2019-11-20T22:31:14.137Z,1574289074.137 [CommandLine](IMPORTANT): got command restart logs
2019-11-20T22:31:42.050Z,1574289102.050 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:31:42.051Z,1574289102.051 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:31:42.484Z,1574289102.484 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-20T22:31:42.486Z,1574289102.486 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-20T22:31:42.492Z,1574289102.492 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-20T22:31:42.494Z,1574289102.494 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-20T22:31:42.537Z,1574289102.537 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-20T22:31:42.539Z,1574289102.539 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-20T22:31:42.545Z,1574289102.545 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-20T22:31:42.567Z,1574289102.567 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-20T22:31:42.569Z,1574289102.569 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 2.000000 m
2019-11-20T22:31:42.575Z,1574289102.575 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-20T22:31:42.577Z,1574289102.577 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-20T22:31:42.583Z,1574289102.583 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-20T22:31:42.586Z,1574289102.586 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-20T22:31:42.592Z,1574289102.592 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-20T22:31:42.594Z,1574289102.594 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-20T22:31:42.612Z,1574289102.612 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-20T22:31:42.614Z,1574289102.614 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-20T22:31:42.624Z,1574289102.624 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-20T22:31:42.626Z,1574289102.626 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-20T22:31:42.637Z,1574289102.637 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-20T22:31:42.663Z,1574289102.663 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-20T22:31:42.666Z,1574289102.666 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-20T22:31:42.730Z,1574289102.730 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-20T22:31:42.771Z,1574289102.771 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-20T22:31:42.774Z,1574289102.774 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-20T22:31:42.788Z,1574289102.788 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-20T22:31:42.790Z,1574289102.790 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-20T22:31:42.807Z,1574289102.807 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-20T22:31:42.827Z,1574289102.827 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-20T22:31:42.829Z,1574289102.829 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-20T22:31:42.839Z,1574289102.839 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-20T22:31:42.841Z,1574289102.841 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-20T22:31:42.852Z,1574289102.852 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-20T22:31:42.854Z,1574289102.854 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-20T22:31:42.875Z,1574289102.875 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-20T22:31:42.878Z,1574289102.878 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-20T22:31:42.908Z,1574289102.908 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-20T22:31:42.929Z,1574289102.929 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-20T22:31:42.949Z,1574289102.949 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-20T22:31:42.968Z,1574289102.968 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-20T22:31:42.984Z,1574289102.984 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-20T22:31:43.017Z,1574289103.017 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-20T22:31:43.041Z,1574289103.041 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-20T22:31:43.161Z,1574289103.161 [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="lineCaptureHomingLab">

    <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="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>5</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"/>

    <!-- 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. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <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>


