17:38:08.979Z,1573666688.979 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T17:38:08.979Z,1573666688.979 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T17:38:08.979Z,1573666688.979 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:38:29.167Z,1573666709.167 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:38:29.167Z,1573666709.167 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T17:40:25.956Z,1573666825.956 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:40:25.956Z,1573666825.956 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2019-11-13T17:40:58.284Z,1573666858.284 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2019-11-13T17:40:58.284Z,1573666858.284 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:40:58.294Z,1573666858.294 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:40:58.669Z,1573666858.669 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:40:58.669Z,1573666858.669 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2019-11-13T17:41:05.960Z,1573666865.960 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:41:05.961Z,1573666865.961 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-11-13T17:41:33.373Z,1573666893.373 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-13T17:41:33.373Z,1573666893.373 [NAL9602] Data Fault, FailCount= 4
2019-11-13T17:41:33.373Z,1573666893.373 [NAL9602](ERROR): Data Fault
2019-11-13T17:41:33.409Z,1573666893.409 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-13T17:41:33.792Z,1573666893.792 [NAL9602](INFO): Powering down
2019-11-13T17:41:34.630Z,1573666894.630 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-13T17:41:34.630Z,1573666894.630 [NAL9602] No Fault, FailCount= 4
2019-11-13T17:42:04.076Z,1573666924.076 [NAL9602](INFO): Powering up NAL9602
2019-11-13T17:42:14.988Z,1573666934.988 [NAL9602](INFO): NAL9602 initialized
2019-11-13T17:43:09.568Z,1573666989.568 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T17:43:09.568Z,1573666989.568 [Default:CheckIn:C.Wait] Stopped
2019-11-13T17:43:09.568Z,1573666989.568 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T17:43:09.569Z,1573666989.569 [Default:CheckIn:D] Running Loop=1
2019-11-13T17:43:09.978Z,1573666989.978 [Default:CheckIn:D] Stopped
2019-11-13T17:43:09.978Z,1573666989.978 [Default:CheckIn:E] Running Loop=1
2019-11-13T17:43:10.382Z,1573666990.382 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 41.374654 min 
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn:E] Stopped
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn] Stopped
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn](INFO): Running loop #5
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn] Running Loop=5
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T17:43:10.383Z,1573666990.383 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T17:43:45.950Z,1573667025.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-13T17:43:45.950Z,1573667025.950 [RDI_Pathfinder](ERROR): Failed to parse:
:BD +0.00,        +0.00,        +0.00,   0.00,2686.68
2019-11-13T17:43:59.244Z,1573667039.244 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2019-11-13T17:43:59.244Z,1573667039.244 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:43:59.254Z,1573667039.254 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:43:59.659Z,1573667039.659 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:43:59.659Z,1573667039.659 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2019-11-13T17:45:14.841Z,1573667114.841 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:45:14.841Z,1573667114.841 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-11-13T17:47:00.267Z,1573667220.267 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2019-11-13T17:47:00.268Z,1573667220.268 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:47:00.301Z,1573667220.301 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:47:00.676Z,1573667220.676 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:47:00.676Z,1573667220.676 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2019-11-13T17:47:15.214Z,1573667235.214 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T17:48:10.565Z,1573667290.565 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-13T17:43:10.4Z
2019-11-13T17:48:10.565Z,1573667290.565 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T17:48:10.565Z,1573667290.565 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T17:48:20.446Z,1573667300.446 [DataOverHttps](INFO): Sending 140 bytes from file Logs/20191113T165834/Express0017.lzma
2019-11-13T17:48:24.460Z,1573667304.460 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0017.lzma.bak
2019-11-13T17:48:24.460Z,1573667304.460 [DataOverHttps](INFO): SBD MOMSN=11975883
2019-11-13T17:48:25.967Z,1573667305.967 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T17:48:25.967Z,1573667305.967 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T17:48:25.967Z,1573667305.967 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:50:01.278Z,1573667401.278 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2019-11-13T17:50:01.278Z,1573667401.278 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:50:01.288Z,1573667401.288 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:50:01.704Z,1573667401.704 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:50:01.704Z,1573667401.704 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2019-11-13T17:51:33.794Z,1573667493.794 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T17:51:47.127Z,1573667507.127 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T17:52:13.789Z,1573667533.789 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:52:13.789Z,1573667533.789 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T17:52:18.177Z,1573667538.177 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-13T17:52:18.177Z,1573667538.177 [NAL9602] Data Fault, FailCount= 5
2019-11-13T17:52:18.177Z,1573667538.177 [NAL9602](ERROR): Data Fault
2019-11-13T17:52:18.256Z,1573667538.256 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-13T17:52:18.256Z,1573667538.256 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-13T17:52:18.588Z,1573667538.588 [NAL9602](INFO): Powering down
2019-11-13T17:52:18.647Z,1573667538.647 [CommandLine](FAULT): Scheduling is paused
2019-11-13T17:52:18.647Z,1573667538.647 [CBIT](INFO): Critical error at 20191113T175218
2019-11-13T17:52:18.647Z,1573667538.647 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-11-13T17:52:27.503Z,1573667547.503 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:52:27.503Z,1573667547.503 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2019-11-13T17:52:31.126Z,1573667551.126 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T17:52:31.145Z,1573667551.145 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311042680,35.0, 0.0,1448.9,  0
2019-11-13T17:53:02.273Z,1573667582.273 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2019-11-13T17:53:02.273Z,1573667582.273 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:53:02.283Z,1573667582.283 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:53:02.687Z,1573667582.687 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:53:02.687Z,1573667582.687 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2019-11-13T17:53:10.772Z,1573667590.772 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:53:10.773Z,1573667590.773 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2019-11-13T17:53:26.512Z,1573667606.512 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T17:53:26.512Z,1573667606.512 [Default:CheckIn:C.Wait] Stopped
2019-11-13T17:53:26.512Z,1573667606.512 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T17:53:26.513Z,1573667606.513 [Default:CheckIn:D] Running Loop=1
2019-11-13T17:53:26.916Z,1573667606.916 [Default:CheckIn:D] Stopped
2019-11-13T17:53:26.917Z,1573667606.917 [Default:CheckIn:E] Running Loop=1
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 51.656962 min 
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn:E] Stopped
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn] Stopped
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn](INFO): Running loop #6
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn] Running Loop=6
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T17:53:27.317Z,1573667607.317 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T17:54:18.236Z,1573667658.236 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-13T17:54:18.236Z,1573667658.236 [NAL9602] No Fault, FailCount= 5
2019-11-13T17:54:18.597Z,1573667658.597 [NAL9602](INFO): Powering up NAL9602
2019-11-13T17:54:29.519Z,1573667669.519 [NAL9602](INFO): NAL9602 initialized
2019-11-13T17:54:30.778Z,1573667670.778 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-13T17:54:30.778Z,1573667670.778 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.00,3331.52
2019-11-13T17:55:06.305Z,1573667706.305 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:55:06.305Z,1573667706.305 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T17:56:03.267Z,1573667763.267 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2019-11-13T17:56:03.267Z,1573667763.267 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-13T17:56:03.277Z,1573667763.277 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-13T17:56:03.671Z,1573667763.671 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-13T17:56:03.671Z,1573667763.671 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2019-11-13T17:57:50.702Z,1573667870.702 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175750.00,A,3648.16631,N,12147.26903,W,0.603,309.93,131119,,,D*72
2019-11-13T17:57:50.706Z,1573667870.706 [NAL9602](INFO): GPS fix at 20191113T175750: (36.802772, -121.787817)
2019-11-13T17:57:50.777Z,1573667870.777 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T17:57:50.777Z,1573667870.777 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T17:57:53.978Z,1573667873.978 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T17:57:53.979Z,1573667873.979 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-327

