2019-11-21T00:23:53.840Z,1574295833.840 [Supervisor](DEBUG): Initializing supervisor.
2019-11-21T00:23:53.843Z,1574295833.843 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-11-21T00:23:53.844Z,1574295833.844 [SyncHandler](INFO): Protected caller Thread ID is 2254
2019-11-21T00:23:53.844Z,1574295833.844 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-11-21T00:23:53.845Z,1574295833.845 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-11-21T00:23:53.846Z,1574295833.846 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 2255
2019-11-21T00:23:53.849Z,1574295833.849 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-11-21T00:23:53.861Z,1574295833.861 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-11-21T00:23:53.862Z,1574295833.862 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-11-21T00:23:53.862Z,1574295833.862 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 2256
2019-11-21T00:23:53.863Z,1574295833.863 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-11-21T00:23:53.864Z,1574295833.864 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-11-21T00:23:53.864Z,1574295833.864 [logger ThreadHandler](INFO): Protected caller Thread ID is 2257
2019-11-21T00:23:53.866Z,1574295833.866 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-11-21T00:23:53.866Z,1574295833.866 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-11-21T00:23:53.868Z,1574295833.868 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-11-21T00:23:54.293Z,1574295834.293 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-11-21T00:23:54.294Z,1574295834.294 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-11-21T00:23:54.391Z,1574295834.391 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-11-21T00:23:54.392Z,1574295834.392 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-11-21T00:23:54.707Z,1574295834.707 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-11-21T00:23:54.708Z,1574295834.708 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-11-21T00:23:55.068Z,1574295835.068 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-11-21T00:23:55.069Z,1574295835.069 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-11-21T00:23:55.258Z,1574295835.258 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-11-21T00:23:55.258Z,1574295835.258 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-11-21T00:23:55.706Z,1574295835.706 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-11-21T00:23:55.706Z,1574295835.706 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-11-21T00:23:55.912Z,1574295835.912 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-11-21T00:23:55.913Z,1574295835.913 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-11-21T00:23:56.056Z,1574295836.056 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-11-21T00:23:56.057Z,1574295836.057 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-11-21T00:23:56.254Z,1574295836.254 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-11-21T00:23:56.255Z,1574295836.255 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-11-21T00:23:56.350Z,1574295836.350 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-11-21T00:23:56.351Z,1574295836.351 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-11-21T00:23:56.650Z,1574295836.650 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-11-21T00:23:56.651Z,1574295836.651 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-11-21T00:23:56.731Z,1574295836.731 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-11-21T00:23:56.833Z,1574295836.833 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-11-21T00:23:56.834Z,1574295836.834 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-11-21T00:23:57.489Z,1574295837.489 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-11-21T00:23:57.490Z,1574295837.490 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-11-21T00:23:57.897Z,1574295837.897 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-11-21T00:23:57.898Z,1574295837.898 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-11-21T00:23:57.899Z,1574295837.899 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-11-21T00:23:58.103Z,1574295838.103 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-11-21T00:23:58.201Z,1574295838.201 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-11-21T00:23:58.298Z,1574295838.298 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-11-21T00:23:58.527Z,1574295838.527 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-11-21T00:23:58.528Z,1574295838.528 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-11-21T00:23:58.612Z,1574295838.612 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-11-21T00:23:58.704Z,1574295838.704 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-11-21T00:23:58.801Z,1574295838.801 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-11-21T00:23:58.884Z,1574295838.884 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-11-21T00:23:58.991Z,1574295838.991 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-11-21T00:23:59.172Z,1574295839.172 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-11-21T00:23:59.302Z,1574295839.302 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/root/