</Mission>


2019-11-20T22:31:43.163Z,1574289103.163 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:31:43.176Z,1574289103.176 [Default] Stopped
2019-11-20T22:31:43.177Z,1574289103.177 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-20T22:31:43.177Z,1574289103.177 [Default:B.GoToSurface] Stopped
2019-11-20T22:31:43.177Z,1574289103.177 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-20T22:31:43.177Z,1574289103.177 [Default:CheckIn] Stopped
2019-11-20T22:31:43.177Z,1574289103.177 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-20T22:31:43.177Z,1574289103.177 [Default:CheckIn:Read_GPS] Stopped
2019-11-20T22:31:43.177Z,1574289103.177 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-20T22:31:43.177Z,1574289103.177 [lineCaptureHomingLab] Running Loop=1
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-20T22:31:43.178Z,1574289103.178 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-20T22:31:43.179Z,1574289103.179 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-20T22:31:43.179Z,1574289103.179 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-20T22:31:43.187Z,1574289103.187 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-20T22:31:43.187Z,1574289103.187 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-20T22:31:43.188Z,1574289103.188 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-20T22:31:43.188Z,1574289103.188 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-20T22:31:43.188Z,1574289103.188 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-20T22:31:43.188Z,1574289103.188 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-20T22:31:43.509Z,1574289103.509 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-20T22:31:43.509Z,1574289103.509 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-20T22:31:43.509Z,1574289103.509 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-20T22:31:43.509Z,1574289103.509 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-20T22:31:43.509Z,1574289103.509 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-20T22:31:43.914Z,1574289103.914 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-20T22:31:43.914Z,1574289103.914 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-20T22:31:43.914Z,1574289103.914 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-20T22:31:43.914Z,1574289103.914 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-20T22:31:43.914Z,1574289103.914 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-20T22:31:43.915Z,1574289103.915 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-20T22:31:43.915Z,1574289103.915 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-20T22:31:43.915Z,1574289103.915 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-20T22:31:43.915Z,1574289103.915 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-20T22:31:43.915Z,1574289103.915 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-20T22:31:44.316Z,1574289104.316 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.440000 m .
2019-11-20T22:31:44.316Z,1574289104.316 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-20T22:31:44.316Z,1574289104.316 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-20T22:31:44.316Z,1574289104.316 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-20T22:31:44.316Z,1574289104.316 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-20T22:31:44.317Z,1574289104.317 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-20T22:31:44.741Z,1574289104.741 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-20T22:31:44.742Z,1574289104.742 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-20T22:31:44.742Z,1574289104.742 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-20T22:31:45.136Z,1574289105.136 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](FAULT): Reached intercept range in unarmed state. Rolling out at range: 1.44 m.
2019-11-20T22:31:45.515Z,1574289105.515 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:31:45.915Z,1574289105.915 [DDM](FAULT): Could not parse latch state
2019-11-20T22:31:45.915Z,1574289105.915 [DDM] Communications Fault, FailCount= 6
2019-11-20T22:31:45.915Z,1574289105.915 [DDM](ERROR): Communications Fault
2019-11-20T22:31:46.036Z,1574289106.036 [CBIT](ERROR): Communications Fault in component: DDM
2019-11-20T22:31:46.290Z,1574289106.290 [DDM](INFO): Powering down
2019-11-20T22:31:46.366Z,1574289106.366 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:31:46.724Z,1574289106.724 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:31:47.235Z,1574289107.235 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:31:47.235Z,1574289107.235 [DDM] No Fault, FailCount= 6
2019-11-20T22:31:47.236Z,1574289107.236 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:31:47.924Z,1574289107.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223147.54*5E

2019-11-20T22:31:47.965Z,1574289107.965 [PowerOnly](INFO): Powering down
2019-11-20T22:31:49.170Z,1574289109.170 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:31:49.521Z,1574289109.521 [DDM](INFO): Powering up
2019-11-20T22:31:49.521Z,1574289109.521 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:31:51.186Z,1574289111.186 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:31:51.958Z,1574289111.958 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:31:52.359Z,1574289112.359 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:31:52.873Z,1574289112.873 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-11-20T22:31:53.184Z,1574289113.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223153.12*59

2019-11-20T22:31:55.250Z,1574289115.250 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:31:55.993Z,1574289115.993 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:31:56.399Z,1574289116.399 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:31:56.897Z,1574289116.897 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:31:57.224Z,1574289117.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223157.16*59

2019-11-20T22:31:58.882Z,1574289118.882 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:00.026Z,1574289120.026 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:32:00.194Z,1574289120.194 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-20T22:32:00.195Z,1574289120.195 [Reporter](INFO): DDM.latchState 1 count
2019-11-20T22:32:00.195Z,1574289120.195 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-20T22:32:00.196Z,1574289120.196 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-20T22:32:01.291Z,1574289121.291 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:02.053Z,1574289122.053 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:02.455Z,1574289122.455 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:02.952Z,1574289122.952 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:03.288Z,1574289123.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223203.22*5C

2019-11-20T22:32:05.337Z,1574289125.337 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:06.094Z,1574289126.094 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:06.498Z,1574289126.498 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:06.973Z,1574289126.973 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:32:07.328Z,1574289127.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223207.27*5D

2019-11-20T22:32:08.969Z,1574289128.969 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:09.953Z,1574289129.953 [CommandLine](IMPORTANT): got command get DDM.DDMMode
2019-11-20T22:32:09.953Z,1574289129.953 [CommandLine](IMPORTANT): DDM.DDMMode 0 enum
2019-11-20T22:32:10.979Z,1574289130.979 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:11.746Z,1574289131.746 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:12.151Z,1574289132.151 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:12.667Z,1574289132.667 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:32:12.980Z,1574289132.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223212.92*57

2019-11-20T22:32:14.644Z,1574289134.644 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:16.656Z,1574289136.656 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:17.413Z,1574289137.413 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:17.819Z,1574289137.819 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:18.309Z,1574289138.309 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:18.644Z,1574289138.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223218.58*5B