2019-11-13T17:58:00.770Z,1573667880.770 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20191113T165834/Courier0019.lzma
2019-11-13T17:58:02.776Z,1573667882.776 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0019.lzma.bak
2019-11-13T17:58:02.776Z,1573667882.776 [DataOverHttps](INFO): SBD MOMSN=11975887
2019-11-13T17:58:21.570Z,1573667901.570 [DataOverHttps](INFO): Sending 296 bytes from file Logs/20191113T165834/Express0020.lzma
2019-11-13T17:58:23.424Z,1573667903.424 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T17:58:23.576Z,1573667903.576 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0020.lzma.bak
2019-11-13T17:58:23.576Z,1573667903.576 [DataOverHttps](INFO): SBD MOMSN=11975891
2019-11-13T17:58:25.096Z,1573667905.096 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T17:58:25.096Z,1573667905.096 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T17:58:25.096Z,1573667905.096 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T17:58:32.760Z,1573667912.760 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:58:32.761Z,1573667912.761 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2019-11-13T17:58:48.117Z,1573667928.117 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T17:58:48.117Z,1573667928.117 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3278,V
2019-11-13T17:59:52.763Z,1573667992.763 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T18:00:08.482Z,1573668008.482 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T18:00:08.482Z,1573668008.482 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311120380,35.0, -0.1,   09,  0
2019-11-13T18:00:12.123Z,1573668012.123 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T18:00:12.123Z,1573668012.123 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.BS,-32768,-32768,-32768,V
2019-11-13T18:02:14.126Z,1573668134.126 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T18:02:14.126Z,1573668134.126 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311140980,35.0, 0.0,1448.9,  0
2019-11-13T18:02:33.126Z,1573668153.126 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T18:02:33.126Z,1573668153.126 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311142880,35.0, -0.11448.9,  0
2019-11-13T18:03:25.651Z,1573668205.651 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T18:03:25.651Z,1573668205.651 [Default:CheckIn:C.Wait] Stopped
2019-11-13T18:03:25.651Z,1573668205.651 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T18:03:25.651Z,1573668205.651 [Default:CheckIn:D] Running Loop=1
2019-11-13T18:03:26.066Z,1573668206.066 [Default:CheckIn:D] Stopped
2019-11-13T18:03:26.066Z,1573668206.066 [Default:CheckIn:E] Running Loop=1
2019-11-13T18:03:26.471Z,1573668206.471 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 61.642790 min 
2019-11-13T18:03:26.471Z,1573668206.471 [Default:CheckIn:E] Stopped
2019-11-13T18:03:26.471Z,1573668206.471 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T18:03:26.471Z,1573668206.471 [Default:CheckIn] Stopped
2019-11-13T18:03:26.471Z,1573668206.471 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T18:03:26.472Z,1573668206.472 [Default:CheckIn](INFO): Running loop #7
2019-11-13T18:03:26.472Z,1573668206.472 [Default:CheckIn] Running Loop=7
2019-11-13T18:03:26.472Z,1573668206.472 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T18:03:26.472Z,1573668206.472 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T18:03:28.450Z,1573668208.450 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180327.00,A,3648.16318,N,12147.21621,W,0.078,22.20,131119,,,A*47
2019-11-13T18:03:28.452Z,1573668208.452 [NAL9602](INFO): GPS fix at 20191113T180327: (36.802720, -121.786937)
2019-11-13T18:03:28.487Z,1573668208.487 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T18:03:28.487Z,1573668208.487 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T18:03:35.734Z,1573668215.734 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191113T165834/Courier0022.lzma
2019-11-13T18:03:37.740Z,1573668217.740 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0022.lzma.bak
2019-11-13T18:03:37.740Z,1573668217.740 [DataOverHttps](INFO): SBD MOMSN=11975896
2019-11-13T18:03:41.814Z,1573668221.814 [NAL9602](INFO): SBD MO Status=0, MOMSN=9845, MT Status=0, MTMSN=0
2019-11-13T18:03:41.814Z,1573668221.814 [NAL9602](INFO): No messages in MT queue
2019-11-13T18:03:41.814Z,1573668221.814 [NAL9602](INFO): Failure count cleared after critical for NAL9602
2019-11-13T18:03:55.246Z,1573668235.246 [DataOverHttps](INFO): Sending 121 bytes from file Logs/20191113T165834/Express0023.lzma
2019-11-13T18:03:57.252Z,1573668237.252 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0023.lzma.bak
2019-11-13T18:03:57.252Z,1573668237.252 [DataOverHttps](INFO): SBD MOMSN=11975899
2019-11-13T18:03:58.848Z,1573668238.848 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T18:03:58.848Z,1573668238.848 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T18:03:58.848Z,1573668238.848 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T18:04:12.516Z,1573668252.516 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T18:06:48.915Z,1573668408.915 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-13T18:08:08.498Z,1573668488.498 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-13T18:08:08.498Z,1573668488.498 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-11-13T18:08:59.414Z,1573668539.414 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T18:08:59.414Z,1573668539.414 [Default:CheckIn:C.Wait] Stopped
2019-11-13T18:08:59.415Z,1573668539.415 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T18:08:59.415Z,1573668539.415 [Default:CheckIn:D] Running Loop=1
2019-11-13T18:08:59.896Z,1573668539.896 [Default:CheckIn:D] Stopped
2019-11-13T18:08:59.896Z,1573668539.896 [Default:CheckIn:E] Running Loop=1
2019-11-13T18:09:00.303Z,1573668540.303 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 67.206616 min 
2019-11-13T18:09:00.303Z,1573668540.303 [Default:CheckIn:E] Stopped
2019-11-13T18:09:00.303Z,1573668540.303 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T18:09:00.303Z,1573668540.303 [Default:CheckIn] Stopped
2019-11-13T18:09:00.303Z,1573668540.303 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T18:09:00.304Z,1573668540.304 [Default:CheckIn](INFO): Running loop #8
2019-11-13T18:09:00.304Z,1573668540.304 [Default:CheckIn] Running Loop=8
2019-11-13T18:09:00.304Z,1573668540.304 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T18:09:00.304Z,1573668540.304 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T18:09:02.212Z,1573668542.212 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180902.00,A,3648.18074,N,12147.17862,W,5.132,45.08,131119,,,A*40
2019-11-13T18:09:02.215Z,1573668542.215 [NAL9602](INFO): GPS fix at 20191113T180902: (36.803012, -121.786310)
2019-11-13T18:09:02.239Z,1573668542.239 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T18:09:02.239Z,1573668542.239 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T18:09:10.433Z,1573668550.433 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191113T165834/Courier0025.lzma
2019-11-13T18:09:12.348Z,1573668552.348 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0025.lzma.bak
2019-11-13T18:09:12.348Z,1573668552.348 [DataOverHttps](INFO): SBD MOMSN=11975905
2019-11-13T18:09:15.533Z,1573668555.533 [NAL9602](INFO): SBD MO Status=0, MOMSN=9846, MT Status=0, MTMSN=0
2019-11-13T18:09:15.534Z,1573668555.534 [NAL9602](INFO): No messages in MT queue
2019-11-13T18:09:30.130Z,1573668570.130 [DataOverHttps](INFO): Sending 121 bytes from file Logs/20191113T165834/Express0026.lzma
2019-11-13T18:09:32.136Z,1573668572.136 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0026.lzma.bak
2019-11-13T18:09:32.136Z,1573668572.136 [DataOverHttps](INFO): SBD MOMSN=11975908
2019-11-13T18:09:33.780Z,1573668573.780 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T18:09:33.780Z,1573668573.780 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T18:09:33.780Z,1573668573.780 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T18:09:46.237Z,1573668586.237 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T18:09:51.127Z,1573668591.127 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T18:09:51.128Z,1573668591.128 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311214680,35.0, -0.1,   0.0,14
2019-11-13T18:11:13.125Z,1573668673.125 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T18:11:13.126Z,1573668673.126 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311230880,35.0, -00,1448.9,  0
2019-11-13T18:11:28.081Z,1573668688.081 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T181127
2019-11-13T18:11:35.834Z,1573668695.834 [DataOverHttps](INFO): Received command:Ibit
2019-11-13T18:11:35.878Z,1573668695.878 [CommandLine](IMPORTANT): got command ibit
2019-11-13T18:11:36.171Z,1573668696.171 [IBIT](IMPORTANT): Beginning Initiated BIT
2019-11-13T18:11:36.171Z,1573668696.171 [IBIT](IMPORTANT): Beginning control surface checks.
2019-11-13T18:11:36.174Z,1573668696.174 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-13T18:11:37.750Z,1573668697.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181138.00,A,3648.35767,N,12147.11652,W,4.957,5.27,131119,,,D*77
2019-11-13T18:11:37.752Z,1573668697.752 [NAL9602](INFO): GPS fix at 20191113T181138: (36.805961, -121.785275)
2019-11-13T18:11:47.122Z,1573668707.122 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009734
CHAN A1 (24V): -0.028955
CHAN A2 (12V): -0.007151
CHAN A3 (5V): -0.002052
CHAN B0 (3.3V): 0.000267
CHAN B1 (3.15aV): 0.000155
CHAN B2 (3.15bV): 0.000110
CHAN B3 (GND): 0.002500
OPEN: 0.004744
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-13T18:12:24.292Z,1573668744.292 [IBIT](IMPORTANT): Communications Status:
Fix Status: 1
Iridium Signal Strength: 3
Latitude: 36.805962 Longitude: -121.785278
2019-11-13T18:12:24.664Z,1573668744.664 [IBIT](IMPORTANT): Battery Status:
Battery Charge (AH): 301.278992
Voltage: 16.054911
2019-11-13T18:12:24.664Z,1573668744.664 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah
2019-11-13T18:12:24.664Z,1573668744.664 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V
2019-11-13T18:12:25.108Z,1573668745.108 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2019-11-13T18:12:25.109Z,1573668745.109 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2019-11-13T18:12:25.109Z,1573668745.109 [IBIT](IMPORTANT): Pressure:9.449256 PSI
2019-11-13T18:12:25.109Z,1573668745.109 [IBIT](IMPORTANT): Humidity:10.572579 %
2019-11-13T18:12:25.441Z,1573668745.441 [IBIT](IMPORTANT): Vehicle Pitch:0.442346 degrees
2019-11-13T18:12:25.441Z,1573668745.441 [IBIT](IMPORTANT): Vehicle  Roll:15.461436 degrees
2019-11-13T18:12:25.442Z,1573668745.442 [IBIT](IMPORTANT): Vehicle  Heading:3.343514 degrees
2019-11-13T18:12:25.863Z,1573668745.863 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2019-11-13T18:12:25.864Z,1573668745.864 [IBIT](IMPORTANT): buoyancyNeutral: 250.000015 cc
2019-11-13T18:12:25.865Z,1573668745.865 [IBIT](IMPORTANT): massDefault: 0.200000 cm
2019-11-13T18:12:25.866Z,1573668745.866 [IBIT](IMPORTANT): stopDepth: 215.000000 m
2019-11-13T18:12:25.867Z,1573668745.867 [IBIT](IMPORTANT): abortDepth: 255.000000 m
2019-11-13T18:12:25.867Z,1573668745.867 [IBIT](IMPORTANT): IBIT PASSED
2019-11-13T18:12:39.176Z,1573668759.176 [NAL9602](INFO): SBD MO Status=2, MOMSN=9847, MT Status=2, MTMSN=0
2019-11-13T18:12:39.176Z,1573668759.176 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-13T18:12:48.109Z,1573668768.109 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-13T18:12:48.110Z,1573668768.110 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-11-13T18:12:48.504Z,1573668768.504 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-13T18:12:48.507Z,1573668768.507 [BPC1](INFO): Received data from all battery sticks.
2019-11-13T18:13:02.602Z,1573668782.602 [NAL9602](INFO): SBD MO Status=2, MOMSN=9847, MT Status=2, MTMSN=0
2019-11-13T18:13:02.602Z,1573668782.602 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-13T18:13:22.394Z,1573668802.394 [NAL9602](INFO): SBD MO Status=0, MOMSN=9847, MT Status=0, MTMSN=0
2019-11-13T18:13:22.394Z,1573668802.394 [NAL9602](INFO): No messages in MT queue
2019-11-13T18:13:53.100Z,1573668833.100 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T18:14:34.340Z,1573668874.340 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-13T18:14:34.340Z,1573668874.340 [Default:CheckIn:C.Wait] Stopped
2019-11-13T18:14:34.340Z,1573668874.340 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T18:14:34.340Z,1573668874.340 [Default:CheckIn:D] Running Loop=1
2019-11-13T18:14:34.751Z,1573668874.751 [Default:CheckIn:D] Stopped
2019-11-13T18:14:34.751Z,1573668874.751 [Default:CheckIn:E] Running Loop=1
2019-11-13T18:14:35.167Z,1573668875.167 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 72.787533 min 
2019-11-13T18:14:35.167Z,1573668875.167 [Default:CheckIn:E] Stopped
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn] Stopped
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn](INFO): Running loop #9
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn] Running Loop=9
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T18:14:35.168Z,1573668875.168 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T18:14:37.140Z,1573668877.140 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181437.00,A,3648.45430,N,12147.31640,W,8.203,234.24,131119,,,D*7F
2019-11-13T18:14:37.145Z,1573668877.145 [NAL9602](INFO): GPS fix at 20191113T181437: (36.807572, -121.788607)
2019-11-13T18:14:37.222Z,1573668877.222 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T18:14:37.222Z,1573668877.222 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T18:14:46.554Z,1573668886.554 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20191113T165834/Courier0028.lzma
2019-11-13T18:14:48.560Z,1573668888.560 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0028.lzma.bak
2019-11-13T18:14:48.560Z,1573668888.560 [DataOverHttps](INFO): SBD MOMSN=11975915
2019-11-13T18:14:51.830Z,1573668891.830 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-13T18:14:51.830Z,1573668891.830 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-13T18:14:51.831Z,1573668891.831 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-13T18:14:51.831Z,1573668891.831 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-13T18:14:51.906Z,1573668891.906 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-13T18:14:52.166Z,1573668892.166 [RDI_Pathfinder](INFO): Powering down
2019-11-13T18:14:52.955Z,1573668892.955 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-13T18:14:52.955Z,1573668892.955 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-13T18:15:03.398Z,1573668903.398 [NAL9602](INFO): SBD MO Status=0, MOMSN=9848, MT Status=0, MTMSN=0
2019-11-13T18:15:03.398Z,1573668903.398 [NAL9602](INFO): No messages in MT queue
2019-11-13T18:15:05.703Z,1573668905.703 [DataOverHttps](INFO): Sending 815 bytes from file Logs/20191113T165834/Express0029.lzma
2019-11-13T18:15:06.262Z,1573668906.262 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-13T18:15:07.708Z,1573668907.708 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0029.lzma.bak
2019-11-13T18:15:07.709Z,1573668907.709 [DataOverHttps](INFO): SBD MOMSN=11975919
2019-11-13T18:15:25.370Z,1573668925.370 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191113T165834/Express0032.lzma
2019-11-13T18:15:27.376Z,1573668927.376 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0032.lzma.bak
2019-11-13T18:15:27.376Z,1573668927.376 [DataOverHttps](INFO): SBD MOMSN=11975945
2019-11-13T18:15:28.900Z,1573668928.900 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T18:15:28.900Z,1573668928.900 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T18:15:28.900Z,1573668928.900 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T18:15:34.100Z,1573668934.100 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T18:18:41.068Z,1573669121.068 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T181840
2019-11-13T18:18:52.411Z,1573669132.411 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 20 minute;set lineCaptureHoming.NeedCommsTime 20 minute;set lineCaptureHoming.DockLat 36.8086 degree;set lineCaptureHoming.DockLon -121.8238 degree" phie 1 4
2019-11-13T18:18:52.428Z,1573669132.428 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 20 minute;set lineCaptureHoming.NeedCommsTime 20 minute;set lineCaptureHoming.DockLat 36.8086 degree;set lineCaptureHoming.DockLon -121.8238 degree" phie 1 4.000000
2019-11-13T18:18:52.429Z,1573669132.429 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=phie
2019-11-13T18:18:52.429Z,1573669132.429 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 4 with id='phie'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 20 minute;set lineCaptureHoming.NeedCommsTime 20 minute;set lineCaptureHoming.DockLat 36.8086 degree;set lineCaptureHoming.DockLon -121.8238 degree" ASAP
2019-11-13T18:18:54.416Z,1573669134.416 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T181853
2019-11-13T18:19:02.554Z,1573669142.554 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TerminalRange 400 meter;set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InitDepth 15 meter" phie 2 4
2019-11-13T18:19:02.589Z,1573669142.589 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TerminalRange 400 meter;set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InitDepth 15 meter" phie 2 4.000000
2019-11-13T18:19:02.590Z,1573669142.590 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=phie
2019-11-13T18:19:02.591Z,1573669142.591 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 4 with id='phie'): "set lineCaptureHoming.TerminalRange 400 meter;set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InitDepth 15 meter" ASAP
2019-11-13T18:19:11.588Z,1573669151.588 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T181903
2019-11-13T18:19:19.630Z,1573669159.630 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.MaxDepth 40 meter;set lineCaptureHoming.MinOffshore 1 kilometer" phie 3 4
2019-11-13T18:19:19.675Z,1573669159.675 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.MaxDepth 40 meter;set lineCaptureHoming.MinOffshore 1 kilometer" phie 3 4.000000
2019-11-13T18:19:19.676Z,1573669159.676 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=phie
2019-11-13T18:19:19.676Z,1573669159.676 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 4 with id='phie'): "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.MaxDepth 40 meter;set lineCaptureHoming.MinOffshore 1 kilometer" ASAP
2019-11-13T18:19:21.636Z,1573669161.636 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T181920
2019-11-13T18:19:30.366Z,1573669170.366 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MaxDepth 45 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 500 meter;run " phie 4 4
2019-11-13T18:19:30.395Z,1573669170.395 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MaxDepth 45 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 500 meter;run " phie 4 4.000000
2019-11-13T18:19:30.395Z,1573669170.395 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=phie
2019-11-13T18:19:30.396Z,1573669170.396 [CommandLine](IMPORTANT): Scheduled #4 (#4 of 4 with id='phie'): "set lineCaptureHoming:StandardEnvelopes.MaxDepth 45 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 500 meter;run " ASAP
2019-11-13T18:19:30.563Z,1573669170.563 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-11-13T18:19:30.563Z,1573669170.563 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-11-13T18:19:30.792Z,1573669170.792 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-11-13T18:19:30.795Z,1573669170.795 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-11-13T18:19:30.798Z,1573669170.798 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-11-13T18:19:30.801Z,1573669170.801 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-11-13T18:19:30.804Z,1573669170.804 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-11-13T18:19:30.806Z,1573669170.806 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-11-13T18:19:30.809Z,1573669170.809 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-11-13T18:19:30.812Z,1573669170.812 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-11-13T18:19:30.815Z,1573669170.815 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 50.000000 m
2019-11-13T18:19:30.817Z,1573669170.817 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-11-13T18:19:30.880Z,1573669170.880 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-11-13T18:19:30.884Z,1573669170.884 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-11-13T18:19:30.903Z,1573669170.903 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-11-13T18:19:30.914Z,1573669170.914 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-11-13T18:19:30.917Z,1573669170.917 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-11-13T18:19:30.924Z,1573669170.924 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-11-13T18:19:30.948Z,1573669170.948 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-11-13T18:19:30.959Z,1573669170.959 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-11-13T18:19:30.961Z,1573669170.961 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-11-13T18:19:30.969Z,1573669170.969 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-11-13T18:19:30.977Z,1573669170.977 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-11-13T18:19:30.984Z,1573669170.984 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-11-13T18:19:30.991Z,1573669170.991 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-11-13T18:19:30.998Z,1573669170.998 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-11-13T18:19:31.001Z,1573669171.001 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-11-13T18:19:31.013Z,1573669171.013 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-11-13T18:19:31.024Z,1573669171.024 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2019-11-13T18:19:31.035Z,1573669171.035 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-11-13T18:19:31.038Z,1573669171.038 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-11-13T18:19:31.045Z,1573669171.045 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-11-13T18:19:31.052Z,1573669171.052 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-11-13T18:19:31.059Z,1573669171.059 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-11-13T18:19:31.062Z,1573669171.062 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-11-13T18:19:31.071Z,1573669171.071 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-11-13T18:19:31.082Z,1573669171.082 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-11-13T18:19:31.088Z,1573669171.088 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-11-13T18:19:31.092Z,1573669171.092 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-11-13T18:19:31.092Z,1573669171.092 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-11-13T18:19:31.144Z,1573669171.144 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-11-13T18:19:31.149Z,1573669171.149 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-11-13T18:19:31.160Z,1573669171.160 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-11-13T18:19:31.161Z,1573669171.161 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-11-13T18:19:31.191Z,1573669171.191 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-11-13T18:19:31.283Z,1573669171.283 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-11-13T18:19:31.306Z,1573669171.306 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-11-13T18:19:31.411Z,1573669171.411 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-11-13T18:19:31.418Z,1573669171.418 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-11-13T18:19:31.421Z,1573669171.421 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-11-13T18:19:31.436Z,1573669171.436 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-11-13T18:19:31.443Z,1573669171.443 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-11-13T18:19:31.450Z,1573669171.450 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-11-13T18:19:31.453Z,1573669171.453 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-11-13T18:19:31.476Z,1573669171.476 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-13T18:19:31.995Z,1573669171.995 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-11-13T18:19:32.001Z,1573669172.001 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-11-13T18:19:32.021Z,1573669172.021 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-11-13T18:19:32.024Z,1573669172.024 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-11-13T18:19:32.125Z,1573669172.125 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-11-13T18:19:32.145Z,1573669172.145 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-11-13T18:19:32.152Z,1573669172.152 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-11-13T18:19:32.178Z,1573669172.178 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-11-13T18:19:32.181Z,1573669172.181 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-11-13T18:19:32.205Z,1573669172.205 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-11-13T18:19:32.241Z,1573669172.241 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-13T18:19:32.300Z,1573669172.300 [lineCaptureHoming:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-13T18:19:32.350Z,1573669172.350 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-13T18:19:32.417Z,1573669172.417 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-13T18:19:32.489Z,1573669172.489 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-13T18:19:32.530Z,1573669172.530 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-13T18:19:32.610Z,1573669172.610 [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
        *RolloutTime* 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
        *RolloutTime* 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>50.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>2.0</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><False/></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>
        Maximum time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutDistance"><Description>
        Distance to move away from the target (rollout) in response to
        missing the target.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</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>15</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>20</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>2</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"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="KpHeading"><Description>
        Heading proportional gain to use during Terminal Homing.
    </Description><Units:none/><Value>0.8</Value></DefineArg>