2019-11-21T00:23:59.302Z,1574295839.302 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-11-21T00:23:59.319Z,1574295839.319 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-11-21T00:23:59.628Z,1574295839.628 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-11-21T00:23:59.634Z,1574295839.634 [AHRS_M2](INFO): created writer for : platform_orientation
2019-11-21T00:23:59.635Z,1574295839.635 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-11-21T00:23:59.641Z,1574295839.641 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-11-21T00:23:59.641Z,1574295839.641 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-11-21T00:23:59.646Z,1574295839.646 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-11-21T00:23:59.647Z,1574295839.647 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-11-21T00:23:59.652Z,1574295839.652 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-11-21T00:23:59.724Z,1574295839.724 [AHRS_M2] Loaded
2019-11-21T00:23:59.724Z,1574295839.724 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-11-21T00:23:59.802Z,1574295839.802 [DataOverHttps] Loaded
2019-11-21T00:23:59.803Z,1574295839.803 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-11-21T00:23:59.804Z,1574295839.804 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076A4E0
2019-11-21T00:23:59.804Z,1574295839.804 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 2336
2019-11-21T00:23:59.828Z,1574295839.828 [DDM] Loaded
2019-11-21T00:23:59.828Z,1574295839.828 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2019-11-21T00:23:59.842Z,1574295839.842 [Depth_Keller] Loaded
2019-11-21T00:23:59.842Z,1574295839.842 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-11-21T00:23:59.847Z,1574295839.847 [DropWeight] Loaded
2019-11-21T00:23:59.847Z,1574295839.847 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-11-21T00:23:59.909Z,1574295839.909 [DUSBL_Hydroid] Loaded
2019-11-21T00:23:59.909Z,1574295839.909 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-11-21T00:23:59.956Z,1574295839.956 [Micromodem] Loaded
2019-11-21T00:23:59.957Z,1574295839.957 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-11-21T00:24:00.388Z,1574295840.388 [NAL9602] Loaded
2019-11-21T00:24:00.388Z,1574295840.388 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-11-21T00:24:00.455Z,1574295840.455 [Onboard] Loaded
2019-11-21T00:24:00.455Z,1574295840.455 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-11-21T00:24:00.501Z,1574295840.501 [PowerOnly] Loaded
2019-11-21T00:24:00.501Z,1574295840.501 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-11-21T00:24:00.546Z,1574295840.546 [Radio_Surface] Loaded
2019-11-21T00:24:00.546Z,1574295840.546 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-11-21T00:24:00.547Z,1574295840.547 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2019-11-21T00:24:00.548Z,1574295840.548 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 2337
2019-11-21T00:24:00.631Z,1574295840.631 [RDI_Pathfinder] Loaded
2019-11-21T00:24:00.631Z,1574295840.631 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-11-21T00:24:02.237Z,1574295842.237 [BPC1] Loaded
2019-11-21T00:24:02.238Z,1574295842.238 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-11-21T00:24:02.238Z,1574295842.238 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-11-21T00:24:02.239Z,1574295842.239 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-11-21T00:24:02.252Z,1574295842.252 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-11-21T00:24:02.252Z,1574295842.252 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-11-21T00:24:02.356Z,1574295842.356 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-11-21T00:24:02.357Z,1574295842.357 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-11-21T00:24:02.377Z,1574295842.377 [NavChart] Loaded
2019-11-21T00:24:02.377Z,1574295842.377 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-11-21T00:24:02.381Z,1574295842.381 [UniversalFixResidualReporter] Loaded
2019-11-21T00:24:02.381Z,1574295842.381 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-11-21T00:24:02.382Z,1574295842.382 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-11-21T00:24:02.382Z,1574295842.382 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-11-21T00:24:02.490Z,1574295842.490 [BuoyancyServo] Loaded
2019-11-21T00:24:02.490Z,1574295842.490 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-11-21T00:24:02.506Z,1574295842.506 [ElevatorServo] Loaded
2019-11-21T00:24:02.506Z,1574295842.506 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-11-21T00:24:02.521Z,1574295842.521 [MassServo] Loaded
2019-11-21T00:24:02.521Z,1574295842.521 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-11-21T00:24:02.536Z,1574295842.536 [RudderServo] Loaded
2019-11-21T00:24:02.536Z,1574295842.536 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-11-21T00:24:02.551Z,1574295842.551 [ThrusterServo] Loaded
2019-11-21T00:24:02.551Z,1574295842.551 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-11-21T00:24:02.551Z,1574295842.551 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-11-21T00:24:02.552Z,1574295842.552 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-11-21T00:24:02.810Z,1574295842.810 [CTD_NeilBrown] Loaded
