2019-11-20T22:40:55.592Z,1574289655.592 [Supervisor](DEBUG): Initializing supervisor.
2019-11-20T22:40:55.594Z,1574289655.594 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-11-20T22:40:55.595Z,1574289655.595 [SyncHandler](INFO): Protected caller Thread ID is 806
2019-11-20T22:40:55.595Z,1574289655.595 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-11-20T22:40:55.596Z,1574289655.596 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-11-20T22:40:55.597Z,1574289655.597 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 807
2019-11-20T22:40:55.600Z,1574289655.600 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-11-20T22:40:55.611Z,1574289655.611 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-11-20T22:40:55.612Z,1574289655.612 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-11-20T22:40:55.613Z,1574289655.613 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 808
2019-11-20T22:40:55.613Z,1574289655.613 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-11-20T22:40:55.614Z,1574289655.614 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-11-20T22:40:55.615Z,1574289655.615 [logger ThreadHandler](INFO): Protected caller Thread ID is 809
2019-11-20T22:40:55.617Z,1574289655.617 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-11-20T22:40:55.617Z,1574289655.617 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-11-20T22:40:55.621Z,1574289655.621 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-11-20T22:40:56.034Z,1574289656.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-11-20T22:40:56.035Z,1574289656.035 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-11-20T22:40:56.132Z,1574289656.132 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-11-20T22:40:56.134Z,1574289656.134 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-11-20T22:40:56.437Z,1574289656.437 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-11-20T22:40:56.438Z,1574289656.438 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-11-20T22:40:56.577Z,1574289656.577 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-11-20T22:40:56.579Z,1574289656.579 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-11-20T22:40:56.762Z,1574289656.762 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-11-20T22:40:56.764Z,1574289656.764 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-11-20T22:40:57.199Z,1574289657.199 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-11-20T22:40:57.201Z,1574289657.201 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-11-20T22:40:57.401Z,1574289657.401 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-11-20T22:40:57.402Z,1574289657.402 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-11-20T22:40:57.543Z,1574289657.543 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-11-20T22:40:57.545Z,1574289657.545 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-11-20T22:40:57.727Z,1574289657.727 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-11-20T22:40:57.728Z,1574289657.728 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-11-20T22:40:57.823Z,1574289657.823 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-11-20T22:40:57.824Z,1574289657.824 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-11-20T22:40:58.115Z,1574289658.115 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-11-20T22:40:58.117Z,1574289658.117 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-11-20T22:40:58.203Z,1574289658.203 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-11-20T22:40:58.304Z,1574289658.304 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-11-20T22:40:58.305Z,1574289658.305 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-11-20T22:40:58.942Z,1574289658.942 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-11-20T22:40:58.943Z,1574289658.943 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-11-20T22:40:59.707Z,1574289659.707 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-11-20T22:40:59.709Z,1574289659.709 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-11-20T22:40:59.711Z,1574289659.711 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-11-20T22:40:59.912Z,1574289659.912 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-11-20T22:41:00.011Z,1574289660.011 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-11-20T22:41:00.109Z,1574289660.109 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-11-20T22:41:00.337Z,1574289660.337 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-11-20T22:41:00.339Z,1574289660.339 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-11-20T22:41:00.422Z,1574289660.422 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-11-20T22:41:00.514Z,1574289660.514 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-11-20T22:41:00.609Z,1574289660.609 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-11-20T22:41:00.691Z,1574289660.691 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-11-20T22:41:00.797Z,1574289660.797 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-11-20T22:41:00.975Z,1574289660.975 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-11-20T22:41:01.103Z,1574289661.103 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-11-20T22:41:01.124Z,1574289661.124 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-11-20T22:41:01.648Z,1574289661.648 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-11-20T22:41:01.653Z,1574289661.653 [AHRS_M2](INFO): created writer for : platform_orientation
2019-11-20T22:41:01.655Z,1574289661.655 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-11-20T22:41:01.660Z,1574289661.660 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-11-20T22:41:01.661Z,1574289661.661 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-11-20T22:41:01.666Z,1574289661.666 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-11-20T22:41:01.667Z,1574289661.667 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-11-20T22:41:01.672Z,1574289661.672 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-11-20T22:41:01.847Z,1574289661.847 [AHRS_M2] Loaded
2019-11-20T22:41:01.848Z,1574289661.848 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-11-20T22:41:01.997Z,1574289661.997 [DataOverHttps] Loaded
2019-11-20T22:41:01.997Z,1574289661.997 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-11-20T22:41:01.998Z,1574289661.998 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407694E0
2019-11-20T22:41:01.999Z,1574289661.999 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 888
2019-11-20T22:41:02.023Z,1574289662.023 [DDM] Loaded
2019-11-20T22:41:02.023Z,1574289662.023 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2019-11-20T22:41:02.037Z,1574289662.037 [Depth_Keller] Loaded
2019-11-20T22:41:02.037Z,1574289662.037 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-11-20T22:41:02.042Z,1574289662.042 [DropWeight] Loaded
2019-11-20T22:41:02.042Z,1574289662.042 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-11-20T22:41:02.103Z,1574289662.103 [DUSBL_Hydroid] Loaded
2019-11-20T22:41:02.104Z,1574289662.104 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-11-20T22:41:02.150Z,1574289662.150 [Micromodem] Loaded
2019-11-20T22:41:02.151Z,1574289662.151 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-11-20T22:41:02.248Z,1574289662.248 [NAL9602] Loaded
2019-11-20T22:41:02.248Z,1574289662.248 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-11-20T22:41:02.263Z,1574289662.263 [Onboard] Loaded
2019-11-20T22:41:02.264Z,1574289662.264 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-11-20T22:41:02.270Z,1574289662.270 [PowerOnly] Loaded
2019-11-20T22:41:02.271Z,1574289662.271 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-11-20T22:41:02.277Z,1574289662.277 [Radio_Surface] Loaded
2019-11-20T22:41:02.277Z,1574289662.277 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-11-20T22:41:02.278Z,1574289662.278 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407994E0
2019-11-20T22:41:02.279Z,1574289662.279 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 889
2019-11-20T22:41:02.321Z,1574289662.321 [RDI_Pathfinder] Loaded
2019-11-20T22:41:02.322Z,1574289662.322 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-11-20T22:41:03.799Z,1574289663.799 [BPC1] Loaded
2019-11-20T22:41:03.800Z,1574289663.800 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-11-20T22:41:03.800Z,1574289663.800 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-11-20T22:41:03.802Z,1574289663.802 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-11-20T22:41:03.826Z,1574289663.826 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-11-20T22:41:03.826Z,1574289663.826 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-11-20T22:41:03.959Z,1574289663.959 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-11-20T22:41:03.959Z,1574289663.959 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-11-20T22:41:03.979Z,1574289663.979 [NavChart] Loaded
2019-11-20T22:41:03.980Z,1574289663.980 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-11-20T22:41:03.984Z,1574289663.984 [UniversalFixResidualReporter] Loaded
2019-11-20T22:41:03.984Z,1574289663.984 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-11-20T22:41:03.984Z,1574289663.984 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-11-20T22:41:03.986Z,1574289663.986 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-11-20T22:41:04.114Z,1574289664.114 [BuoyancyServo] Loaded
2019-11-20T22:41:04.114Z,1574289664.114 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-11-20T22:41:04.129Z,1574289664.129 [ElevatorServo] Loaded
2019-11-20T22:41:04.130Z,1574289664.130 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-11-20T22:41:04.144Z,1574289664.144 [MassServo] Loaded
2019-11-20T22:41:04.145Z,1574289664.145 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-11-20T22:41:04.159Z,1574289664.159 [RudderServo] Loaded
2019-11-20T22:41:04.160Z,1574289664.160 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-11-20T22:41:04.174Z,1574289664.174 [ThrusterServo] Loaded
2019-11-20T22:41:04.174Z,1574289664.174 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-11-20T22:41:04.175Z,1574289664.175 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-11-20T22:41:04.176Z,1574289664.176 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-11-20T22:41:04.506Z,1574289664.506 [CTD_NeilBrown] Loaded