    <DefineArg Name="KiHeading"><Description>
        Heading Integral gain to use during Terminal Homing.
    </Description><Units:reciprocal_second/><Value>0.002</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.05</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>

    <!-- Mission Variables (don't change) -->

    <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="Docked"><Description>
        Mission variable (don't change). The mission sets this to true when docked.
    </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>

        <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/>

            <Assign><Parallel/><Control:HorizontalControl.kpHeading/><Arg Name="KpHeading"/></Assign>
            <Assign><Parallel/><Control:HorizontalControl.kiHeading/><Arg Name="KiHeading"/></Assign>
            <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>

            <Syslog Severity="Important">Terminal guidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

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

            <Guidance:TerminalGuidance>
                <Sequence/>

                <Timeout Duration="TerminalGuidanceTimeout">
                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>
                    <Syslog Severity="Important">Timed out while trying to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                </Timeout>

                <Setting><Guidance:TerminalGuidance.armRange/><Arg Name="CameraRange"/></Setting>
                <Setting><Guidance:TerminalGuidance.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:TerminalGuidance.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:TerminalGuidance.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
            </Guidance:TerminalGuidance>

            <Aggregate Id="Dock">

                <Sequence/>

                <Break>
                    <Not><Arg Name="Docked"/></Not>
                </Break>

                <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>

                <Aggregate Id="BreakOffDock">

                    <Sequence/>

                    <Syslog Severity="Important">Breaking 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>

        </Aggregate>


        <!-- Homing sequance complete -->
        <Aggregate Id="Rollout">

            <Description>
                Navigate back to the start waypoint or move away from the target
                at the last commanded heading until *RolloutTime* has passed.
            </Description>

            <Sequence/>

            <Assign><Sequence/><Arg Name="Docked"/><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>

                <Syslog Severity="Important">Rollout to start WP at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <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>

                <Syslog Severity="Important">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