2019-11-21T00:24:02.810Z,1574295842.810 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-11-21T00:24:02.811Z,1574295842.811 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408E44E0
2019-11-21T00:24:02.811Z,1574295842.811 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 2338
2019-11-21T00:24:02.826Z,1574295842.826 [PAR_Licor] Loaded
2019-11-21T00:24:02.826Z,1574295842.826 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-11-21T00:24:02.870Z,1574295842.870 [WetLabsSeaOWL_UV_A] Loaded
2019-11-21T00:24:02.870Z,1574295842.870 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-11-21T00:24:02.871Z,1574295842.871 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409144E0
2019-11-21T00:24:02.872Z,1574295842.872 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 2339
2019-11-21T00:24:02.872Z,1574295842.872 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-11-21T00:24:02.873Z,1574295842.873 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-11-21T00:24:03.186Z,1574295843.186 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-11-21T00:24:03.187Z,1574295843.187 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-11-21T00:24:03.227Z,1574295843.227 [DepthRateCalculator] Loaded
2019-11-21T00:24:03.227Z,1574295843.227 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-11-21T00:24:03.233Z,1574295843.233 [PitchRateCalculator] Loaded
2019-11-21T00:24:03.233Z,1574295843.233 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-11-21T00:24:03.245Z,1574295843.245 [SpeedCalculator] Loaded
2019-11-21T00:24:03.246Z,1574295843.246 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-11-21T00:24:03.266Z,1574295843.266 [TempGradientCalculator] Loaded
2019-11-21T00:24:03.267Z,1574295843.267 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-11-21T00:24:03.272Z,1574295843.272 [YawRateCalculator] Loaded
2019-11-21T00:24:03.272Z,1574295843.272 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-11-21T00:24:03.312Z,1574295843.312 [ElevatorOffsetCalculator] Loaded
2019-11-21T00:24:03.313Z,1574295843.313 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-11-21T00:24:03.313Z,1574295843.313 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-11-21T00:24:03.314Z,1574295843.314 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-11-21T00:24:03.450Z,1574295843.450 [SBIT](DEBUG): Construct Startup Built In Test.
2019-11-21T00:24:03.472Z,1574295843.472 [SBIT] Loaded
2019-11-21T00:24:03.473Z,1574295843.473 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-11-21T00:24:03.473Z,1574295843.473 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-11-21T00:24:03.486Z,1574295843.486 [IBIT] Loaded
2019-11-21T00:24:03.486Z,1574295843.486 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-11-21T00:24:03.489Z,1574295843.489 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-11-21T00:24:03.627Z,1574295843.627 [CBIT] Loaded
2019-11-21T00:24:03.628Z,1574295843.628 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-11-21T00:24:03.628Z,1574295843.628 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-11-21T00:24:03.629Z,1574295843.629 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-11-21T00:24:03.711Z,1574295843.711 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-11-21T00:24:03.711Z,1574295843.711 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-11-21T00:24:03.812Z,1574295843.812 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-11-21T00:24:03.812Z,1574295843.812 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-11-21T00:24:03.859Z,1574295843.859 [VerticalControl](DEBUG): Construct VerticalControl.
2019-11-21T00:24:03.941Z,1574295843.941 [VerticalControl] Loaded
2019-11-21T00:24:03.942Z,1574295843.942 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-11-21T00:24:03.942Z,1574295843.942 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-11-21T00:24:03.000Z,1574295844.000 [HorizontalControl] Loaded
2019-11-21T00:24:04.000Z,1574295844.000 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-11-21T00:24:04.001Z,1574295844.001 [SpeedControl](DEBUG): Construct SpeedControl.
2019-11-21T00:24:04.003Z,1574295844.003 [SpeedControl] Loaded
2019-11-21T00:24:04.003Z,1574295844.003 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-11-21T00:24:04.004Z,1574295844.004 [LoopControl](DEBUG): Construct LoopControl.
2019-11-21T00:24:04.004Z,1574295844.004 [LoopControl] Loaded
2019-11-21T00:24:04.004Z,1574295844.004 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-11-21T00:24:04.005Z,1574295844.005 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-11-21T00:24:04.005Z,1574295844.005 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-11-21T00:24:04.039Z,1574295844.039 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-11-21T00:24:04.042Z,1574295844.042 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-11-21T00:24:04.043Z,1574295844.043 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-11-21T00:24:04.050Z,1574295844.050 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-11-21T00:24:04.051Z,1574295844.051 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF04E0
2019-11-21T00:24:04.051Z,1574295844.051 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 2340
2019-11-21T00:24:04.056Z,1574295844.056 [Supervisor](INFO): Main Thread ID is 802
2019-11-21T00:24:04.056Z,1574295844.056 [Supervisor](DEBUG): Running supervisor.