2019-11-20T22:32:20.298Z,1574289140.298 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:22.321Z,1574289142.321 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:23.066Z,1574289143.066 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:23.475Z,1574289143.475 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:24.029Z,1574289144.029 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:24.304Z,1574289144.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223224.23*58

2019-11-20T22:32:25.978Z,1574289145.978 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:28.381Z,1574289148.381 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:29.125Z,1574289149.125 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:29.535Z,1574289149.535 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:30.026Z,1574289150.026 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:30.364Z,1574289150.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223230.29*57

2019-11-20T22:32:32.057Z,1574289152.057 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:34.430Z,1574289154.430 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:35.190Z,1574289155.190 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:35.591Z,1574289155.591 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:36.082Z,1574289156.082 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:32:36.420Z,1574289156.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223236.36*5F

2019-11-20T22:32:38.084Z,1574289158.084 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:40.093Z,1574289160.093 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:40.843Z,1574289160.843 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:41.247Z,1574289161.247 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:41.729Z,1574289161.729 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:42.082Z,1574289162.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223242.01*58

2019-11-20T22:32:42.193Z,1574289162.193 [CommandLine](IMPORTANT): got command maintain sensor DDM.DDMMode 1.000000 enum
2019-11-20T22:32:42.194Z,1574289162.194 [ComponentRegistry](DEBUG): SyncComponent "Maintain_DDM.DDMMode" handled in the control thread.
2019-11-20T22:32:42.218Z,1574289162.218 [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,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_DDM.DDMMode,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-11-20T22:32:42.535Z,1574289162.535 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-20T22:32:43.768Z,1574289163.768 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:46.093Z,1574289166.093 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-20T22:32:46.165Z,1574289166.165 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:46.910Z,1574289166.910 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:47.306Z,1574289167.306 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:47.829Z,1574289167.829 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:48.136Z,1574289168.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223248.08*5B

2019-11-20T22:32:50.219Z,1574289170.219 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:50.941Z,1574289170.941 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:51.350Z,1574289171.350 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:51.790Z,1574289171.790 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-11-20T22:32:52.180Z,1574289172.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223252.11*58

2019-11-20T22:32:53.851Z,1574289173.851 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:56.226Z,1574289176.226 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:32:57.006Z,1574289177.006 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:32:57.407Z,1574289177.407 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:32:58.009Z,1574289178.009 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:32:58.236Z,1574289178.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223258.17*54

2019-11-20T22:32:59.923Z,1574289179.923 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:02.304Z,1574289182.304 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:03.062Z,1574289183.062 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:03.478Z,1574289183.478 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:03.956Z,1574289183.956 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:33:04.309Z,1574289184.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223304.23*5B

2019-11-20T22:33:05.952Z,1574289185.952 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:07.957Z,1574289187.957 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:08.721Z,1574289188.721 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:09.130Z,1574289189.130 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:09.590Z,1574289189.590 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:33:09.956Z,1574289189.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223309.89*56

2019-11-20T22:33:11.601Z,1574289191.601 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:13.617Z,1574289193.617 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:14.385Z,1574289194.385 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:14.783Z,1574289194.783 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:15.254Z,1574289195.254 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:33:15.608Z,1574289195.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223315.56*59

2019-11-20T22:33:16.808Z,1574289196.808 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-20T22:33:17.255Z,1574289197.255 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:19.256Z,1574289199.256 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:20.029Z,1574289200.029 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:20.436Z,1574289200.436 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:20.976Z,1574289200.976 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:33:21.260Z,1574289201.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223321.20*5F

2019-11-20T22:33:22.912Z,1574289202.912 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:24.946Z,1574289204.946 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:25.685Z,1574289205.685 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:26.091Z,1574289206.091 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:26.140Z,1574289206.140 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-20T22:33:26.140Z,1574289206.140 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-20T22:33:26.590Z,1574289206.590 [Reporter](INFO): acoustic_contact_range 1.500000 m
2019-11-20T22:33:26.924Z,1574289206.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223326.85*57

2019-11-20T22:33:28.625Z,1574289208.625 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:30.993Z,1574289210.993 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:31.757Z,1574289211.757 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:32.163Z,1574289212.163 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:32.634Z,1574289212.634 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:33:32.984Z,1574289212.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223332.93*55