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

        </Aggregate>

    </Aggregate>

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

</Mission>


2019-11-13T18:19:32.611Z,1573669172.611 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-11-13T18:19:40.858Z,1573669180.858 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 20.000000 minute
2019-11-13T18:19:40.859Z,1573669180.859 [CommandLine](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 20.000000 minute
2019-11-13T18:19:40.860Z,1573669180.860 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808601 degree
2019-11-13T18:19:40.861Z,1573669180.861 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823799 degree
2019-11-13T18:19:50.159Z,1573669190.159 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 400.000000 meter
2019-11-13T18:19:50.160Z,1573669190.160 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 30.000000 meter
2019-11-13T18:19:50.160Z,1573669190.160 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 2.000000 meter
2019-11-13T18:19:50.161Z,1573669190.161 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 6.500000 meter
2019-11-13T18:19:50.162Z,1573669190.162 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 15.000000 meter
2019-11-13T18:19:57.696Z,1573669197.696 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-11-13T18:19:57.697Z,1573669197.697 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-11-13T18:19:57.698Z,1573669197.698 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 40.000000 meter
2019-11-13T18:19:57.699Z,1573669197.699 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-11-13T18:20:06.170Z,1573669206.170 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MaxDepth 45.000000 meter
2019-11-13T18:20:06.176Z,1573669206.176 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 500.000000 meter
2019-11-13T18:20:06.177Z,1573669206.177 [CommandLine](IMPORTANT): got command run 
2019-11-13T18:20:06.184Z,1573669206.184 [CommandLine](IMPORTANT): Running 
2019-11-13T18:20:06.450Z,1573669206.450 [Default] Stopped
2019-11-13T18:20:06.450Z,1573669206.450 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-13T18:20:06.451Z,1573669206.451 [Default:B.GoToSurface] Stopped
2019-11-13T18:20:06.451Z,1573669206.451 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-13T18:20:06.451Z,1573669206.451 [Default:CheckIn] Stopped
2019-11-13T18:20:06.451Z,1573669206.451 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T18:20:06.451Z,1573669206.451 [Default:CheckIn:C.Wait] Stopped
2019-11-13T18:20:06.451Z,1573669206.451 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T18:20:06.451Z,1573669206.451 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-11-13T18:20:06.451Z,1573669206.451 [lineCaptureHoming] Running Loop=1
2019-11-13T18:20:06.451Z,1573669206.451 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-11-13T18:20:06.452Z,1573669206.452 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-11-13T18:20:06.453Z,1573669206.453 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-11-13T18:20:06.453Z,1573669206.453 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-11-13T18:20:06.453Z,1573669206.453 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-11-13T18:20:06.453Z,1573669206.453 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-13T18:20:06.453Z,1573669206.453 [lineCaptureHoming:J.Mass] Running Loop=1
2019-11-13T18:20:06.453Z,1573669206.453 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-11-13T18:20:06.454Z,1573669206.454 [lineCaptureHoming:B] Running Loop=1
2019-11-13T18:20:06.475Z,1573669206.475 [lineCaptureHoming:J.Mass] Running Loop=1
2019-11-13T18:20:06.475Z,1573669206.475 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-11-13T18:20:06.476Z,1573669206.476 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-11-13T18:20:06.476Z,1573669206.476 [lineCaptureHoming:B] Stopped
2019-11-13T18:20:06.476Z,1573669206.476 [lineCaptureHoming:C] Running Loop=1
2019-11-13T18:20:06.477Z,1573669206.477 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-11-13T18:20:06.477Z,1573669206.477 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-11-13T18:20:06.501Z,1573669206.501 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-11-13T18:20:06.510Z,1573669206.510 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-11-13T18:20:06.857Z,1573669206.857 [lineCaptureHoming:C] Stopped
2019-11-13T18:20:06.857Z,1573669206.857 [lineCaptureHoming:D] Running Loop=1
2019-11-13T18:20:07.326Z,1573669207.326 [lineCaptureHoming:D] Stopped
2019-11-13T18:20:07.326Z,1573669207.326 [lineCaptureHoming:F] Running Loop=1
2019-11-13T18:20:07.644Z,1573669207.644 [lineCaptureHoming:F] Stopped
2019-11-13T18:20:07.644Z,1573669207.644 [lineCaptureHoming:G] Running Loop=1
2019-11-13T18:20:08.050Z,1573669208.050 [lineCaptureHoming:G] Stopped
2019-11-13T18:20:08.051Z,1573669208.051 [lineCaptureHoming:StartingMission] Running Loop=1
2019-11-13T18:20:08.051Z,1573669208.051 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-11-13T18:20:08.472Z,1573669208.472 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-11-13T18:20:08.472Z,1573669208.472 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-11-13T18:20:08.472Z,1573669208.472 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-11-13T18:20:08.473Z,1573669208.473 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-11-13T18:20:08.473Z,1573669208.473 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-11-13T18:20:08.473Z,1573669208.473 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-11-13T18:20:08.856Z,1573669208.856 [lineCaptureHoming:NeedComms] Running Loop=1
2019-11-13T18:20:08.856Z,1573669208.856 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-11-13T18:20:08.856Z,1573669208.856 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-11-13T18:20:08.856Z,1573669208.856 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-13T18:20:08.857Z,1573669208.857 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-11-13T18:20:08.857Z,1573669208.857 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-11-13T18:20:08.857Z,1573669208.857 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-11-13T18:20:08.858Z,1573669208.858 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-13T18:20:08.858Z,1573669208.858 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-13T18:20:08.859Z,1573669208.859 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-11-13T18:20:08.860Z,1573669208.860 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1573668877.000000 second since 1970/01/01T00:00:00Z 
2019-11-13T18:20:08.860Z,1573669208.860 [lineCaptureHoming:NeedComms:A] Stopped
2019-11-13T18:20:09.275Z,1573669209.275 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:20:09.276Z,1573669209.276 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-11-13T18:20:09.666Z,1573669209.666 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-13T18:20:10.057Z,1573669210.057 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:20:10.441Z,1573669210.441 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:20:11.263Z,1573669211.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182011.31*57