2019-11-20T22:41:04.507Z,1574289664.507 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-11-20T22:41:04.508Z,1574289664.508 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408E34E0
2019-11-20T22:41:04.508Z,1574289664.508 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 891
2019-11-20T22:41:04.523Z,1574289664.523 [PAR_Licor] Loaded
2019-11-20T22:41:04.523Z,1574289664.523 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-11-20T22:41:04.566Z,1574289664.566 [WetLabsSeaOWL_UV_A] Loaded
2019-11-20T22:41:04.566Z,1574289664.566 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-11-20T22:41:04.567Z,1574289664.567 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409134E0
2019-11-20T22:41:04.568Z,1574289664.568 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 892
2019-11-20T22:41:04.568Z,1574289664.568 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-11-20T22:41:04.569Z,1574289664.569 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-11-20T22:41:05.124Z,1574289665.124 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-11-20T22:41:05.258Z,1574289665.258 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-11-20T22:41:05.316Z,1574289665.316 [DepthRateCalculator] Loaded
2019-11-20T22:41:05.317Z,1574289665.317 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-11-20T22:41:05.322Z,1574289665.322 [PitchRateCalculator] Loaded
2019-11-20T22:41:05.323Z,1574289665.323 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-11-20T22:41:05.335Z,1574289665.335 [SpeedCalculator] Loaded
2019-11-20T22:41:05.335Z,1574289665.335 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-11-20T22:41:05.355Z,1574289665.355 [TempGradientCalculator] Loaded
2019-11-20T22:41:05.356Z,1574289665.356 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-11-20T22:41:05.361Z,1574289665.361 [YawRateCalculator] Loaded
2019-11-20T22:41:05.362Z,1574289665.362 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-11-20T22:41:05.401Z,1574289665.401 [ElevatorOffsetCalculator] Loaded
2019-11-20T22:41:05.401Z,1574289665.401 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-11-20T22:41:05.402Z,1574289665.402 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-11-20T22:41:05.402Z,1574289665.402 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-11-20T22:41:05.559Z,1574289665.559 [SBIT](DEBUG): Construct Startup Built In Test.
2019-11-20T22:41:05.581Z,1574289665.581 [SBIT] Loaded
2019-11-20T22:41:05.581Z,1574289665.581 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-11-20T22:41:05.582Z,1574289665.582 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-11-20T22:41:05.594Z,1574289665.594 [IBIT] Loaded
2019-11-20T22:41:05.595Z,1574289665.595 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-11-20T22:41:05.598Z,1574289665.598 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-11-20T22:41:05.737Z,1574289665.737 [CBIT] Loaded
2019-11-20T22:41:05.738Z,1574289665.738 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-11-20T22:41:05.738Z,1574289665.738 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-11-20T22:41:05.739Z,1574289665.739 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-11-20T22:41:05.860Z,1574289665.860 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-11-20T22:41:05.861Z,1574289665.861 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-11-20T22:41:05.984Z,1574289665.984 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-11-20T22:41:05.986Z,1574289665.986 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-11-20T22:41:06.048Z,1574289666.048 [VerticalControl](DEBUG): Construct VerticalControl.
2019-11-20T22:41:06.130Z,1574289666.130 [VerticalControl] Loaded
2019-11-20T22:41:06.130Z,1574289666.130 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-11-20T22:41:06.131Z,1574289666.131 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-11-20T22:41:06.188Z,1574289666.188 [HorizontalControl] Loaded
2019-11-20T22:41:06.188Z,1574289666.188 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-11-20T22:41:06.189Z,1574289666.189 [SpeedControl](DEBUG): Construct SpeedControl.
2019-11-20T22:41:06.191Z,1574289666.191 [SpeedControl] Loaded
2019-11-20T22:41:06.191Z,1574289666.191 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-11-20T22:41:06.192Z,1574289666.192 [LoopControl](DEBUG): Construct LoopControl.
2019-11-20T22:41:06.192Z,1574289666.192 [LoopControl] Loaded
2019-11-20T22:41:06.192Z,1574289666.192 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-11-20T22:41:06.193Z,1574289666.193 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-11-20T22:41:06.194Z,1574289666.194 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-11-20T22:41:06.243Z,1574289666.243 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-11-20T22:41:06.247Z,1574289666.247 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-11-20T22:41:06.248Z,1574289666.248 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-11-20T22:41:06.254Z,1574289666.254 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-11-20T22:41:06.255Z,1574289666.255 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AEF4E0
2019-11-20T22:41:06.256Z,1574289666.256 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 893
2019-11-20T22:41:06.260Z,1574289666.260 [Supervisor](INFO): Main Thread ID is 802
2019-11-20T22:41:06.260Z,1574289666.260 [Supervisor](DEBUG): Running supervisor.
2019-11-20T22:41:06.261Z,1574289666.261 [CommandLine ThreadHandler](INFO): Handler Thread ID is 894
2019-11-20T22:41:06.263Z,1574289666.263 [controlThread ThreadHandler](INFO): Handler Thread ID is 895
2019-11-20T22:41:06.264Z,1574289666.264 [controlThread](DEBUG): Initializing ControlThread
2019-11-20T22:41:06.272Z,1574289666.272 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-11-20T22:41:06.272Z,1574289666.272 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-11-20T22:41:06.277Z,1574289666.277 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-11-20T22:41:06.277Z,1574289666.277 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-11-20T22:41:06.278Z,1574289666.278 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-11-20T22:41:06.278Z,1574289666.278 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-11-20T22:41:06.278Z,1574289666.278 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-11-20T22:41:06.279Z,1574289666.279 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-11-20T22:41:06.279Z,1574289666.279 [SBIT](INFO): Initialize SBIT Component.
2019-11-20T22:41:06.280Z,1574289666.280 [SBIT](IMPORTANT): git: 2019-11-13-4-g1952be0
2019-11-20T22:41:06.280Z,1574289666.280 [SBIT](INFO): git hash: 1952be029e6a0aa192ec2180874f0fa5b74dbe0e
2019-11-20T22:41:06.280Z,1574289666.280 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-11-20T22:41:06.282Z,1574289666.282 [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
2019-11-20T22:41:06.283Z,1574289666.283 [SBIT](INFO): Beginning SBIT in 34.000000 seconds.
2019-11-20T22:41:06.283Z,1574289666.283 [IBIT](INFO): Initialize IBIT Component.
2019-11-20T22:41:06.284Z,1574289666.284 [CBIT](DEBUG): Initialize CBIT Component.
2019-11-20T22:41:06.285Z,1574289666.285 [logger ThreadHandler](INFO): Handler Thread ID is 896
2019-11-20T22:41:06.297Z,1574289666.297 [CBIT](DEBUG): Initialized mux pins.
2019-11-20T22:41:06.297Z,1574289666.297 [CBIT](DEBUG): Initializing the watchdog timer.
2019-11-20T22:41:06.305Z,1574289666.305 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 897
2019-11-20T22:41:06.306Z,1574289666.306 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-11-20T22:41:06.317Z,1574289666.317 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 898
2019-11-20T22:41:06.321Z,1574289666.321 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-11-20T22:41:06.321Z,1574289666.321 [CBIT](DEBUG): Initializing heartbeat.
2019-11-20T22:41:06.329Z,1574289666.329 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 899
2019-11-20T22:41:06.330Z,1574289666.330 [CTD_NeilBrown](INFO): Powering down
2019-11-20T22:41:06.357Z,1574289666.357 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 900
2019-11-20T22:41:06.358Z,1574289666.358 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-20T22:41:06.385Z,1574289666.385 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 901
2019-11-20T22:41:06.393Z,1574289666.393 [CBIT](DEBUG): Deactivating GF circuits.
2019-11-20T22:41:06.393Z,1574289666.393 [CBIT](DEBUG): Deactivating emergency mode.
2019-11-20T22:41:06.394Z,1574289666.394 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-11-20T22:41:06.394Z,1574289666.394 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-11-20T22:41:06.395Z,1574289666.395 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-11-20T22:41:06.395Z,1574289666.395 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-11-20T22:41:06.395Z,1574289666.395 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-11-20T22:41:06.395Z,1574289666.395 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-11-20T22:41:06.395Z,1574289666.395 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-11-20T22:41:06.396Z,1574289666.396 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-11-20T22:41:06.396Z,1574289666.396 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-11-20T22:41:06.396Z,1574289666.396 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-11-20T22:41:06.396Z,1574289666.396 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-11-20T22:41:06.396Z,1574289666.396 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-11-20T22:41:06.396Z,1574289666.396 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-11-20T22:41:06.397Z,1574289666.397 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-11-20T22:41:06.397Z,1574289666.397 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-11-20T22:41:06.397Z,1574289666.397 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-11-20T22:41:06.429Z,1574289666.429 [CBIT](DEBUG): Backplane powered.
2019-11-20T22:41:06.429Z,1574289666.429 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-11-20T22:41:06.431Z,1574289666.431 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-11-20T22:41:06.432Z,1574289666.432 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-11-20T22:41:06.432Z,1574289666.432 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-11-20T22:41:06.433Z,1574289666.433 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-11-20T22:41:06.463Z,1574289666.463 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-20T22:41:06.473Z,1574289666.473 [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>