2019-11-20T22:33:34.641Z,1574289214.641 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:37.058Z,1574289217.058 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:37.814Z,1574289217.814 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:38.227Z,1574289218.227 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:38.752Z,1574289218.752 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:33:39.044Z,1574289219.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223338.99*55

2019-11-20T22:33:40.697Z,1574289220.697 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:42.697Z,1574289222.697 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:43.470Z,1574289223.470 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:43.883Z,1574289223.883 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:44.357Z,1574289224.357 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:33:44.704Z,1574289224.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223344.64*5C

2019-11-20T22:33:46.365Z,1574289226.365 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:47.956Z,1574289227.956 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-20T22:33:48.799Z,1574289228.799 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:49.534Z,1574289229.534 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:49.947Z,1574289229.947 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:50.434Z,1574289230.434 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:33:50.768Z,1574289230.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223350.70*5C

2019-11-20T22:33:52.442Z,1574289232.442 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:54.826Z,1574289234.826 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:33:55.598Z,1574289235.598 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:33:55.994Z,1574289235.994 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:33:56.507Z,1574289236.507 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:33:56.832Z,1574289236.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223356.77*5D

2019-11-20T22:33:58.497Z,1574289238.497 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:00.513Z,1574289240.513 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:01.246Z,1574289241.246 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:01.651Z,1574289241.651 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:02.166Z,1574289242.166 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:34:02.480Z,1574289242.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223402.41*5E

2019-11-20T22:34:04.156Z,1574289244.156 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:06.537Z,1574289246.537 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:07.305Z,1574289247.305 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:07.717Z,1574289247.717 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:08.182Z,1574289248.182 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:34:08.548Z,1574289248.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.449434,223408.48*49

2019-11-20T22:34:10.185Z,1574289250.185 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:12.201Z,1574289252.201 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:12.963Z,1574289252.963 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:13.370Z,1574289253.370 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:13.857Z,1574289253.857 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-11-20T22:34:14.192Z,1574289254.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223414.13*5E

2019-11-20T22:34:15.850Z,1574289255.850 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:18.261Z,1574289258.261 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:19.020Z,1574289259.020 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:19.431Z,1574289259.431 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:19.947Z,1574289259.947 [Reporter](INFO): acoustic_contact_range 1.379999 m
2019-11-20T22:34:20.252Z,1574289260.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223420.19*53

2019-11-20T22:34:21.905Z,1574289261.905 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:23.933Z,1574289263.933 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:24.676Z,1574289264.676 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:25.082Z,1574289265.082 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:25.545Z,1574289265.545 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:34:25.916Z,1574289265.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223425.85*53

2019-11-20T22:34:27.553Z,1574289267.553 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:29.564Z,1574289269.564 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:30.333Z,1574289270.333 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:30.737Z,1574289270.737 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:31.324Z,1574289271.324 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:34:31.564Z,1574289271.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223431.50*5E

2019-11-20T22:34:33.210Z,1574289273.210 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:35.251Z,1574289275.251 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:35.989Z,1574289275.989 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:36.403Z,1574289276.403 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:36.924Z,1574289276.924 [Reporter](INFO): acoustic_contact_range 1.500000 m
2019-11-20T22:34:37.226Z,1574289277.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223437.16*5A

2019-11-20T22:34:38.920Z,1574289278.920 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:41.277Z,1574289281.277 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:42.032Z,1574289282.032 [DataOverHttps](IMPORTANT): SBD MTMSN=20191120T223439
2019-11-20T22:34:42.057Z,1574289282.057 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:42.465Z,1574289282.465 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:42.941Z,1574289282.941 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:34:43.284Z,1574289283.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223443.23*5F

2019-11-20T22:34:44.943Z,1574289284.943 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:46.978Z,1574289286.978 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:47.716Z,1574289287.716 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:34:48.119Z,1574289288.119 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:34:48.637Z,1574289288.637 [Reporter](INFO): acoustic_contact_range 1.440000 m
2019-11-20T22:34:48.962Z,1574289288.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,223448.89*54