2019-11-13T18:20:11.269Z,1573669211.269 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182011.00,A,3648.50145,N,12149.48759,W,2.352,258.45,131119,,,D*74
2019-11-13T18:20:11.273Z,1573669211.273 [NAL9602](INFO): GPS fix at 20191113T182011: (36.808357, -121.824793)
2019-11-13T18:20:11.356Z,1573669211.356 [lineCaptureHoming:NeedComms:C] Stopped
2019-11-13T18:20:11.357Z,1573669211.357 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-11-13T18:20:11.696Z,1573669211.696 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-13T18:20:12.131Z,1573669212.131 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:20:13.720Z,1573669213.720 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:20:14.203Z,1573669214.203 [CommandLine](IMPORTANT): got command stop
2019-11-13T18:20:14.203Z,1573669214.203 [CommandLine](IMPORTANT): Scheduling is paused
2019-11-13T18:20:14.203Z,1573669214.203 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-13T18:20:14.615Z,1573669214.615 [MissionManager](INFO): MissionManager is completed.
2019-11-13T18:20:14.615Z,1573669214.615 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-11-13T18:20:14.615Z,1573669214.615 [lineCaptureHoming] Stopped
2019-11-13T18:20:14.615Z,1573669214.615 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-11-13T18:20:14.615Z,1573669214.615 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-11-13T18:20:14.615Z,1573669214.615 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-11-13T18:20:14.615Z,1573669214.615 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-11-13T18:20:14.615Z,1573669214.615 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:NeedComms] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:NeedComms:D] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:SurfaceComms] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-11-13T18:20:14.616Z,1573669214.616 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:TrackTransponder] Stopped
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:J.Mass] Stopped
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:J.Mass](DEBUG): Uninitialize.
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:StartingMission] Stopped
2019-11-13T18:20:14.617Z,1573669214.617 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-11-13T18:20:14.961Z,1573669214.961 [MissionManager](IMPORTANT): Started mission Default
2019-11-13T18:20:14.961Z,1573669214.961 [Default] Running Loop=1
2019-11-13T18:20:14.962Z,1573669214.962 [Default](DEBUG): Aggregate::initialize Default
2019-11-13T18:20:14.962Z,1573669214.962 [Default:B.GoToSurface] Running Loop=1
2019-11-13T18:20:14.962Z,1573669214.962 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-13T18:20:14.982Z,1573669214.982 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-13T18:20:14.983Z,1573669214.983 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-13T18:20:14.983Z,1573669214.983 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-13T18:20:14.983Z,1573669214.983 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-13T18:20:14.984Z,1573669214.984 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-13T18:20:14.984Z,1573669214.984 [Default:A.Wait] Running Loop=1
2019-11-13T18:20:14.984Z,1573669214.984 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-13T18:20:19.882Z,1573669219.882 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191113T165834/Courier0034.lzma
2019-11-13T18:20:21.890Z,1573669221.890 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0034.lzma.bak
2019-11-13T18:20:21.891Z,1573669221.891 [DataOverHttps](INFO): SBD MOMSN=11975955
2019-11-13T18:20:28.344Z,1573669228.344 [Default:A.Wait](INFO): Done Waiting.
2019-11-13T18:20:28.344Z,1573669228.344 [Default:A.Wait] Stopped
2019-11-13T18:20:28.345Z,1573669228.345 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T18:20:28.708Z,1573669228.708 [Default:CheckIn] Running Loop=1
2019-11-13T18:20:28.708Z,1573669228.708 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-13T18:20:28.708Z,1573669228.708 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-13T18:20:57.354Z,1573669257.354 [NAL9602](INFO): SBD MO Status=0, MOMSN=9849, MT Status=0, MTMSN=0
2019-11-13T18:20:57.354Z,1573669257.354 [NAL9602](INFO): No messages in MT queue
2019-11-13T18:20:58.560Z,1573669258.560 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182059.00,A,3648.49227,N,12149.52530,W,1.419,255.23,131119,,,D*77
2019-11-13T18:20:58.563Z,1573669258.563 [NAL9602](INFO): GPS fix at 20191113T182059: (36.808205, -121.825422)
2019-11-13T18:20:58.607Z,1573669258.607 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T18:20:58.633Z,1573669258.633 [Default:CheckIn:Read_GPS] Stopped
2019-11-13T18:20:58.633Z,1573669258.633 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-13T18:21:08.698Z,1573669268.698 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191113T165834/Courier0040.lzma
2019-11-13T18:21:10.704Z,1573669270.704 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0040.lzma.bak
2019-11-13T18:21:10.704Z,1573669270.704 [DataOverHttps](INFO): SBD MOMSN=11975958
2019-11-13T18:21:21.235Z,1573669281.235 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T18:21:21.235Z,1573669281.235 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T18:21:29.401Z,1573669289.401 [DataOverHttps](INFO): Sending 827 bytes from file Logs/20191113T165834/Express0035.lzma
2019-11-13T18:21:31.289Z,1573669291.289 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T18:21:31.400Z,1573669291.400 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0035.lzma.bak
2019-11-13T18:21:31.400Z,1573669291.400 [DataOverHttps](INFO): SBD MOMSN=11975961
2019-11-13T18:21:53.894Z,1573669313.894 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191113T165834/Express0038.lzma
2019-11-13T18:21:55.583Z,1573669315.583 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-13T18:21:55.583Z,1573669315.583 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,408.99
2019-11-13T18:21:55.900Z,1573669315.900 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0038.lzma.bak
2019-11-13T18:21:55.900Z,1573669315.900 [DataOverHttps](INFO): SBD MOMSN=11975999
2019-11-13T18:22:13.786Z,1573669333.786 [DataOverHttps](INFO): Sending 139 bytes from file Logs/20191113T165834/Express0041.lzma
2019-11-13T18:22:15.792Z,1573669335.792 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0041.lzma.bak
2019-11-13T18:22:15.792Z,1573669335.792 [DataOverHttps](INFO): SBD MOMSN=11976001
2019-11-13T18:22:17.394Z,1573669337.394 [Default:CheckIn:Read_Iridium] Stopped
2019-11-13T18:22:17.395Z,1573669337.395 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-13T18:22:17.395Z,1573669337.395 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-13T18:22:51.332Z,1573669371.332 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-13T18:25:25.556Z,1573669525.556 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T182524
2019-11-13T18:25:33.222Z,1573669533.222 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 20 minute;set lineCaptureHoming.NeedCommsTime 20 minute;set lineCaptureHoming.DockLat 36.8086 degree;set lineCaptureHoming.DockLon -121.8238 degree" phtv 1 4
2019-11-13T18:25:33.236Z,1573669533.236 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 20 minute;set lineCaptureHoming.NeedCommsTime 20 minute;set lineCaptureHoming.DockLat 36.8086 degree;set lineCaptureHoming.DockLon -121.8238 degree" phtv 1 4.000000
2019-11-13T18:25:33.236Z,1573669533.236 [CommandLine](IMPORTANT): Scheduling command #1 of 4 with id=phtv
2019-11-13T18:25:33.237Z,1573669533.237 [CommandLine](IMPORTANT): Scheduled #5 (#1 of 4 with id='phtv'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 20 minute;set lineCaptureHoming.NeedCommsTime 20 minute;set lineCaptureHoming.DockLat 36.8086 degree;set lineCaptureHoming.DockLon -121.8238 degree" ASAP
2019-11-13T18:25:35.228Z,1573669535.228 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T182534
2019-11-13T18:25:43.050Z,1573669543.050 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TerminalRange 400 meter;set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InitDepth 15 meter" phtv 2 4
2019-11-13T18:25:43.143Z,1573669543.143 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TerminalRange 400 meter;set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InitDepth 15 meter" phtv 2 4.000000
2019-11-13T18:25:43.143Z,1573669543.143 [CommandLine](IMPORTANT): Scheduling command #2 of 4 with id=phtv
2019-11-13T18:25:43.144Z,1573669543.144 [CommandLine](IMPORTANT): Scheduled #6 (#2 of 4 with id='phtv'): "set lineCaptureHoming.TerminalRange 400 meter;set lineCaptureHoming.CameraRange 30 meter;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.HoldAltitude 6.5 meter;set lineCaptureHoming.InitDepth 15 meter" ASAP
2019-11-13T18:25:45.059Z,1573669545.059 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T182544
2019-11-13T18:25:52.758Z,1573669552.758 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.MaxDepth 40 meter;set lineCaptureHoming.MinOffshore 1 kilometer" phtv 3 4
2019-11-13T18:25:52.855Z,1573669552.855 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.MaxDepth 40 meter;set lineCaptureHoming.MinOffshore 1 kilometer" phtv 3 4.000000
2019-11-13T18:25:52.856Z,1573669552.856 [CommandLine](IMPORTANT): Scheduling command #3 of 4 with id=phtv
2019-11-13T18:25:52.857Z,1573669552.857 [CommandLine](IMPORTANT): Scheduled #7 (#3 of 4 with id='phtv'): "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.MaxDepth 40 meter;set lineCaptureHoming.MinOffshore 1 kilometer" ASAP
2019-11-13T18:25:54.764Z,1573669554.764 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T182554
2019-11-13T18:26:02.534Z,1573669562.534 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MaxDepth 45 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 500 meter;run " phtv 4 4
2019-11-13T18:26:02.572Z,1573669562.572 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MaxDepth 45 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 500 meter;run " phtv 4 4.000000
2019-11-13T18:26:02.572Z,1573669562.572 [CommandLine](IMPORTANT): Scheduling command #4 of 4 with id=phtv
2019-11-13T18:26:02.573Z,1573669562.573 [CommandLine](IMPORTANT): Scheduled #8 (#4 of 4 with id='phtv'): "set lineCaptureHoming:StandardEnvelopes.MaxDepth 45 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 500 meter;run " ASAP
2019-11-13T18:26:02.864Z,1573669562.864 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-11-13T18:26:02.865Z,1573669562.865 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-11-13T18:26:03.046Z,1573669563.046 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-11-13T18:26:03.048Z,1573669563.048 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-11-13T18:26:03.050Z,1573669563.050 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-11-13T18:26:03.052Z,1573669563.052 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-11-13T18:26:03.054Z,1573669563.054 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-11-13T18:26:03.056Z,1573669563.056 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-11-13T18:26:03.058Z,1573669563.058 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-11-13T18:26:03.060Z,1573669563.060 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-11-13T18:26:03.063Z,1573669563.063 [MissionManager](INFO): DefineArg lineCaptureHoming.CameraRange = 50.000000 m
2019-11-13T18:26:03.065Z,1573669563.065 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-11-13T18:26:03.066Z,1573669563.066 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-11-13T18:26:03.069Z,1573669563.069 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-11-13T18:26:03.071Z,1573669563.071 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-11-13T18:26:03.073Z,1573669563.073 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-11-13T18:26:03.075Z,1573669563.075 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-11-13T18:26:03.077Z,1573669563.077 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-11-13T18:26:03.079Z,1573669563.079 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-11-13T18:26:03.081Z,1573669563.081 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-11-13T18:26:03.083Z,1573669563.083 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-11-13T18:26:03.085Z,1573669563.085 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-11-13T18:26:03.088Z,1573669563.088 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-11-13T18:26:03.090Z,1573669563.090 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-11-13T18:26:03.092Z,1573669563.092 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-11-13T18:26:03.094Z,1573669563.094 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-11-13T18:26:03.132Z,1573669563.132 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-11-13T18:26:03.134Z,1573669563.134 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-11-13T18:26:03.136Z,1573669563.136 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2019-11-13T18:26:03.138Z,1573669563.138 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-11-13T18:26:03.159Z,1573669563.159 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-11-13T18:26:03.162Z,1573669563.162 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-11-13T18:26:03.215Z,1573669563.215 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-11-13T18:26:03.217Z,1573669563.217 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-11-13T18:26:03.224Z,1573669563.224 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-11-13T18:26:03.233Z,1573669563.233 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-11-13T18:26:03.248Z,1573669563.248 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-11-13T18:26:03.250Z,1573669563.250 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-11-13T18:26:03.260Z,1573669563.260 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 3.000000 count
2019-11-13T18:26:03.261Z,1573669563.261 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-11-13T18:26:03.300Z,1573669563.300 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-11-13T18:26:03.307Z,1573669563.307 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-11-13T18:26:03.309Z,1573669563.309 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-11-13T18:26:03.310Z,1573669563.310 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-11-13T18:26:03.323Z,1573669563.323 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-11-13T18:26:03.339Z,1573669563.339 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-11-13T18:26:03.381Z,1573669563.381 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-11-13T18:26:03.463Z,1573669563.463 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-11-13T18:26:03.465Z,1573669563.465 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-11-13T18:26:03.472Z,1573669563.472 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-11-13T18:26:03.474Z,1573669563.474 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-11-13T18:26:03.480Z,1573669563.480 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-11-13T18:26:03.486Z,1573669563.486 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-11-13T18:26:03.492Z,1573669563.492 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-11-13T18:26:03.497Z,1573669563.497 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-13T18:26:03.614Z,1573669563.614 [lineCaptureHoming:J.Mass](DEBUG): Construct.
2019-11-13T18:26:03.643Z,1573669563.643 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-11-13T18:26:03.646Z,1573669563.646 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-11-13T18:26:03.660Z,1573669563.660 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-11-13T18:26:03.692Z,1573669563.692 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-11-13T18:26:03.695Z,1573669563.695 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-11-13T18:26:03.697Z,1573669563.697 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-11-13T18:26:03.715Z,1573669563.715 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-11-13T18:26:03.717Z,1573669563.717 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-11-13T18:26:03.722Z,1573669563.722 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-11-13T18:26:03.743Z,1573669563.743 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-13T18:26:03.766Z,1573669563.766 [lineCaptureHoming:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-13T18:26:03.789Z,1573669563.789 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-13T18:26:03.808Z,1573669563.808 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-13T18:26:03.821Z,1573669563.821 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-13T18:26:03.837Z,1573669563.837 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-13T18:26:03.882Z,1573669563.882 [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
        *RolloutTime* 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
        *RolloutTime* 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>50.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Minimum range to continue to update heading being driven.
    </Description><Units:meter/><Value>2.0</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><False/></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>
        Maximum time duration for running in Dock mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="RolloutDistance"><Description>
        Distance to move away from the target (rollout) in response to
        missing the target.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</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>15</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>20</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>2</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"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="KpHeading"><Description>
        Heading proportional gain to use during Terminal Homing.
    </Description><Units:none/><Value>0.8</Value></DefineArg>

    <DefineArg Name="KiHeading"><Description>
        Heading Integral gain to use during Terminal Homing.
    </Description><Units:reciprocal_second/><Value>0.002</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.05</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>

    <!-- Mission Variables (don't change) -->

    <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="Docked"><Description>
        Mission variable (don't change). The mission sets this to true when docked.
    </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>

        <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/>

            <Assign><Parallel/><Control:HorizontalControl.kpHeading/><Arg Name="KpHeading"/></Assign>
            <Assign><Parallel/><Control:HorizontalControl.kiHeading/><Arg Name="KiHeading"/></Assign>
            <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>

            <Syslog Severity="Important">Terminal guidance at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

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

            <Guidance:TerminalGuidance>
                <Sequence/>

                <Timeout Duration="TerminalGuidanceTimeout">
                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>
                    <Syslog Severity="Important">Timed out while trying to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                </Timeout>

                <Setting><Guidance:TerminalGuidance.armRange/><Arg Name="CameraRange"/></Setting>
                <Setting><Guidance:TerminalGuidance.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:TerminalGuidance.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:TerminalGuidance.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
            </Guidance:TerminalGuidance>

            <Aggregate Id="Dock">

                <Sequence/>

                <Break>
                    <Not><Arg Name="Docked"/></Not>
                </Break>

                <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>

                <Aggregate Id="BreakOffDock">

                    <Sequence/>

                    <Syslog Severity="Important">Breaking 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>

        </Aggregate>


        <!-- Homing sequance complete -->
        <Aggregate Id="Rollout">

            <Description>
                Navigate back to the start waypoint or move away from the target
                at the last commanded heading until *RolloutTime* has passed.
            </Description>

            <Sequence/>

            <Assign><Sequence/><Arg Name="Docked"/><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>

                <Syslog Severity="Important">Rollout to start WP at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                <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>

                <Syslog Severity="Important">Rollout at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