2019-11-20T22:41:06.474Z,1574289666.474 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-11-20T22:41:06.595Z,1574289666.595 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-11-20T22:41:06.596Z,1574289666.596 [Default:A.Wait](DEBUG): Construct Wait.
2019-11-20T22:41:06.598Z,1574289666.598 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-20T22:41:06.657Z,1574289666.657 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-11-20T22:41:06.660Z,1574289666.660 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-11-20T22:41:06.673Z,1574289666.673 [Default:E.Execute](DEBUG): Construct Execute.
2019-11-20T22:41:06.676Z,1574289666.676 [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>


2019-11-20T22:41:06.708Z,1574289666.708 [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,
2019-11-20T22:41:06.713Z,1574289666.713 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-11-20T22:41:06.721Z,1574289666.721 [Radio_Surface](INFO): Powering up
2019-11-20T22:41:06.861Z,1574289666.861 [DDM](INFO): Powering up
2019-11-20T22:41:06.861Z,1574289666.861 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:41:06.933Z,1574289666.933 [DUSBL_Hydroid](INFO): Powering up
2019-11-20T22:41:06.933Z,1574289666.933 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-11-20T22:41:07.156Z,1574289667.156 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-11-20T22:41:07.161Z,1574289667.161 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-11-20T22:41:07.162Z,1574289667.162 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-11-20T22:41:07.169Z,1574289667.169 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-11-20T22:41:07.170Z,1574289667.170 [MassServo](DEBUG): Initializing EZServoServo.
2019-11-20T22:41:07.177Z,1574289667.177 [MassServo](DEBUG): Initializing MassServo.
2019-11-20T22:41:07.178Z,1574289667.178 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-20T22:41:07.185Z,1574289667.185 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-20T22:41:07.186Z,1574289667.186 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-11-20T22:41:07.193Z,1574289667.193 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-11-20T22:41:07.279Z,1574289667.279 [Micromodem](INFO): Powering up
2019-11-20T22:41:07.280Z,1574289667.280 [Micromodem](DEBUG): Initializing Micromodem.
2019-11-20T22:41:08.005Z,1574289668.005 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-11-20T22:41:08.005Z,1574289668.005 [RudderServo](FAULT): Rudder failed to initialize
2019-11-20T22:41:08.005Z,1574289668.005 [RudderServo] Communications Fault, FailCount= 1
2019-11-20T22:41:08.005Z,1574289668.005 [RudderServo](ERROR): Communications Fault
2019-11-20T22:41:08.188Z,1574289668.188 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-11-20T22:41:08.366Z,1574289668.366 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-11-20T22:41:08.366Z,1574289668.366 [RudderServo](INFO): Powering down
2019-11-20T22:41:09.063Z,1574289669.063 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-20T22:41:09.182Z,1574289669.182 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-20T22:41:09.186Z,1574289669.186 [CBIT](INFO): Clearing failed state for component RudderServo
2019-11-20T22:41:09.186Z,1574289669.186 [RudderServo] No Fault, FailCount= 1
2019-11-20T22:41:12.277Z,1574289672.277 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-11-20T22:41:12.680Z,1574289672.680 [Micromodem](INFO): Nmea in: $CATMG,2019-11-20T22:40:15.421716Z,RTC,RTC*5F

2019-11-20T22:41:12.680Z,1574289672.680 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-11-20T22:40:15.421716Z,RTC,RTC*5F

2019-11-20T22:41:13.087Z,1574289673.087 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-11-20T22:41:13.087Z,1574289673.087 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-11-20T22:41:13.491Z,1574289673.491 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-11-20T22:41:13.491Z,1574289673.491 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-11-20T22:41:13.892Z,1574289673.892 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-11-20T22:41:13.892Z,1574289673.892 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-11-20T22:41:14.295Z,1574289674.295 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-11-20T22:41:14.295Z,1574289674.295 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-11-20T22:41:14.703Z,1574289674.703 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-11-20T22:41:14.703Z,1574289674.703 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-11-20T22:41:15.092Z,1574289675.092 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-11-20T22:41:15.092Z,1574289675.092 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-11-20T22:41:15.931Z,1574289675.931 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-11-20T22:41:15.931Z,1574289675.931 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-11-20T22:41:16.122Z,1574289676.122 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-11-20T22:41:16.123Z,1574289676.123 [Micromodem](INFO): Nmea out: $CCCLK,2019,11,20,22,41,17*4F

2019-11-20T22:41:16.483Z,1574289676.483 [Micromodem](INFO): Nmea in: $CACLK,2019,11,20,22,41,17*4D

2019-11-20T22:41:16.894Z,1574289676.894 [Micromodem](INFO): Nmea in: $CATMS,0,2019-11-20T22:41:18Z*72

2019-11-20T22:41:16.895Z,1574289676.895 [Micromodem](INFO): Nmea in: $CATMG,2019-11-20T22:41:18.026045Z,USER_CMD,RTC*10

2019-11-20T22:41:17.305Z,1574289677.305 [DDM](INFO): Dynamic Docking Module: !C REMUS Capture Rev 1.1
2019-11-20T22:41:18.093Z,1574289678.093 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:41:18.105Z,1574289678.105 [DDM](FAULT): failed to deactivate IR emitter.
2019-11-20T22:41:18.105Z,1574289678.105 [DDM] Hardware Fault, FailCount= 1
2019-11-20T22:41:18.105Z,1574289678.105 [DDM](ERROR): Hardware Fault
2019-11-20T22:41:18.257Z,1574289678.257 [CBIT](ERROR): Hardware Fault in component: DDM
2019-11-20T22:41:18.497Z,1574289678.497 [DDM](INFO): Powering down
2019-11-20T22:41:19.409Z,1574289679.409 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:41:19.409Z,1574289679.409 [DDM] No Fault, FailCount= 1
2019-11-20T22:41:20.548Z,1574289680.548 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-20T22:41:21.729Z,1574289681.729 [DDM](INFO): Powering up
2019-11-20T22:41:21.729Z,1574289681.729 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:41:24.966Z,1574289684.966 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-11-20T22:41:32.234Z,1574289692.234 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:41:32.339Z,1574289692.339 [NAL9602](INFO): Powering up NAL9602
2019-11-20T22:41:33.049Z,1574289693.049 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:41:33.061Z,1574289693.061 [DDM](FAULT): failed to deactivate IR emitter.
2019-11-20T22:41:33.062Z,1574289693.062 [DDM] Hardware Fault, FailCount= 2
2019-11-20T22:41:33.062Z,1574289693.062 [DDM](ERROR): Hardware Fault
2019-11-20T22:41:33.189Z,1574289693.189 [CBIT](ERROR): Hardware Fault in component: DDM
2019-11-20T22:41:33.445Z,1574289693.445 [DDM](INFO): Powering down
2019-11-20T22:41:34.330Z,1574289694.330 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:41:34.330Z,1574289694.330 [DDM] No Fault, FailCount= 2
2019-11-20T22:41:36.677Z,1574289696.677 [DDM](INFO): Powering up
2019-11-20T22:41:36.678Z,1574289696.678 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:41:40.779Z,1574289700.779 [SBIT](IMPORTANT): Beginning Startup BIT
2019-11-20T22:41:40.786Z,1574289700.786 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-20T22:41:43.667Z,1574289703.667 [NAL9602](INFO): NAL9602 initialized
2019-11-20T22:41:47.312Z,1574289707.312 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:41:48.105Z,1574289708.105 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:41:51.857Z,1574289711.857 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000546
CHAN A1 (24V): -0.029002
CHAN A2 (12V): -0.007568
CHAN A3 (5V): -0.002408
CHAN B0 (3.3V): -0.000098
CHAN B1 (3.15aV): 0.000926
CHAN B2 (3.15bV): -0.000431
CHAN B3 (GND): 0.001360
OPEN: 0.005062
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-20T22:42:34.095Z,1574289754.095 [SBIT](IMPORTANT): SBIT PASSED
2019-11-20T22:42:34.182Z,1574289754.182 [CommandLine](IMPORTANT): got command configSet list
2019-11-20T22:42:34.182Z,1574289754.182 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-11-20T22:42:34.183Z,1574289754.183 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2019-11-20T22:42:34.183Z,1574289754.183 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2019-11-20T22:42:34.183Z,1574289754.183 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-11-20T22:42:34.183Z,1574289754.183 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-11-20T22:42:34.183Z,1574289754.183 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2019-11-20T22:42:34.183Z,1574289754.183 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2019-11-20T22:42:34.184Z,1574289754.184 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup=1 bool;