2019-11-20T22:34:49.963Z,1574289289.963 [DataOverHttps](INFO): Received command:restart sys
2019-11-20T22:34:50.019Z,1574289290.019 [CommandLine](IMPORTANT): got command restart system
2019-11-20T22:34:50.610Z,1574289290.610 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:34:52.123Z,1574289292.123 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2019-11-20T22:34:52.123Z,1574289292.123 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.124Z,1574289292.124 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.187Z,1574289292.187 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-11-20T22:34:52.187Z,1574289292.187 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.188Z,1574289292.188 [CommandLine](INFO): Join timeout helper Thread ID is 1334
2019-11-20T22:34:52.199Z,1574289292.199 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-11-20T22:34:52.199Z,1574289292.199 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.200Z,1574289292.200 [NavChartDb](INFO): Join timeout helper Thread ID is 1335
2019-11-20T22:34:52.230Z,1574289292.230 [MissionManager](INFO): MissionManager is completed.
2019-11-20T22:34:52.230Z,1574289292.230 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-20T22:34:52.230Z,1574289292.230 [lineCaptureHomingLab] Stopped
2019-11-20T22:34:52.230Z,1574289292.230 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-20T22:34:52.230Z,1574289292.230 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-20T22:34:52.230Z,1574289292.230 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-20T22:34:52.231Z,1574289292.231 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-20T22:34:52.391Z,1574289292.391 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.391Z,1574289292.391 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.407Z,1574289292.407 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2019-11-20T22:34:52.407Z,1574289292.407 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.407Z,1574289292.407 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 1336
2019-11-20T22:34:52.610Z,1574289292.610 [MissionManager](IMPORTANT): Started mission Default
2019-11-20T22:34:52.610Z,1574289292.610 [Default] Running Loop=1
2019-11-20T22:34:52.610Z,1574289292.610 [Default](DEBUG): Aggregate::initialize Default
2019-11-20T22:34:52.610Z,1574289292.610 [Default:B.GoToSurface] Running Loop=1
2019-11-20T22:34:52.610Z,1574289292.610 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-20T22:34:52.611Z,1574289292.611 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-20T22:34:52.611Z,1574289292.611 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-20T22:34:52.611Z,1574289292.611 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-20T22:34:52.612Z,1574289292.612 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-20T22:34:52.612Z,1574289292.612 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-20T22:34:52.613Z,1574289292.613 [Default:A.Wait] Running Loop=1
2019-11-20T22:34:52.613Z,1574289292.613 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-20T22:34:52.623Z,1574289292.623 [Reporter](INFO): DDM.whiskerState no_value
2019-11-20T22:34:52.639Z,1574289292.639 [Reporter](INFO): DDM.latchState no_value
2019-11-20T22:34:52.640Z,1574289292.640 [Reporter](INFO): DDM.cablePresent no_value
2019-11-20T22:34:52.647Z,1574289292.647 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.647Z,1574289292.647 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-20T22:34:52.648Z,1574289292.648 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.651Z,1574289292.651 [ComponentRegistry](INFO): Shutting down CTD_NeilBrown ThreadHandler
2019-11-20T22:34:52.651Z,1574289292.651 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.652Z,1574289292.652 [CTD_NeilBrown](INFO): Join timeout helper Thread ID is 1337
2019-11-20T22:34:52.803Z,1574289292.803 [CTD_NeilBrown ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.803Z,1574289292.803 [CTD_NeilBrown](INFO): Powering down
2019-11-20T22:34:52.815Z,1574289292.815 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.819Z,1574289292.819 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-11-20T22:34:52.819Z,1574289292.819 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.819Z,1574289292.819 [Radio_Surface](INFO): Join timeout helper Thread ID is 1338
2019-11-20T22:34:52.915Z,1574289292.915 [Radio_Surface](INFO): Powering down
2019-11-20T22:34:52.916Z,1574289292.916 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.916Z,1574289292.916 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.920Z,1574289292.920 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-11-20T22:34:52.920Z,1574289292.920 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.920Z,1574289292.920 [DataOverHttps](INFO): Join timeout helper Thread ID is 1339