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

        </Aggregate>

    </Aggregate>

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

</Mission>


2019-11-13T18:26:03.883Z,1573669563.883 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-11-13T18:26:11.204Z,1573669571.204 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 20.000000 minute
2019-11-13T18:26:11.207Z,1573669571.207 [CommandLine](IMPORTANT): got command set lineCaptureHoming.NeedCommsTime 20.000000 minute
2019-11-13T18:26:11.209Z,1573669571.209 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808601 degree
2019-11-13T18:26:11.211Z,1573669571.211 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823799 degree
2019-11-13T18:26:20.409Z,1573669580.409 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 400.000000 meter
2019-11-13T18:26:20.410Z,1573669580.410 [CommandLine](IMPORTANT): got command set lineCaptureHoming.CameraRange 30.000000 meter
2019-11-13T18:26:20.411Z,1573669580.411 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 2.000000 meter
2019-11-13T18:26:20.412Z,1573669580.412 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 6.500000 meter
2019-11-13T18:26:20.412Z,1573669580.412 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 15.000000 meter
2019-11-13T18:26:27.979Z,1573669587.979 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-11-13T18:26:27.980Z,1573669587.980 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-11-13T18:26:27.980Z,1573669587.980 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 40.000000 meter
2019-11-13T18:26:27.981Z,1573669587.981 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-11-13T18:26:33.779Z,1573669593.779 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MaxDepth 45.000000 meter
2019-11-13T18:26:33.780Z,1573669593.780 [CommandLine](IMPORTANT): got command set lineCaptureHoming:StandardEnvelopes.MinOffshore 500.000000 meter
2019-11-13T18:26:33.781Z,1573669593.781 [CommandLine](IMPORTANT): got command run 
2019-11-13T18:26:33.788Z,1573669593.788 [CommandLine](IMPORTANT): Running 
2019-11-13T18:26:33.933Z,1573669593.933 [Default] Stopped
2019-11-13T18:26:33.933Z,1573669593.933 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-13T18:26:33.933Z,1573669593.933 [Default:B.GoToSurface] Stopped
2019-11-13T18:26:33.933Z,1573669593.933 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-13T18:26:33.934Z,1573669593.934 [Default:CheckIn] Stopped
2019-11-13T18:26:33.934Z,1573669593.934 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-13T18:26:33.934Z,1573669593.934 [Default:CheckIn:C.Wait] Stopped
2019-11-13T18:26:33.934Z,1573669593.934 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-13T18:26:33.934Z,1573669593.934 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-11-13T18:26:33.938Z,1573669593.938 [lineCaptureHoming] Running Loop=1
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-11-13T18:26:33.939Z,1573669593.939 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:J.Mass] Running Loop=1
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:J.Mass](DEBUG): Initialize.
2019-11-13T18:26:33.940Z,1573669593.940 [lineCaptureHoming:B] Running Loop=1
2019-11-13T18:26:33.941Z,1573669593.941 [lineCaptureHoming:J.Mass] Running Loop=1
2019-11-13T18:26:33.941Z,1573669593.941 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-11-13T18:26:33.941Z,1573669593.941 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-11-13T18:26:33.942Z,1573669593.942 [lineCaptureHoming:B] Stopped
2019-11-13T18:26:33.942Z,1573669593.942 [lineCaptureHoming:C] Running Loop=1
2019-11-13T18:26:33.946Z,1573669593.946 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-11-13T18:26:33.946Z,1573669593.946 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-11-13T18:26:33.947Z,1573669593.947 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-11-13T18:26:33.947Z,1573669593.947 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-11-13T18:26:34.355Z,1573669594.355 [lineCaptureHoming:C] Stopped
2019-11-13T18:26:34.355Z,1573669594.355 [lineCaptureHoming:D] Running Loop=1
2019-11-13T18:26:34.782Z,1573669594.782 [lineCaptureHoming:D] Stopped
2019-11-13T18:26:34.782Z,1573669594.782 [lineCaptureHoming:F] Running Loop=1
2019-11-13T18:26:35.143Z,1573669595.143 [lineCaptureHoming:F] Stopped
2019-11-13T18:26:35.143Z,1573669595.143 [lineCaptureHoming:G] Running Loop=1
2019-11-13T18:26:35.577Z,1573669595.577 [lineCaptureHoming:G] Stopped
2019-11-13T18:26:35.577Z,1573669595.577 [lineCaptureHoming:StartingMission] Running Loop=1
2019-11-13T18:26:35.577Z,1573669595.577 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-11-13T18:26:35.984Z,1573669595.984 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-11-13T18:26:35.984Z,1573669595.984 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-11-13T18:26:35.984Z,1573669595.984 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-11-13T18:26:35.984Z,1573669595.984 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-11-13T18:26:35.984Z,1573669595.984 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-11-13T18:26:35.984Z,1573669595.984 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-11-13T18:26:36.357Z,1573669596.357 [lineCaptureHoming:NeedComms] Running Loop=1
2019-11-13T18:26:36.357Z,1573669596.357 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-11-13T18:26:36.357Z,1573669596.357 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-11-13T18:26:36.357Z,1573669596.357 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-13T18:26:36.358Z,1573669596.358 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-11-13T18:26:36.378Z,1573669596.378 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-11-13T18:26:36.379Z,1573669596.379 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-11-13T18:26:36.379Z,1573669596.379 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-13T18:26:36.379Z,1573669596.379 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-13T18:26:36.380Z,1573669596.380 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-11-13T18:26:36.381Z,1573669596.381 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1573669259.000000 second since 1970/01/01T00:00:00Z 
2019-11-13T18:26:36.381Z,1573669596.381 [lineCaptureHoming:NeedComms:A] Stopped
2019-11-13T18:26:36.774Z,1573669596.774 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:36.775Z,1573669596.775 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-11-13T18:26:37.168Z,1573669597.168 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-13T18:26:37.520Z,1573669597.520 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:26:37.942Z,1573669597.942 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:26:38.748Z,1573669598.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182638.77*58

2019-11-13T18:26:38.752Z,1573669598.752 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182639.00,A,3648.50895,N,12149.56011,W,0.156,296.52,131119,,,A*7D
2019-11-13T18:26:38.754Z,1573669598.754 [NAL9602](INFO): GPS fix at 20191113T182639: (36.808482, -121.826002)
2019-11-13T18:26:38.822Z,1573669598.822 [lineCaptureHoming:NeedComms:C] Stopped
2019-11-13T18:26:38.823Z,1573669598.823 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-11-13T18:26:39.225Z,1573669599.225 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-13T18:26:39.751Z,1573669599.751 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-13T18:26:39.751Z,1573669599.751 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-13T18:26:39.771Z,1573669599.771 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:40.932Z,1573669600.932 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:26:42.610Z,1573669602.610 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:43.387Z,1573669603.387 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:26:43.758Z,1573669603.758 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:26:44.609Z,1573669604.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182644.64*51

2019-11-13T18:26:45.439Z,1573669605.439 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:46.995Z,1573669606.995 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:26:48.252Z,1573669608.252 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:48.781Z,1573669608.782 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191113T165834/Courier0043.lzma
2019-11-13T18:26:49.013Z,1573669609.013 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:26:49.423Z,1573669609.423 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:26:50.229Z,1573669610.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182650.27*53

2019-11-13T18:26:50.788Z,1573669610.788 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Courier0043.lzma.bak
2019-11-13T18:26:50.788Z,1573669610.788 [DataOverHttps](INFO): SBD MOMSN=11976013
2019-11-13T18:26:51.064Z,1573669611.064 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:52.647Z,1573669612.647 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:26:53.903Z,1573669613.903 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:54.664Z,1573669614.664 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:26:55.070Z,1573669615.070 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:26:55.885Z,1573669615.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182655.92*58

2019-11-13T18:26:56.732Z,1573669616.732 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:26:58.303Z,1573669618.303 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:26:59.114Z,1573669619.114 [NAL9602](INFO): SBD MO Status=2, MOMSN=9850, MT Status=2, MTMSN=0
2019-11-13T18:26:59.114Z,1573669619.114 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-13T18:26:59.563Z,1573669619.563 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:00.325Z,1573669620.325 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:00.726Z,1573669620.726 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:01.541Z,1573669621.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182701.58*5E

2019-11-13T18:27:02.387Z,1573669622.387 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:03.965Z,1573669623.965 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:05.216Z,1573669625.216 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:05.981Z,1573669625.981 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:06.382Z,1573669626.382 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:07.226Z,1573669627.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182707.23*54

2019-11-13T18:27:08.035Z,1573669628.035 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:08.935Z,1573669628.935 [DataOverHttps](INFO): Sending 815 bytes from file Logs/20191113T165834/Express0044.lzma
2019-11-13T18:27:09.615Z,1573669629.615 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:10.163Z,1573669630.163 [NAL9602](INFO): SBD MO Status=0, MOMSN=9850, MT Status=0, MTMSN=0
2019-11-13T18:27:10.164Z,1573669630.164 [NAL9602](INFO): No messages in MT queue
2019-11-13T18:27:10.603Z,1573669630.603 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:10.942Z,1573669630.942 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0044.lzma.bak
2019-11-13T18:27:10.942Z,1573669630.942 [DataOverHttps](INFO): SBD MOMSN=11976016
2019-11-13T18:27:11.239Z,1573669631.239 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:11.297Z,1573669631.297 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768,V
2019-11-13T18:27:11.638Z,1573669631.638 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:12.456Z,1573669632.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182712.49*5C

2019-11-13T18:27:13.302Z,1573669633.302 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:14.863Z,1573669634.863 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:16.122Z,1573669636.122 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:16.897Z,1573669636.897 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:17.290Z,1573669637.290 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:18.115Z,1573669638.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182718.15*5F

2019-11-13T18:27:18.949Z,1573669638.949 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:20.518Z,1573669640.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:21.774Z,1573669641.774 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:22.542Z,1573669642.542 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:22.949Z,1573669642.949 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:23.759Z,1573669643.759 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182723.80*5B

2019-11-13T18:27:24.648Z,1573669644.648 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:26.186Z,1573669646.186 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:27.427Z,1573669647.427 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:28.222Z,1573669648.222 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:28.606Z,1573669648.606 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:28.674Z,1573669648.674 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191113T165834/Express0047.lzma
2019-11-13T18:27:29.423Z,1573669649.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182729.48*55

2019-11-13T18:27:30.266Z,1573669650.266 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:30.680Z,1573669650.680 [DataOverHttps](INFO): Moved sent file to Logs/20191113T165834/Express0047.lzma.bak
2019-11-13T18:27:30.680Z,1573669650.680 [DataOverHttps](INFO): SBD MOMSN=11976054
2019-11-13T18:27:31.831Z,1573669651.831 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:32.291Z,1573669652.291 [lineCaptureHoming:NeedComms:D] Stopped
2019-11-13T18:27:32.291Z,1573669652.291 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-11-13T18:27:32.681Z,1573669652.681 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-13T18:27:33.073Z,1573669653.073 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:33.483Z,1573669653.483 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-13T18:27:33.853Z,1573669653.853 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:34.258Z,1573669654.258 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:34.277Z,1573669654.277 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182734.00,A,3648.51305,N,12149.56376,W,1.302,304.99,131119,,,A*7F
2019-11-13T18:27:34.279Z,1573669654.279 [NAL9602](INFO): GPS fix at 20191113T182734: (36.808551, -121.826063)
2019-11-13T18:27:34.355Z,1573669654.355 [lineCaptureHoming:NeedComms:E] Stopped
2019-11-13T18:27:34.356Z,1573669654.356 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-11-13T18:27:34.356Z,1573669654.356 [lineCaptureHoming:NeedComms] Stopped
2019-11-13T18:27:34.356Z,1573669654.356 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-11-13T18:27:34.356Z,1573669654.356 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-11-13T18:27:34.356Z,1573669654.356 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-13T18:27:34.745Z,1573669654.745 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-11-13T18:27:34.745Z,1573669654.745 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-11-13T18:27:34.745Z,1573669654.745 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-11-13T18:27:34.745Z,1573669654.745 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-11-13T18:27:35.076Z,1573669655.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182735.11*54