2019-11-20T22:42:34.185Z,1574289754.185 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=350 cubic_centimeter;

2019-11-20T22:42:34.186Z,1574289754.186 [CommandLine](IMPORTANT): VerticalControl.massDefault=3.6 millimeter;

2019-11-20T22:42:34.514Z,1574289754.514 [MissionManager](IMPORTANT): Started mission Startup
2019-11-20T22:42:34.514Z,1574289754.514 [Startup] Running Loop=1
2019-11-20T22:42:34.515Z,1574289754.515 [Startup](DEBUG): Aggregate::initialize Startup
2019-11-20T22:42:34.515Z,1574289754.515 [Startup:A.GoToSurface] Running Loop=1
2019-11-20T22:42:34.515Z,1574289754.515 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-20T22:42:34.515Z,1574289754.515 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-20T22:42:34.516Z,1574289754.516 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-20T22:42:34.516Z,1574289754.516 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-20T22:42:34.516Z,1574289754.516 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-20T22:42:34.517Z,1574289754.517 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-20T22:42:34.518Z,1574289754.518 [Startup:StartupSatComms] Running Loop=1
2019-11-20T22:42:34.519Z,1574289754.519 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-11-20T22:42:34.519Z,1574289754.519 [Startup:StartupSatComms:A] Running Loop=1
2019-11-20T22:42:34.891Z,1574289754.891 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-11-20T22:43:08.506Z,1574289788.506 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-20T22:43:21.437Z,1574289801.437 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-20T22:43:34.744Z,1574289814.744 [Startup:StartupSatComms:A](INFO): Timed out from 2019-11-20T22:42:34.5Z
2019-11-20T22:43:34.744Z,1574289814.744 [Startup:StartupSatComms:A] Stopped
2019-11-20T22:43:34.744Z,1574289814.744 [Startup:StartupSatComms:B] Running Loop=1
2019-11-20T22:43:35.094Z,1574289815.094 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-20T22:43:37.571Z,1574289817.571 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004979
2019-11-20T22:43:45.710Z,1574289825.710 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20191120T221959/Courier0007.lzma
2019-11-20T22:43:47.715Z,1574289827.715 [DataOverHttps](INFO): Moved sent file to Logs/20191120T221959/Courier0007.lzma.bak
2019-11-20T22:43:47.715Z,1574289827.715 [DataOverHttps](INFO): SBD MOMSN=12079364
2019-11-20T22:44:02.668Z,1574289842.668 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-20T22:44:05.083Z,1574289845.083 [DataOverHttps](INFO): Sending 1206 bytes from file Logs/20191120T221959/Express0008.lzma
2019-11-20T22:44:06.623Z,1574289846.623 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-11-20T22:44:06.623Z,1574289846.623 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:06.649Z,1574289846.649 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:07.007Z,1574289847.007 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:07.007Z,1574289847.007 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-11-20T22:44:07.086Z,1574289847.086 [DataOverHttps](INFO): Moved sent file to Logs/20191120T221959/Express0008.lzma.bak
2019-11-20T22:44:07.086Z,1574289847.086 [DataOverHttps](INFO): SBD MOMSN=12079366
2019-11-20T22:44:15.945Z,1574289855.945 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-20T22:44:24.671Z,1574289864.671 [DataOverHttps](INFO): Sending 971 bytes from file Logs/20191120T223114/Express0001.lzma
2019-11-20T22:44:26.674Z,1574289866.674 [DataOverHttps](INFO): Moved sent file to Logs/20191120T223114/Express0001.lzma.bak
2019-11-20T22:44:26.674Z,1574289866.674 [DataOverHttps](INFO): SBD MOMSN=12079417
2019-11-20T22:44:28.386Z,1574289868.386 [CommandLine](IMPORTANT): got command failComponent
2019-11-20T22:44:28.386Z,1574289868.386 [CommandLine](IMPORTANT): Failed components:
2019-11-20T22:44:28.386Z,1574289868.386 [CommandLine](IMPORTANT): No failed Components.
2019-11-20T22:44:32.050Z,1574289872.050 [CommandLine](IMPORTANT): got command show stack
2019-11-20T22:44:32.050Z,1574289872.050 [CommandLine](IMPORTANT): Behavior Stack:

2019-11-20T22:44:32.050Z,1574289872.050 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2019-11-20T22:44:32.050Z,1574289872.050 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2019-11-20T22:44:34.895Z,1574289874.895 [Startup:StartupSatComms:B](INFO): Timed out from 2019-11-20T22:43:34.7Z
2019-11-20T22:44:34.895Z,1574289874.895 [Startup:StartupSatComms:B] Stopped
2019-11-20T22:44:34.895Z,1574289874.895 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-11-20T22:44:34.895Z,1574289874.895 [Startup:StartupSatComms] Stopped
2019-11-20T22:44:34.895Z,1574289874.895 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-11-20T22:44:34.896Z,1574289874.896 [Startup](INFO): Completed Startup
2019-11-20T22:44:34.896Z,1574289874.896 [MissionManager](INFO): Startup is completed.
2019-11-20T22:44:34.896Z,1574289874.896 [MissionManager](INFO): Uninitializing Mission Startup
2019-11-20T22:44:34.897Z,1574289874.897 [Startup] Stopped
2019-11-20T22:44:34.897Z,1574289874.897 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-11-20T22:44:34.897Z,1574289874.897 [Startup:A.GoToSurface] Stopped
2019-11-20T22:44:34.897Z,1574289874.897 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-20T22:44:35.306Z,1574289875.306 [MissionManager](IMPORTANT): Started mission Default
2019-11-20T22:44:35.306Z,1574289875.306 [Default] Running Loop=1
2019-11-20T22:44:35.306Z,1574289875.306 [Default](DEBUG): Aggregate::initialize Default
2019-11-20T22:44:35.306Z,1574289875.306 [Default:B.GoToSurface] Running Loop=1
2019-11-20T22:44:35.306Z,1574289875.306 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-20T22:44:35.306Z,1574289875.306 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-20T22:44:35.307Z,1574289875.307 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-20T22:44:35.307Z,1574289875.307 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-20T22:44:35.307Z,1574289875.307 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-20T22:44:35.308Z,1574289875.308 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-20T22:44:35.308Z,1574289875.308 [Default:A.Wait] Running Loop=1
2019-11-20T22:44:35.308Z,1574289875.308 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-20T22:44:39.982Z,1574289879.982 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2019-11-20T22:44:39.984Z,1574289879.984 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-11-20T22:44:39.989Z,1574289879.989 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.800003 degree
2019-11-20T22:44:39.990Z,1574289879.990 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-11-20T22:44:40.207Z,1574289880.207 [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,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-11-20T22:44:40.578Z,1574289880.578 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:40.578Z,1574289880.578 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-11-20T22:44:40.578Z,1574289880.578 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:40.596Z,1574289880.596 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:40.964Z,1574289880.964 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:40.964Z,1574289880.964 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-11-20T22:44:41.782Z,1574289881.782 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:41.782Z,1574289881.782 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-11-20T22:44:41.782Z,1574289881.782 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:41.849Z,1574289881.849 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:42.246Z,1574289882.246 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:42.246Z,1574289882.246 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-11-20T22:44:42.999Z,1574289882.999 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:42.999Z,1574289882.999 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-11-20T22:44:42.999Z,1574289882.999 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:43.054Z,1574289883.054 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:43.433Z,1574289883.433 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:43.433Z,1574289883.433 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-11-20T22:44:44.210Z,1574289884.210 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:44.210Z,1574289884.210 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-11-20T22:44:44.210Z,1574289884.210 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:44.252Z,1574289884.252 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:44.615Z,1574289884.615 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:44.615Z,1574289884.615 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-11-20T22:44:45.358Z,1574289885.358 [DataOverHttps](INFO): Sending 1156 bytes from file Logs/20191120T224055/Express0001.lzma
2019-11-20T22:44:45.419Z,1574289885.419 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:45.420Z,1574289885.420 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-11-20T22:44:45.420Z,1574289885.420 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:45.437Z,1574289885.437 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:45.858Z,1574289885.858 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:45.858Z,1574289885.858 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-11-20T22:44:46.601Z,1574289886.601 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:46.601Z,1574289886.601 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-11-20T22:44:46.602Z,1574289886.602 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:46.611Z,1574289886.611 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:47.018Z,1574289887.018 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:47.018Z,1574289887.018 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-11-20T22:44:47.362Z,1574289887.362 [DataOverHttps](INFO): Moved sent file to Logs/20191120T224055/Express0001.lzma.bak
2019-11-20T22:44:47.362Z,1574289887.362 [DataOverHttps](INFO): SBD MOMSN=12079436
2019-11-20T22:44:47.803Z,1574289887.803 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:47.804Z,1574289887.804 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-11-20T22:44:47.804Z,1574289887.804 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:47.814Z,1574289887.814 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:48.226Z,1574289888.226 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:48.227Z,1574289888.227 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-11-20T22:44:48.627Z,1574289888.627 [Default:A.Wait](INFO): Done Waiting.
2019-11-20T22:44:48.627Z,1574289888.627 [Default:A.Wait] Stopped
2019-11-20T22:44:48.627Z,1574289888.627 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-20T22:44:49.015Z,1574289889.015 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:49.015Z,1574289889.015 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-11-20T22:44:49.015Z,1574289889.015 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:49.016Z,1574289889.016 [Default:CheckIn] Running Loop=1
2019-11-20T22:44:49.016Z,1574289889.016 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-20T22:44:49.017Z,1574289889.017 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-20T22:44:49.041Z,1574289889.041 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:49.425Z,1574289889.425 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-20T22:44:49.434Z,1574289889.434 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:49.434Z,1574289889.434 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-11-20T22:44:50.267Z,1574289890.267 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:50.267Z,1574289890.267 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-11-20T22:44:50.267Z,1574289890.267 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:50.289Z,1574289890.289 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:50.658Z,1574289890.658 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:50.658Z,1574289890.658 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-11-20T22:44:51.456Z,1574289891.456 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:51.456Z,1574289891.456 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-11-20T22:44:51.456Z,1574289891.456 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:51.465Z,1574289891.465 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:51.874Z,1574289891.874 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:51.875Z,1574289891.875 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-11-20T22:44:52.658Z,1574289892.658 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:52.658Z,1574289892.658 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-11-20T22:44:52.658Z,1574289892.658 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:52.668Z,1574289892.668 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:53.077Z,1574289893.077 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:53.077Z,1574289893.077 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-11-20T22:44:53.875Z,1574289893.875 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-20T22:44:53.875Z,1574289893.875 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-11-20T22:44:53.875Z,1574289893.875 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-20T22:44:53.903Z,1574289893.903 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:53.930Z,1574289893.930 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1574289920.000000 second
2019-11-20T22:44:54.291Z,1574289894.291 [Default:CheckIn:Read_GPS] Stopped
2019-11-20T22:44:54.292Z,1574289894.292 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-20T22:44:54.300Z,1574289894.300 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-20T22:44:54.300Z,1574289894.300 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-11-20T22:44:54.690Z,1574289894.690 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-20T22:44:57.610Z,1574289897.610 [CommandLine](IMPORTANT): got command show stack
2019-11-20T22:44:57.610Z,1574289897.610 [CommandLine](IMPORTANT): Behavior Stack:

2019-11-20T22:44:57.610Z,1574289897.610 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-11-20T22:44:57.610Z,1574289897.610 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_Iridium
2019-11-20T22:45:07.386Z,1574289907.386 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:45:07.386Z,1574289907.386 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:45:07.982Z,1574289907.982 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-20T22:45:08.064Z,1574289908.064 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-20T22:45:08.075Z,1574289908.075 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-20T22:45:08.094Z,1574289908.094 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-20T22:45:08.137Z,1574289908.137 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-20T22:45:08.140Z,1574289908.140 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-20T22:45:08.174Z,1574289908.174 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-20T22:45:08.177Z,1574289908.177 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-20T22:45:08.180Z,1574289908.180 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 2.000000 m
2019-11-20T22:45:08.195Z,1574289908.195 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-20T22:45:08.210Z,1574289908.210 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-20T22:45:08.225Z,1574289908.225 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-20T22:45:08.228Z,1574289908.228 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-20T22:45:08.247Z,1574289908.247 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-20T22:45:08.259Z,1574289908.259 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-20T22:45:08.282Z,1574289908.282 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-20T22:45:08.305Z,1574289908.305 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-20T22:45:08.321Z,1574289908.321 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-20T22:45:08.324Z,1574289908.324 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-20T22:45:08.335Z,1574289908.335 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-20T22:45:08.362Z,1574289908.362 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-20T22:45:08.375Z,1574289908.375 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-20T22:45:08.386Z,1574289908.386 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-20T22:45:08.423Z,1574289908.423 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-20T22:45:08.447Z,1574289908.447 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-20T22:45:08.480Z,1574289908.480 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-20T22:45:08.510Z,1574289908.510 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-20T22:45:08.534Z,1574289908.534 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-20T22:45:08.538Z,1574289908.538 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-20T22:45:08.554Z,1574289908.554 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-20T22:45:08.573Z,1574289908.573 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-20T22:45:08.576Z,1574289908.576 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-20T22:45:08.592Z,1574289908.592 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-20T22:45:08.603Z,1574289908.603 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-20T22:45:08.630Z,1574289908.630 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-20T22:45:08.645Z,1574289908.645 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-20T22:45:09.177Z,1574289909.177 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-20T22:45:09.277Z,1574289909.277 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-20T22:45:09.323Z,1574289909.323 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-20T22:45:09.380Z,1574289909.380 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-20T22:45:09.476Z,1574289909.476 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-20T22:45:09.539Z,1574289909.539 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-20T22:45:09.574Z,1574289909.574 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-20T22:45:09.738Z,1574289909.738 [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>


2019-11-20T22:45:09.740Z,1574289909.740 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:45:09.985Z,1574289909.985 [Default] Stopped
2019-11-20T22:45:09.985Z,1574289909.985 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-20T22:45:09.985Z,1574289909.985 [Default:B.GoToSurface] Stopped
2019-11-20T22:45:09.985Z,1574289909.985 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-20T22:45:09.985Z,1574289909.985 [Default:CheckIn] Stopped
2019-11-20T22:45:09.985Z,1574289909.985 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-20T22:45:09.985Z,1574289909.985 [Default:CheckIn:Read_Iridium] Stopped
2019-11-20T22:45:09.985Z,1574289909.985 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-20T22:45:09.986Z,1574289909.986 [lineCaptureHomingLab] Running Loop=1
2019-11-20T22:45:09.986Z,1574289909.986 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-20T22:45:09.986Z,1574289909.986 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-20T22:45:09.986Z,1574289909.986 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-20T22:45:09.986Z,1574289909.986 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-20T22:45:09.986Z,1574289909.986 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-20T22:45:09.987Z,1574289909.987 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-20T22:45:09.987Z,1574289909.987 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-20T22:45:09.987Z,1574289909.987 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-20T22:45:09.987Z,1574289909.987 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-20T22:45:09.987Z,1574289909.987 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-20T22:45:09.988Z,1574289909.988 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-20T22:45:09.988Z,1574289909.988 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-20T22:45:09.988Z,1574289909.988 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-20T22:45:09.988Z,1574289909.988 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-20T22:45:09.988Z,1574289909.988 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-20T22:45:09.988Z,1574289909.988 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-20T22:45:10.194Z,1574289910.194 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-20T22:45:10.194Z,1574289910.194 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-20T22:45:10.194Z,1574289910.194 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-20T22:45:10.194Z,1574289910.194 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-20T22:45:10.194Z,1574289910.194 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-20T22:45:12.159Z,1574289912.159 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:45:12.868Z,1574289912.868 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:45:13.276Z,1574289913.276 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:45:14.108Z,1574289914.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224514.14*5F