2019-11-20T22:34:52.962Z,1574289292.962 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:34:52.971Z,1574289292.971 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.971Z,1574289292.971 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.975Z,1574289292.975 [DDM](FAULT): failed to deactivate IR emitter.
2019-11-20T22:34:52.975Z,1574289292.975 [DDM] Hardware Fault, FailCount= 7
2019-11-20T22:34:52.975Z,1574289292.975 [DDM](ERROR): Hardware Fault
2019-11-20T22:34:52.984Z,1574289292.984 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-11-20T22:34:52.984Z,1574289292.984 [logger ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.984Z,1574289292.984 [logger](INFO): Join timeout helper Thread ID is 1340
2019-11-20T22:34:52.988Z,1574289292.988 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:52.989Z,1574289292.989 [logger ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.992Z,1574289292.992 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-11-20T22:34:52.993Z,1574289292.993 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.994Z,1574289292.994 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-11-20T22:34:52.994Z,1574289292.994 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:52.997Z,1574289292.997 [controlThread](INFO): Join timeout helper Thread ID is 1341
2019-11-20T22:34:53.029Z,1574289293.029 [CBIT](ERROR): Hardware Fault in component: DDM
2019-11-20T22:34:53.032Z,1574289293.032 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-11-20T22:34:53.032Z,1574289293.032 [controlThread](DEBUG): Uninitializing ControlThread
2019-11-20T22:34:53.032Z,1574289293.032 [AHRS_M2](INFO): Powering down
2019-11-20T22:34:53.033Z,1574289293.033 [DDM](INFO): Powering down
2019-11-20T22:34:53.034Z,1574289293.034 [DUSBL_Hydroid](INFO): Powering down
2019-11-20T22:34:53.035Z,1574289293.035 [Micromodem](INFO): Powering down
2019-11-20T22:34:53.036Z,1574289293.036 [NAL9602](INFO): Powering down
2019-11-20T22:34:53.037Z,1574289293.037 [RDI_Pathfinder](INFO): Powering down
2019-11-20T22:34:53.040Z,1574289293.040 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-11-20T22:34:53.040Z,1574289293.040 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-11-20T22:34:53.041Z,1574289293.041 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-11-20T22:34:53.041Z,1574289293.041 [MissionManager](INFO): Uninitializing Mission Default
2019-11-20T22:34:53.041Z,1574289293.041 [Default] Stopped
2019-11-20T22:34:53.042Z,1574289293.042 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-20T22:34:53.042Z,1574289293.042 [Default:A.Wait] Stopped
2019-11-20T22:34:53.042Z,1574289293.042 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-20T22:34:53.042Z,1574289293.042 [Default:B.GoToSurface] Stopped
2019-11-20T22:34:53.042Z,1574289293.042 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-20T22:34:53.044Z,1574289293.044 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-11-20T22:34:53.045Z,1574289293.045 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-11-20T22:34:53.045Z,1574289293.045 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-11-20T22:34:53.045Z,1574289293.045 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-11-20T22:34:53.045Z,1574289293.045 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-11-20T22:34:53.045Z,1574289293.045 [BuoyancyServo](INFO): Powering down
2019-11-20T22:34:53.059Z,1574289293.059 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-11-20T22:34:53.059Z,1574289293.059 [ElevatorServo](INFO): Powering down
2019-11-20T22:34:53.060Z,1574289293.060 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-11-20T22:34:53.060Z,1574289293.060 [MassServo](INFO): Powering down
2019-11-20T22:34:53.061Z,1574289293.061 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-11-20T22:34:53.061Z,1574289293.061 [RudderServo](INFO): Powering down
2019-11-20T22:34:53.062Z,1574289293.062 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-11-20T22:34:53.062Z,1574289293.062 [ThrusterServo](INFO): Powering down
2019-11-20T22:34:53.063Z,1574289293.063 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-11-20T22:34:53.063Z,1574289293.063 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-11-20T22:34:53.063Z,1574289293.063 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-11-20T22:34:53.063Z,1574289293.063 [CBIT](DEBUG): Powering off loads.
2019-11-20T22:34:53.075Z,1574289293.075 [CBIT](DEBUG): Disabling WDT.
2019-11-20T22:34:53.087Z,1574289293.087 [CBIT](DEBUG): Opening all GF detection circuits.
2019-11-20T22:34:53.088Z,1574289293.088 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:53.132Z,1574289293.132 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:53.143Z,1574289293.143 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:53.307Z,1574289293.307 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:53.310Z,1574289293.310 [CTD_NeilBrown ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:53.373Z,1574289293.373 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-11-20T22:34:53.438Z,1574289293.438 [logger ThreadHandler](INFO): Thread cancelled.