2019-11-13T18:27:35.155Z,1573669655.155 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-11-13T18:27:35.155Z,1573669655.155 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-11-13T18:27:35.155Z,1573669655.155 [lineCaptureHoming:SurfaceComms] Stopped
2019-11-13T18:27:35.155Z,1573669655.155 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-11-13T18:27:35.567Z,1573669655.567 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:StartingMission] Stopped
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:Lap] Running Loop=1
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-11-13T18:27:35.568Z,1573669655.568 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-11-13T18:27:35.569Z,1573669655.569 [lineCaptureHoming:Lap:B] Running Loop=1
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:Lap:B] Stopped
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:Lap:C] Running Loop=1
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-11-13T18:27:35.955Z,1573669655.955 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Initialize.
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Running Loop=1
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Initialize.
2019-11-13T18:27:35.956Z,1573669655.956 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-11-13T18:27:35.957Z,1573669655.957 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-11-13T18:27:35.958Z,1573669655.958 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-11-13T18:27:35.958Z,1573669655.958 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-11-13T18:27:35.966Z,1573669655.966 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-11-13T18:27:35.966Z,1573669655.966 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-11-13T18:27:35.966Z,1573669655.966 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-11-13T18:27:35.967Z,1573669655.967 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-11-13T18:27:35.967Z,1573669655.967 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-11-13T18:27:35.967Z,1573669655.967 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-11-13T18:27:35.967Z,1573669655.967 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-11-13T18:27:35.968Z,1573669655.968 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-11-13T18:27:35.969Z,1573669655.969 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-11-13T18:27:35.969Z,1573669655.969 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-11-13T18:27:35.969Z,1573669655.969 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-11-13T18:27:35.969Z,1573669655.969 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-11-13T18:27:35.969Z,1573669655.969 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-11-13T18:27:35.969Z,1573669655.969 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-11-13T18:27:35.970Z,1573669655.970 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-11-13T18:27:35.975Z,1573669655.975 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:36.343Z,1573669656.343 [lineCaptureHoming:Lap:C] Stopped
2019-11-13T18:27:36.343Z,1573669656.343 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-11-13T18:27:36.343Z,1573669656.343 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-11-13T18:27:36.343Z,1573669656.343 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-13T18:27:36.343Z,1573669656.343 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-13T18:27:37.491Z,1573669657.491 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:38.746Z,1573669658.746 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:39.516Z,1573669659.516 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:39.915Z,1573669659.915 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:40.734Z,1573669660.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182740.77*56

2019-11-13T18:27:41.573Z,1573669661.573 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:42.852Z,1573669662.852 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:44.080Z,1573669664.080 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:44.855Z,1573669664.855 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:45.286Z,1573669665.286 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:46.078Z,1573669666.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182746.11*50

2019-11-13T18:27:46.910Z,1573669666.910 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:48.497Z,1573669668.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:49.732Z,1573669669.732 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:50.511Z,1573669670.511 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:50.916Z,1573669670.916 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:51.735Z,1573669671.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182751.77*56

2019-11-13T18:27:52.585Z,1573669672.585 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:53.388Z,1573669673.388 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-13T18:27:53.388Z,1573669673.388 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2019-11-13T18:27:54.147Z,1573669674.147 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:27:55.386Z,1573669675.386 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:56.182Z,1573669676.182 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:27:56.572Z,1573669676.572 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:27:57.399Z,1573669677.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182757.44*50

2019-11-13T18:27:58.253Z,1573669678.253 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:27:59.801Z,1573669679.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:28:01.056Z,1573669681.056 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:01.829Z,1573669681.829 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:02.232Z,1573669682.232 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:03.050Z,1573669683.050 [Micromodem](INFO): Nmea in: $SNTTA,0.078849,,,,182803.08*42

2019-11-13T18:28:03.472Z,1573669683.472 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-13T18:28:03.876Z,1573669683.876 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:05.457Z,1573669685.457 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:28:06.268Z,1573669686.268 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-13T18:28:06.700Z,1573669686.700 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:07.481Z,1573669687.481 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:07.886Z,1573669687.886 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:08.716Z,1573669688.716 [Micromodem](INFO): Nmea in: $SNTTA,0.079369,,,,182808.73*4D

2019-11-13T18:28:09.552Z,1573669689.552 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:11.119Z,1573669691.119 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:28:12.421Z,1573669692.421 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:13.137Z,1573669693.137 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:13.542Z,1573669693.542 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:14.359Z,1573669694.359 [Micromodem](INFO): Nmea in: $SNTTA,0.079415,,,,182814.39*42

2019-11-13T18:28:15.183Z,1573669695.183 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:16.769Z,1573669696.769 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:28:17.220Z,1573669697.220 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T182816
2019-11-13T18:28:18.016Z,1573669698.016 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:18.791Z,1573669698.791 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:19.196Z,1573669699.196 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:20.032Z,1573669700.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182820.04*5B

2019-11-13T18:28:20.094Z,1573669700.094 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-11-13T18:28:20.107Z,1573669700.107 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-11-13T18:28:20.107Z,1573669700.107 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-13T18:28:20.107Z,1573669700.107 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-13T18:28:20.107Z,1573669700.107 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-11-13T18:28:20.108Z,1573669700.108 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-11-13T18:28:20.108Z,1573669700.108 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-11-13T18:28:20.108Z,1573669700.108 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2019-11-13T18:28:20.108Z,1573669700.108 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2019-11-13T18:28:20.108Z,1573669700.108 [lineCaptureHoming:Lap:TerminalGuidance:D] Running Loop=1
2019-11-13T18:28:20.507Z,1573669700.507 [lineCaptureHoming:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 117.660004 m .
2019-11-13T18:28:20.507Z,1573669700.507 [lineCaptureHoming:Lap:TerminalGuidance:D] Stopped
2019-11-13T18:28:20.508Z,1573669700.508 [lineCaptureHoming:Lap:TerminalGuidance:E] Running Loop=1
2019-11-13T18:28:20.508Z,1573669700.508 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2019-11-13T18:28:20.508Z,1573669700.508 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2019-11-13T18:28:20.508Z,1573669700.508 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-11-13T18:28:20.883Z,1573669700.883 [lineCaptureHoming:Lap:TerminalGuidance:E] Stopped
2019-11-13T18:28:20.883Z,1573669700.883 [lineCaptureHoming:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-13T18:28:20.883Z,1573669700.883 [lineCaptureHoming:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-13T18:28:22.435Z,1573669702.435 [DDM](INFO): Standby mode.
2019-11-13T18:28:22.532Z,1573669702.532 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:22.829Z,1573669702.829 [DDM](INFO): Standby mode.
2019-11-13T18:28:23.232Z,1573669703.232 [DDM](INFO): Standby mode.
2019-11-13T18:28:23.240Z,1573669703.240 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:23.640Z,1573669703.640 [DDM](INFO): Standby mode.
2019-11-13T18:28:23.646Z,1573669703.646 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:24.048Z,1573669704.048 [DDM](INFO): Standby mode.
2019-11-13T18:28:24.458Z,1573669704.458 [DDM](INFO): Standby mode.
2019-11-13T18:28:24.492Z,1573669704.492 [Micromodem](INFO): Nmea in: $SNTTA,0.078806,,,,182824.50*41

2019-11-13T18:28:24.852Z,1573669704.852 [DDM](INFO): Standby mode.
2019-11-13T18:28:25.254Z,1573669705.254 [DDM](INFO): Standby mode.
2019-11-13T18:28:25.656Z,1573669705.656 [DDM](INFO): Standby mode.
2019-11-13T18:28:25.714Z,1573669705.714 [DataOverHttps](INFO): Received command:configSet Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1 meter persist
2019-11-13T18:28:26.060Z,1573669706.060 [DDM](INFO): Standby mode.
2019-11-13T18:28:26.464Z,1573669706.464 [DDM](INFO): Standby mode.
2019-11-13T18:28:26.868Z,1573669706.868 [DDM](INFO): Standby mode.
2019-11-13T18:28:26.918Z,1573669706.918 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:27.111Z,1573669707.111 [CommandLine](IMPORTANT): got command configSet Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter persist
2019-11-13T18:28:27.282Z,1573669707.282 [DDM](INFO): Standby mode.
2019-11-13T18:28:27.677Z,1573669707.677 [DDM](INFO): Standby mode.
2019-11-13T18:28:27.681Z,1573669707.681 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:28.139Z,1573669708.139 [DDM](INFO): Standby mode.
2019-11-13T18:28:28.144Z,1573669708.144 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:28.567Z,1573669708.567 [DDM](INFO): Standby mode.
2019-11-13T18:28:28.944Z,1573669708.944 [DDM](INFO): Standby mode.
2019-11-13T18:28:28.960Z,1573669708.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182828.94*5A

2019-11-13T18:28:29.348Z,1573669709.348 [DDM](INFO): Standby mode.
2019-11-13T18:28:29.752Z,1573669709.752 [DDM](INFO): Standby mode.
2019-11-13T18:28:29.812Z,1573669709.812 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:30.156Z,1573669710.156 [DDM](INFO): Standby mode.
2019-11-13T18:28:30.560Z,1573669710.560 [DDM](INFO): Standby mode.
2019-11-13T18:28:30.966Z,1573669710.966 [DDM](INFO): Standby mode.
2019-11-13T18:28:30.969Z,1573669710.969 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:28:31.368Z,1573669711.368 [DDM](INFO): Standby mode.
2019-11-13T18:28:31.773Z,1573669711.773 [DDM](INFO): Standby mode.
2019-11-13T18:28:32.207Z,1573669712.207 [DDM](INFO): Standby mode.
2019-11-13T18:28:32.580Z,1573669712.580 [DDM](INFO): Standby mode.
2019-11-13T18:28:32.630Z,1573669712.630 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:32.984Z,1573669712.984 [DDM](INFO): Standby mode.
2019-11-13T18:28:33.391Z,1573669713.391 [DDM](INFO): Standby mode.
2019-11-13T18:28:33.394Z,1573669713.394 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:33.792Z,1573669713.792 [DDM](INFO): Standby mode.
2019-11-13T18:28:33.796Z,1573669713.796 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:34.211Z,1573669714.211 [DDM](INFO): Standby mode.
2019-11-13T18:28:34.617Z,1573669714.617 [DDM](INFO): Standby mode.
2019-11-13T18:28:34.631Z,1573669714.631 [Micromodem](INFO): Nmea in: $SNTTA,0.074703,,,,182834.65*40

2019-11-13T18:28:35.004Z,1573669715.004 [DDM](INFO): Standby mode.
2019-11-13T18:28:35.408Z,1573669715.408 [DDM](INFO): Standby mode.
2019-11-13T18:28:35.823Z,1573669715.823 [DDM](INFO): Standby mode.
2019-11-13T18:28:36.218Z,1573669716.218 [DDM](INFO): Standby mode.
2019-11-13T18:28:36.632Z,1573669716.632 [DDM](INFO): Standby mode.
2019-11-13T18:28:36.666Z,1573669716.666 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-13T18:28:36.666Z,1573669716.666 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19111311403227,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.-32768,-32768,-32768,-32768,V
2019-11-13T18:28:37.032Z,1573669717.032 [DDM](INFO): Standby mode.
2019-11-13T18:28:37.076Z,1573669717.076 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:37.436Z,1573669717.436 [DDM](INFO): Standby mode.
2019-11-13T18:28:37.840Z,1573669717.840 [DDM](INFO): Standby mode.
2019-11-13T18:28:37.845Z,1573669717.845 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:38.244Z,1573669718.244 [DDM](INFO): Standby mode.
2019-11-13T18:28:38.249Z,1573669718.249 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:38.648Z,1573669718.648 [DDM](INFO): Standby mode.
2019-11-13T18:28:39.064Z,1573669719.064 [DDM](INFO): Standby mode.
2019-11-13T18:28:39.079Z,1573669719.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182839.09*5E