2019-11-20T22:45:14.184Z,1574289914.184 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-20T22:45:14.184Z,1574289914.184 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-20T22:45:14.189Z,1574289914.189 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-20T22:45:14.526Z,1574289914.526 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.920001 m .
2019-11-20T22:45:14.526Z,1574289914.526 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-20T22:45:14.526Z,1574289914.526 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-20T22:45:14.526Z,1574289914.526 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-20T22:45:14.526Z,1574289914.526 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-20T22:45:14.526Z,1574289914.526 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-20T22:45:14.939Z,1574289914.939 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-20T22:45:14.940Z,1574289914.940 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-20T22:45:14.940Z,1574289914.940 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-20T22:45:15.440Z,1574289915.440 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](FAULT): Reached intercept range in unarmed state. Rolling out at range: 1.92 m.
2019-11-20T22:45:15.724Z,1574289915.724 [PowerOnly](INFO): Powering up
2019-11-20T22:45:15.792Z,1574289915.792 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:45:16.121Z,1574289916.121 [DDM](FAULT): Could not parse latch state
2019-11-20T22:45:16.121Z,1574289916.121 [DDM] Communications Fault, FailCount= 3
2019-11-20T22:45:16.121Z,1574289916.121 [DDM](ERROR): Communications Fault
2019-11-20T22:45:16.409Z,1574289916.409 [CBIT](ERROR): Communications Fault in component: DDM
2019-11-20T22:45:16.501Z,1574289916.501 [DDM](INFO): Powering down
2019-11-20T22:45:16.583Z,1574289916.583 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:45:16.912Z,1574289916.912 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:45:17.533Z,1574289917.533 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:45:17.533Z,1574289917.533 [DDM] No Fault, FailCount= 3
2019-11-20T22:45:18.134Z,1574289918.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224517.86*57

2019-11-20T22:45:19.730Z,1574289919.730 [DDM](INFO): Powering up
2019-11-20T22:45:19.730Z,1574289919.730 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:45:19.842Z,1574289919.842 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:45:20.542Z,1574289920.542 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:45:20.892Z,1574289920.892 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20191120T224055/Courier0004.lzma
2019-11-20T22:45:20.949Z,1574289920.949 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:45:21.774Z,1574289921.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,224521.82*56