2019-11-13T18:28:39.456Z,1573669719.456 [DDM](INFO): Standby mode.
2019-11-13T18:28:39.860Z,1573669719.860 [DDM](INFO): Standby mode.
2019-11-13T18:28:40.264Z,1573669720.264 [DDM](INFO): Standby mode.
2019-11-13T18:28:40.671Z,1573669720.671 [DDM](INFO): Standby mode.
2019-11-13T18:28:41.072Z,1573669721.072 [DDM](INFO): Standby mode.
2019-11-13T18:28:41.476Z,1573669721.476 [DDM](INFO): Standby mode.
2019-11-13T18:28:41.542Z,1573669721.542 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:41.881Z,1573669721.881 [DDM](INFO): Standby mode.
2019-11-13T18:28:42.284Z,1573669722.284 [DDM](INFO): Standby mode.
2019-11-13T18:28:42.289Z,1573669722.289 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:42.690Z,1573669722.690 [DDM](INFO): Standby mode.
2019-11-13T18:28:42.698Z,1573669722.698 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:43.092Z,1573669723.092 [DDM](INFO): Standby mode.
2019-11-13T18:28:43.509Z,1573669723.509 [DDM](INFO): Standby mode.
2019-11-13T18:28:43.532Z,1573669723.532 [Micromodem](INFO): Nmea in: $SNTTA,0.072727,,,,182843.54*42

2019-11-13T18:28:43.901Z,1573669723.901 [DDM](INFO): Standby mode.
2019-11-13T18:28:44.305Z,1573669724.305 [DDM](INFO): Standby mode.
2019-11-13T18:28:44.708Z,1573669724.708 [DDM](INFO): Standby mode.
2019-11-13T18:28:45.113Z,1573669725.113 [DDM](INFO): Standby mode.
2019-11-13T18:28:45.516Z,1573669725.516 [DDM](INFO): Standby mode.
2019-11-13T18:28:45.922Z,1573669725.922 [DDM](INFO): Standby mode.
2019-11-13T18:28:45.983Z,1573669725.983 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:46.324Z,1573669726.324 [DDM](INFO): Standby mode.
2019-11-13T18:28:46.728Z,1573669726.728 [DDM](INFO): Standby mode.
2019-11-13T18:28:46.731Z,1573669726.731 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:47.132Z,1573669727.132 [DDM](INFO): Standby mode.
2019-11-13T18:28:47.137Z,1573669727.137 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:47.537Z,1573669727.537 [DDM](INFO): Standby mode.
2019-11-13T18:28:47.956Z,1573669727.956 [DDM](INFO): Standby mode.
2019-11-13T18:28:47.972Z,1573669727.972 [Micromodem](INFO): Nmea in: $SNTTA,0.071115,,,,182847.98*42

2019-11-13T18:28:48.344Z,1573669728.344 [DDM](INFO): Standby mode.
2019-11-13T18:28:48.748Z,1573669728.748 [DDM](INFO): Standby mode.
2019-11-13T18:28:49.154Z,1573669729.154 [DDM](INFO): Standby mode.
2019-11-13T18:28:49.588Z,1573669729.588 [DDM](INFO): Standby mode.
2019-11-13T18:28:49.960Z,1573669729.960 [DDM](INFO): Standby mode.
2019-11-13T18:28:50.364Z,1573669730.364 [DDM](INFO): Standby mode.
2019-11-13T18:28:50.393Z,1573669730.393 [RDI_Pathfinder](ERROR): Failed to parse:
2.97
2019-11-13T18:28:50.426Z,1573669730.426 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:50.770Z,1573669730.770 [DDM](INFO): Standby mode.
2019-11-13T18:28:51.177Z,1573669731.177 [DDM](INFO): Standby mode.
2019-11-13T18:28:51.216Z,1573669731.216 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:51.575Z,1573669731.575 [DDM](INFO): Standby mode.
2019-11-13T18:28:51.586Z,1573669731.586 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:51.980Z,1573669731.980 [DDM](INFO): Standby mode.
2019-11-13T18:28:52.384Z,1573669732.384 [DDM](INFO): Standby mode.
2019-11-13T18:28:52.800Z,1573669732.800 [DDM](INFO): Standby mode.
2019-11-13T18:28:52.809Z,1573669732.809 [Micromodem](INFO): Nmea in: $SNTTA,0.069905,,,,182852.47*44

2019-11-13T18:28:53.215Z,1573669733.215 [DDM](INFO): Standby mode.
2019-11-13T18:28:53.280Z,1573669733.280 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:53.603Z,1573669733.603 [DDM](INFO): Standby mode.
2019-11-13T18:28:54.005Z,1573669734.005 [DDM](INFO): Standby mode.
2019-11-13T18:28:54.410Z,1573669734.410 [DDM](INFO): Standby mode.
2019-11-13T18:28:54.812Z,1573669734.812 [DDM](INFO): Standby mode.
2019-11-13T18:28:54.814Z,1573669734.814 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-11-13T18:28:55.239Z,1573669735.239 [DDM](INFO): Standby mode.
2019-11-13T18:28:55.616Z,1573669735.616 [DDM](INFO): Standby mode.
2019-11-13T18:28:56.020Z,1573669736.020 [DDM](INFO): Standby mode.
2019-11-13T18:28:56.076Z,1573669736.076 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:28:56.427Z,1573669736.427 [DDM](INFO): Standby mode.
2019-11-13T18:28:56.828Z,1573669736.828 [DDM](INFO): Standby mode.
2019-11-13T18:28:56.833Z,1573669736.833 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:28:57.232Z,1573669737.232 [DDM](INFO): Standby mode.
2019-11-13T18:28:57.238Z,1573669737.238 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:28:57.637Z,1573669737.637 [DDM](INFO): Standby mode.
2019-11-13T18:28:58.050Z,1573669738.050 [DDM](INFO): Standby mode.
2019-11-13T18:28:58.096Z,1573669738.096 [Micromodem](INFO): Nmea in: $SNTTA,0.068324,,,,182858.09*4C

2019-11-13T18:28:58.444Z,1573669738.444 [DDM](INFO): Standby mode.
2019-11-13T18:28:58.849Z,1573669738.849 [DDM](INFO): Standby mode.
2019-11-13T18:28:59.252Z,1573669739.252 [DDM](INFO): Standby mode.
2019-11-13T18:28:59.656Z,1573669739.656 [DDM](INFO): Standby mode.
2019-11-13T18:29:00.060Z,1573669740.060 [DDM](INFO): Standby mode.
2019-11-13T18:29:00.466Z,1573669740.466 [DDM](INFO): Standby mode.
2019-11-13T18:29:00.538Z,1573669740.538 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:29:00.868Z,1573669740.868 [DDM](INFO): Standby mode.
2019-11-13T18:29:01.272Z,1573669741.272 [DDM](INFO): Standby mode.
2019-11-13T18:29:01.277Z,1573669741.277 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:29:01.676Z,1573669741.676 [DDM](INFO): Standby mode.
2019-11-13T18:29:01.695Z,1573669741.695 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:29:02.080Z,1573669742.080 [DDM](INFO): Standby mode.
2019-11-13T18:29:02.495Z,1573669742.495 [DDM](INFO): Standby mode.
2019-11-13T18:29:02.524Z,1573669742.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182902.53*58

2019-11-13T18:29:02.888Z,1573669742.888 [DDM](INFO): Standby mode.
2019-11-13T18:29:03.292Z,1573669743.292 [DDM](INFO): Standby mode.
2019-11-13T18:29:03.696Z,1573669743.696 [DDM](INFO): Standby mode.
2019-11-13T18:29:04.101Z,1573669744.101 [DDM](INFO): Standby mode.
2019-11-13T18:29:04.504Z,1573669744.504 [DDM](INFO): Standby mode.
2019-11-13T18:29:04.579Z,1573669744.579 [DataOverHttps](IMPORTANT): SBD MTMSN=20191113T182903
2019-11-13T18:29:04.908Z,1573669744.908 [DDM](INFO): Standby mode.
2019-11-13T18:29:04.962Z,1573669744.962 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:29:05.312Z,1573669745.312 [DDM](INFO): Standby mode.
2019-11-13T18:29:05.716Z,1573669745.716 [DDM](INFO): Standby mode.
2019-11-13T18:29:05.725Z,1573669745.725 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:29:06.120Z,1573669746.120 [DDM](INFO): Standby mode.
2019-11-13T18:29:06.124Z,1573669746.124 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:29:06.524Z,1573669746.524 [DDM](INFO): Standby mode.
2019-11-13T18:29:06.941Z,1573669746.941 [DDM](INFO): Standby mode.
2019-11-13T18:29:06.959Z,1573669746.959 [Micromodem](INFO): Nmea in: $SNTTA,0.065765,,,,182906.98*42

2019-11-13T18:29:07.336Z,1573669747.336 [DDM](INFO): Standby mode.
2019-11-13T18:29:07.736Z,1573669747.736 [DDM](INFO): Standby mode.
2019-11-13T18:29:08.140Z,1573669748.140 [DDM](INFO): Standby mode.
2019-11-13T18:29:08.578Z,1573669748.578 [DDM](INFO): Standby mode.
2019-11-13T18:29:08.948Z,1573669748.948 [DDM](INFO): Standby mode.
2019-11-13T18:29:09.352Z,1573669749.352 [DDM](INFO): Standby mode.
2019-11-13T18:29:09.414Z,1573669749.414 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-13T18:29:09.757Z,1573669749.757 [DDM](INFO): Standby mode.
2019-11-13T18:29:10.160Z,1573669750.160 [DDM](INFO): Standby mode.
2019-11-13T18:29:10.165Z,1573669750.165 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-13T18:29:10.564Z,1573669750.564 [DDM](INFO): Standby mode.
2019-11-13T18:29:10.570Z,1573669750.570 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-13T18:29:10.625Z,1573669750.625 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-13T18:29:10.968Z,1573669750.968 [DDM](INFO): Standby mode.
2019-11-13T18:29:11.391Z,1573669751.391 [DDM](INFO): Standby mode.
2019-11-13T18:29:11.407Z,1573669751.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182911.42*5A

2019-11-13T18:29:11.776Z,1573669751.776 [DDM](INFO): Standby mode.
2019-11-13T18:29:12.212Z,1573669752.212 [DDM](INFO): Standby mode.
2019-11-13T18:29:12.584Z,1573669752.584 [DDM](INFO): Standby mode.
2019-11-13T18:29:12.989Z,1573669752.989 [DDM](INFO): Standby mode.
2019-11-13T18:29:13.050Z,1573669753.050 [DataOverHttps](INFO): Received command:restart logs