2019-11-20T22:45:22.898Z,1574289922.898 [DataOverHttps](INFO): Moved sent file to Logs/20191120T224055/Courier0004.lzma.bak
2019-11-20T22:45:22.898Z,1574289922.898 [DataOverHttps](INFO): SBD MOMSN=12079469
2019-11-20T22:45:23.298Z,1574289923.298 [CommandLine](IMPORTANT): got command stop
2019-11-20T22:45:23.299Z,1574289923.299 [CommandLine](IMPORTANT): Scheduling is paused
2019-11-20T22:45:23.299Z,1574289923.299 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-20T22:45:23.459Z,1574289923.459 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:45:23.459Z,1574289923.459 [MissionManager](INFO): MissionManager is completed.
2019-11-20T22:45:23.460Z,1574289923.460 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab] Stopped
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:Lap] Stopped
2019-11-20T22:45:23.460Z,1574289923.460 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-20T22:45:23.461Z,1574289923.461 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-20T22:45:23.461Z,1574289923.461 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-20T22:45:23.461Z,1574289923.461 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-20T22:45:23.461Z,1574289923.461 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-20T22:45:23.461Z,1574289923.461 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-20T22:45:23.461Z,1574289923.461 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-20T22:45:23.814Z,1574289923.814 [MissionManager](IMPORTANT): Started mission Default
2019-11-20T22:45:23.814Z,1574289923.814 [Default] Running Loop=1
2019-11-20T22:45:23.814Z,1574289923.814 [Default](DEBUG): Aggregate::initialize Default
2019-11-20T22:45:23.814Z,1574289923.814 [Default:B.GoToSurface] Running Loop=1
2019-11-20T22:45:23.814Z,1574289923.814 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-20T22:45:23.815Z,1574289923.815 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-20T22:45:23.815Z,1574289923.815 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-20T22:45:23.815Z,1574289923.815 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-20T22:45:23.816Z,1574289923.816 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-20T22:45:23.816Z,1574289923.816 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-20T22:45:23.816Z,1574289923.816 [Default:A.Wait] Running Loop=1
2019-11-20T22:45:23.816Z,1574289923.816 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-20T22:45:30.235Z,1574289930.235 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:45:31.044Z,1574289931.044 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:45:37.158Z,1574289937.158 [Default:A.Wait](INFO): Done Waiting.
2019-11-20T22:45:37.158Z,1574289937.158 [Default:A.Wait] Stopped
2019-11-20T22:45:37.158Z,1574289937.158 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-20T22:45:37.575Z,1574289937.575 [Default:CheckIn] Running Loop=1
2019-11-20T22:45:37.575Z,1574289937.575 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-20T22:45:37.576Z,1574289937.576 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-20T22:46:37.427Z,1574289997.427 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-20T22:46:46.595Z,1574290006.595 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-20T22:46:47.442Z,1574290007.442 [PowerOnly](INFO): Powering down
2019-11-20T22:47:34.311Z,1574290054.311 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-20T22:47:34.314Z,1574290054.314 [BPC1](INFO): Received data from all battery sticks.
2019-11-20T22:50:37.749Z,1574290237.749 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-20T22:45:37.6Z
2019-11-20T22:50:37.750Z,1574290237.750 [Default:CheckIn:Read_GPS] Stopped
2019-11-20T22:50:37.750Z,1574290237.750 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-20T22:50:39.865Z,1574290239.865 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-20T22:50:39.865Z,1574290239.865 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112016014, -0.1, 48.9,  0
2019-11-20T22:50:41.997Z,1574290241.997 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20191120T224055/Courier0007.lzma
2019-11-20T22:50:43.670Z,1574290243.670 [DataOverHttps](INFO): Moved sent file to Logs/20191120T224055/Courier0007.lzma.bak
2019-11-20T22:50:43.670Z,1574290243.670 [DataOverHttps](INFO): SBD MOMSN=12079480
2019-11-20T22:51:01.209Z,1574290261.209 [DataOverHttps](INFO): Sending 362 bytes from file Logs/20191120T224055/Express0005.lzma
2019-11-20T22:51:03.972Z,1574290263.972 [DataOverHttps](INFO): Moved sent file to Logs/20191120T224055/Express0005.lzma.bak
2019-11-20T22:51:03.972Z,1574290263.972 [DataOverHttps](INFO): SBD MOMSN=12079482
2019-11-20T22:51:10.958Z,1574290270.958 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-20T22:51:20.694Z,1574290280.694 [DataOverHttps](INFO): Sending 861 bytes from file Logs/20191120T224055/Express0008.lzma
2019-11-20T22:51:22.698Z,1574290282.698 [DataOverHttps](INFO): Moved sent file to Logs/20191120T224055/Express0008.lzma.bak
2019-11-20T22:51:22.698Z,1574290282.698 [DataOverHttps](INFO): SBD MOMSN=12079495
2019-11-20T22:51:24.325Z,1574290284.325 [Default:CheckIn:Read_Iridium] Stopped
2019-11-20T22:51:24.325Z,1574290284.325 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-20T22:51:24.325Z,1574290284.325 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-20T22:52:24.512Z,1574290344.512 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-20T22:52:24.512Z,1574290344.512 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112016030, -0.1,   0.0,1448.9,  0
2019-11-20T22:52:39.864Z,1574290359.864 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-20T22:52:39.864Z,1574290359.864 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112016034327,35.0  0.0,1448.9,  0
2019-11-20T22:53:04.506Z,1574290384.506 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-20T22:53:04.506Z,1574290384.506 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112016040827,31,   0.0,1448.9,  0
2019-11-20T22:54:34.686Z,1574290474.686 [CommandLine](IMPORTANT): got command failComponent
2019-11-20T22:54:34.687Z,1574290474.687 [CommandLine](IMPORTANT): Failed components:
2019-11-20T22:54:34.687Z,1574290474.687 [CommandLine](IMPORTANT): No failed Components.
2019-11-20T22:54:36.958Z,1574290476.958 [CommandLine](IMPORTANT): got command failComponent hardware DDM
2019-11-20T22:54:36.958Z,1574290476.958 [DDM] Hardware Fault, FailCount= 4
2019-11-20T22:54:36.958Z,1574290476.958 [DDM](ERROR): Hardware Fault
2019-11-20T22:54:36.958Z,1574290476.958 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault
2019-11-20T22:54:36.990Z,1574290476.990 [DDM](INFO): Powering down
2019-11-20T22:54:37.122Z,1574290477.122 [CBIT](ERROR): Hardware Fault in component: DDM
2019-11-20T22:54:37.859Z,1574290477.859 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:54:37.859Z,1574290477.859 [DDM] No Fault, FailCount= 4
2019-11-20T22:54:40.222Z,1574290480.222 [DDM](INFO): Powering up
2019-11-20T22:54:40.222Z,1574290480.222 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:54:50.727Z,1574290490.727 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:54:51.537Z,1574290491.537 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:54:59.910Z,1574290499.910 [CommandLine](IMPORTANT): got command show variable latchState
2019-11-20T22:55:00.050Z,1574290500.050 [CommandLine](IMPORTANT): DDM.latchState (count)
2019-11-20T22:55:06.590Z,1574290506.590 [CommandLine](IMPORTANT): got command report mod DDM.latchState
2019-11-20T22:55:06.950Z,1574290506.950 [Reporter](INFO): DDM.latchState no_value
2019-11-20T22:55:27.046Z,1574290527.046 [CommandLine](IMPORTANT): got command show variable state
2019-11-20T22:55:27.208Z,1574290527.208 [CommandLine](IMPORTANT): AHRS_M2.calibration_state (count)
2019-11-20T22:55:27.209Z,1574290527.209 [CommandLine](IMPORTANT): DDM.whiskerState (count)
2019-11-20T22:55:27.210Z,1574290527.210 [CommandLine](IMPORTANT): DDM.latchState (count)
2019-11-20T22:55:27.210Z,1574290527.210 [CommandLine](IMPORTANT): DropWeight.dropWeightState (bool)
2019-11-20T22:55:40.486Z,1574290540.486 [CommandLine](IMPORTANT): got command show variable cable
2019-11-20T22:55:40.642Z,1574290540.642 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2019-11-20T22:56:02.146Z,1574290562.146 [CommandLine](IMPORTANT): got command report mod DDM.latchState
2019-11-20T22:56:02.146Z,1574290562.146 [CommandLine](IMPORTANT): got command report mod DDM.whiskerState
2019-11-20T22:56:02.147Z,1574290562.147 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2019-11-20T22:56:02.148Z,1574290562.148 [CommandLine](IMPORTANT): got command report mod DDM.DDMMode
2019-11-20T22:56:02.320Z,1574290562.320 [Reporter](INFO): DDM.whiskerState no_value
2019-11-20T22:56:02.320Z,1574290562.320 [Reporter](INFO): DDM.cablePresent no_value
2019-11-20T22:56:02.321Z,1574290562.321 [Reporter](INFO): DDM.DDMMode no_value
2019-11-20T22:56:04.814Z,1574290564.814 [CommandLine](IMPORTANT): got command 
2019-11-20T22:56:04.814Z,1574290564.814 [CommandLine](FAULT): Incomplete syntax. Try: help
2019-11-20T22:56:05.902Z,1574290565.902 [CommandLine](IMPORTANT): got command failComponent
2019-11-20T22:56:05.902Z,1574290565.902 [CommandLine](IMPORTANT): Failed components:
2019-11-20T22:56:05.902Z,1574290565.902 [CommandLine](IMPORTANT): No failed Components.
2019-11-20T22:56:08.902Z,1574290568.902 [CommandLine](IMPORTANT): got command failComponent hardware DDM
2019-11-20T22:56:08.903Z,1574290568.903 [DDM] Hardware Fault, FailCount= 5
2019-11-20T22:56:08.903Z,1574290568.903 [DDM](ERROR): Hardware Fault
2019-11-20T22:56:08.903Z,1574290568.903 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault
2019-11-20T22:56:09.106Z,1574290569.106 [DDM](INFO): Powering down
2019-11-20T22:56:09.219Z,1574290569.219 [CBIT](ERROR): Hardware Fault in component: DDM
2019-11-20T22:56:09.961Z,1574290569.961 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:56:09.961Z,1574290569.961 [DDM] No Fault, FailCount= 5
2019-11-20T22:56:12.335Z,1574290572.335 [DDM](INFO): Powering up
2019-11-20T22:56:12.335Z,1574290572.335 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:56:22.839Z,1574290582.839 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:56:23.646Z,1574290583.646 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:56:24.897Z,1574290584.897 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-20T22:56:24.897Z,1574290584.897 [Default:CheckIn:C.Wait] Stopped
2019-11-20T22:56:24.897Z,1574290584.897 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-20T22:56:24.897Z,1574290584.897 [Default:CheckIn:D] Running Loop=1
2019-11-20T22:56:25.317Z,1574290585.317 [Default:CheckIn:D] Stopped
2019-11-20T22:56:25.317Z,1574290585.317 [Default:CheckIn:E] Running Loop=1
2019-11-20T22:56:25.701Z,1574290585.701 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.025050 min 
2019-11-20T22:56:25.701Z,1574290585.701 [Default:CheckIn:E] Stopped
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn] Stopped
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn](INFO): Running loop #2
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn] Running Loop=2
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-20T22:56:25.702Z,1574290585.702 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-20T22:56:27.313Z,1574290587.313 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-20T22:56:27.313Z,1574290587.313 [NAL9602] Data Fault, FailCount= 1
2019-11-20T22:56:27.313Z,1574290587.313 [NAL9602](ERROR): Data Fault
2019-11-20T22:56:27.410Z,1574290587.410 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-20T22:56:27.689Z,1574290587.689 [NAL9602](INFO): Powering down
2019-11-20T22:56:28.555Z,1574290588.555 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-20T22:56:28.555Z,1574290588.555 [NAL9602] No Fault, FailCount= 1
2019-11-20T22:56:33.783Z,1574290593.783 [CommandLine](IMPORTANT): got command get DDM.latchState
2019-11-20T22:56:33.783Z,1574290593.783 [CommandLine](IMPORTANT): DDM.latchState 0 count
2019-11-20T22:56:40.902Z,1574290600.902 [CommandLine](IMPORTANT): got command get DDM.whiskerState
2019-11-20T22:56:40.903Z,1574290600.903 [CommandLine](IMPORTANT): DDM.whiskerState 0 count
2019-11-20T22:56:57.995Z,1574290617.995 [NAL9602](INFO): Powering up NAL9602
2019-11-20T22:57:08.903Z,1574290628.903 [NAL9602](INFO): NAL9602 initialized
2019-11-20T22:57:34.022Z,1574290654.022 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:57:34.022Z,1574290654.022 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:57:34.237Z,1574290654.237 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-20T22:57:34.239Z,1574290654.239 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-20T22:57:34.241Z,1574290654.241 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-20T22:57:34.243Z,1574290654.243 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-20T22:57:34.245Z,1574290654.245 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-20T22:57:34.247Z,1574290654.247 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-20T22:57:34.272Z,1574290654.272 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-20T22:57:34.282Z,1574290654.282 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-20T22:57:34.288Z,1574290654.288 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 2.000000 m
2019-11-20T22:57:34.306Z,1574290654.306 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-20T22:57:34.313Z,1574290654.313 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-20T22:57:34.315Z,1574290654.315 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-20T22:57:34.325Z,1574290654.325 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-20T22:57:34.328Z,1574290654.328 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-20T22:57:34.389Z,1574290654.389 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-20T22:57:34.391Z,1574290654.391 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-20T22:57:34.406Z,1574290654.406 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-20T22:57:34.408Z,1574290654.408 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-20T22:57:34.418Z,1574290654.418 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-20T22:57:34.420Z,1574290654.420 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-20T22:57:34.439Z,1574290654.439 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-20T22:57:34.453Z,1574290654.453 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-20T22:57:34.455Z,1574290654.455 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-20T22:57:34.463Z,1574290654.463 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-20T22:57:34.466Z,1574290654.466 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-20T22:57:34.468Z,1574290654.468 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-20T22:57:34.474Z,1574290654.474 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-20T22:57:34.476Z,1574290654.476 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-20T22:57:34.483Z,1574290654.483 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-20T22:57:34.489Z,1574290654.489 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-20T22:57:34.491Z,1574290654.491 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-20T22:57:34.500Z,1574290654.500 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-20T22:57:34.506Z,1574290654.506 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-20T22:57:34.517Z,1574290654.517 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-20T22:57:34.519Z,1574290654.519 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-20T22:57:34.530Z,1574290654.530 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-20T22:57:34.563Z,1574290654.563 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-20T22:57:34.579Z,1574290654.579 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-20T22:57:34.595Z,1574290654.595 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-20T22:57:34.609Z,1574290654.609 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-20T22:57:34.629Z,1574290654.629 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-20T22:57:34.656Z,1574290654.656 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-20T22:57:34.671Z,1574290654.671 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-20T22:57:34.784Z,1574290654.784 [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>


2019-11-20T22:57:34.794Z,1574290654.794 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-20T22:57:34.812Z,1574290654.812 [Default] Stopped
2019-11-20T22:57:34.812Z,1574290654.812 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-20T22:57:34.812Z,1574290654.812 [Default:B.GoToSurface] Stopped
2019-11-20T22:57:34.812Z,1574290654.812 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-20T22:57:34.812Z,1574290654.812 [Default:CheckIn] Stopped
2019-11-20T22:57:34.812Z,1574290654.812 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-20T22:57:34.812Z,1574290654.812 [Default:CheckIn:Read_GPS] Stopped
2019-11-20T22:57:34.812Z,1574290654.812 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab] Running Loop=1
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-20T22:57:34.817Z,1574290654.817 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-20T22:57:34.818Z,1574290654.818 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-20T22:57:34.818Z,1574290654.818 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-20T22:57:34.818Z,1574290654.818 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-20T22:57:34.818Z,1574290654.818 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-20T22:57:34.818Z,1574290654.818 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-20T22:57:34.819Z,1574290654.819 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-20T22:57:34.819Z,1574290654.819 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-20T22:57:34.819Z,1574290654.819 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-20T22:57:34.819Z,1574290654.819 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-20T22:57:35.206Z,1574290655.206 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-20T22:57:35.206Z,1574290655.206 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-20T22:57:35.206Z,1574290655.206 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-20T22:57:35.207Z,1574290655.207 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-20T22:57:35.207Z,1574290655.207 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-20T22:57:35.601Z,1574290655.601 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-20T22:57:35.601Z,1574290655.601 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-20T22:57:35.601Z,1574290655.601 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-20T22:57:35.602Z,1574290655.602 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-20T22:57:36.005Z,1574290656.005 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.379999 m .
2019-11-20T22:57:36.005Z,1574290656.005 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-20T22:57:36.005Z,1574290656.005 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-20T22:57:36.005Z,1574290656.005 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-20T22:57:36.005Z,1574290656.005 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-20T22:57:36.006Z,1574290656.006 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-20T22:57:36.440Z,1574290656.440 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-20T22:57:36.440Z,1574290656.440 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-20T22:57:36.440Z,1574290656.440 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-20T22:57:36.808Z,1574290656.808 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](FAULT): Reached intercept range in unarmed state. Rolling out at range: 1.38 m.
2019-11-20T22:57:37.204Z,1574290657.204 [PowerOnly](INFO): Powering up
2019-11-20T22:57:37.216Z,1574290657.216 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:57:37.605Z,1574290657.605 [DDM](FAULT): Could not parse latch state
2019-11-20T22:57:37.605Z,1574290657.605 [DDM] Communications Fault, FailCount= 6
2019-11-20T22:57:37.605Z,1574290657.605 [DDM](ERROR): Communications Fault
2019-11-20T22:57:37.745Z,1574290657.745 [CBIT](ERROR): Communications Fault in component: DDM
2019-11-20T22:57:37.982Z,1574290657.982 [DDM](INFO): Powering down
2019-11-20T22:57:38.059Z,1574290658.059 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:57:38.390Z,1574290658.390 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:57:38.897Z,1574290658.897 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:57:38.897Z,1574290658.897 [DDM] No Fault, FailCount= 6
2019-11-20T22:57:39.620Z,1574290659.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225739.33*56

2019-11-20T22:57:40.878Z,1574290660.878 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:57:41.214Z,1574290661.214 [DDM](INFO): Powering up
2019-11-20T22:57:41.214Z,1574290661.214 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:57:42.886Z,1574290662.886 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:57:43.642Z,1574290663.642 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-20T22:57:44.047Z,1574290664.047 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-20T22:57:44.874Z,1574290664.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,225744.92*57

2019-11-20T22:57:46.531Z,1574290666.531 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-20T22:57:46.963Z,1574290666.963 [CommandLine](IMPORTANT): got command stop
2019-11-20T22:57:46.963Z,1574290666.963 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-20T22:57:47.370Z,1574290667.370 [MissionManager](INFO): MissionManager is completed.
2019-11-20T22:57:47.370Z,1574290667.370 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-20T22:57:47.370Z,1574290667.370 [lineCaptureHomingLab] Stopped
2019-11-20T22:57:47.370Z,1574290667.370 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-20T22:57:47.370Z,1574290667.370 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-20T22:57:47.370Z,1574290667.370 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-20T22:57:47.370Z,1574290667.370 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-20T22:57:47.370Z,1574290667.370 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap] Stopped
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-20T22:57:47.371Z,1574290667.371 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-20T22:57:47.724Z,1574290667.724 [MissionManager](IMPORTANT): Started mission Default
2019-11-20T22:57:47.724Z,1574290667.724 [Default] Running Loop=1
2019-11-20T22:57:47.724Z,1574290667.724 [Default](DEBUG): Aggregate::initialize Default
2019-11-20T22:57:47.724Z,1574290667.724 [Default:B.GoToSurface] Running Loop=1
2019-11-20T22:57:47.724Z,1574290667.724 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-20T22:57:47.725Z,1574290667.725 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-20T22:57:47.725Z,1574290667.725 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-20T22:57:47.725Z,1574290667.725 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-20T22:57:47.726Z,1574290667.726 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-20T22:57:47.726Z,1574290667.726 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-20T22:57:47.726Z,1574290667.726 [Default:A.Wait] Running Loop=1
2019-11-20T22:57:47.726Z,1574290667.726 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-20T22:57:51.720Z,1574290671.720 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:57:52.526Z,1574290672.526 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:57:52.541Z,1574290672.541 [DDM](FAULT): failed to deactivate IR emitter.
2019-11-20T22:57:52.541Z,1574290672.541 [DDM] Hardware Fault, FailCount= 7
2019-11-20T22:57:52.541Z,1574290672.541 [DDM](ERROR): Hardware Fault
2019-11-20T22:57:52.617Z,1574290672.617 [CBIT](ERROR): Hardware Fault in component: DDM
2019-11-20T22:57:52.930Z,1574290672.930 [DDM](INFO): Powering down
2019-11-20T22:57:53.818Z,1574290673.818 [CBIT](INFO): Clearing failed state for component DDM
2019-11-20T22:57:53.818Z,1574290673.818 [DDM] No Fault, FailCount= 7
2019-11-20T22:57:56.168Z,1574290676.168 [DDM](INFO): Powering up
2019-11-20T22:57:56.169Z,1574290676.169 [DDM](DEBUG): Initializing DDM.
2019-11-20T22:58:01.073Z,1574290681.073 [Default:A.Wait](INFO): Done Waiting.
2019-11-20T22:58:01.073Z,1574290681.073 [Default:A.Wait] Stopped
2019-11-20T22:58:01.073Z,1574290681.073 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-20T22:58:01.486Z,1574290681.486 [Default:CheckIn] Running Loop=1
2019-11-20T22:58:01.487Z,1574290681.487 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-20T22:58:01.487Z,1574290681.487 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-20T22:58:06.667Z,1574290686.667 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-20T22:58:07.476Z,1574290687.476 [DDM](INFO): Retracting whiskers, closing latch.
2019-11-20T22:58:30.164Z,1574290710.164 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-20T22:58:30.164Z,1574290710.164 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V