2019-11-21T00:24:04.056Z,1574295844.056 [CommandLine ThreadHandler](INFO): Handler Thread ID is 2341
2019-11-21T00:24:04.059Z,1574295844.059 [controlThread ThreadHandler](INFO): Handler Thread ID is 2342
2019-11-21T00:24:04.059Z,1574295844.059 [controlThread](DEBUG): Initializing ControlThread
2019-11-21T00:24:04.068Z,1574295844.068 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-11-21T00:24:04.068Z,1574295844.068 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-11-21T00:24:04.073Z,1574295844.073 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-11-21T00:24:04.073Z,1574295844.073 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-11-21T00:24:04.074Z,1574295844.074 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-11-21T00:24:04.074Z,1574295844.074 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-11-21T00:24:04.074Z,1574295844.074 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-11-21T00:24:04.075Z,1574295844.075 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-11-21T00:24:04.075Z,1574295844.075 [SBIT](INFO): Initialize SBIT Component.
2019-11-21T00:24:04.076Z,1574295844.076 [SBIT](IMPORTANT): git: 2019-11-13-4-g1952be0
2019-11-21T00:24:04.076Z,1574295844.076 [SBIT](INFO): git hash: 1952be029e6a0aa192ec2180874f0fa5b74dbe0e
2019-11-21T00:24:04.076Z,1574295844.076 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-11-21T00:24:04.078Z,1574295844.078 [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
2019-11-21T00:24:04.079Z,1574295844.079 [SBIT](INFO): Beginning SBIT in 34.000000 seconds.
2019-11-21T00:24:04.079Z,1574295844.079 [IBIT](INFO): Initialize IBIT Component.
2019-11-21T00:24:04.080Z,1574295844.080 [CBIT](DEBUG): Initialize CBIT Component.
2019-11-21T00:24:04.081Z,1574295844.081 [logger ThreadHandler](INFO): Handler Thread ID is 2343
2019-11-21T00:24:04.093Z,1574295844.093 [CBIT](DEBUG): Initialized mux pins.
2019-11-21T00:24:04.093Z,1574295844.093 [CBIT](DEBUG): Initializing the watchdog timer.
2019-11-21T00:24:04.101Z,1574295844.101 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 2344
2019-11-21T00:24:04.102Z,1574295844.102 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-11-21T00:24:04.113Z,1574295844.113 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 2345
2019-11-21T00:24:04.117Z,1574295844.117 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-11-21T00:24:04.117Z,1574295844.117 [CBIT](DEBUG): Initializing heartbeat.
2019-11-21T00:24:04.125Z,1574295844.125 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 2346
2019-11-21T00:24:04.126Z,1574295844.126 [CTD_NeilBrown](INFO): Powering down
2019-11-21T00:24:04.153Z,1574295844.153 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 2347
2019-11-21T00:24:04.154Z,1574295844.154 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-11-21T00:24:04.181Z,1574295844.181 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 2348
2019-11-21T00:24:04.184Z,1574295844.184 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-11-21T00:24:04.184Z,1574295844.184 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-11-21T00:24:04.185Z,1574295844.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-11-21T00:24:04.185Z,1574295844.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-11-21T00:24:04.185Z,1574295844.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-11-21T00:24:04.185Z,1574295844.185 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-11-21T00:24:04.185Z,1574295844.185 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-11-21T00:24:04.186Z,1574295844.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-11-21T00:24:04.186Z,1574295844.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-11-21T00:24:04.186Z,1574295844.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-11-21T00:24:04.186Z,1574295844.186 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-11-21T00:24:04.186Z,1574295844.186 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-11-21T00:24:04.187Z,1574295844.187 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-11-21T00:24:04.187Z,1574295844.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-11-21T00:24:04.187Z,1574295844.187 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-11-21T00:24:04.187Z,1574295844.187 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-11-21T00:24:04.189Z,1574295844.189 [CBIT](DEBUG): Deactivating GF circuits.
2019-11-21T00:24:04.189Z,1574295844.189 [CBIT](DEBUG): Deactivating emergency mode.
2019-11-21T00:24:04.225Z,1574295844.225 [CBIT](DEBUG): Backplane powered.
2019-11-21T00:24:04.225Z,1574295844.225 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-11-21T00:24:04.227Z,1574295844.227 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-11-21T00:24:04.227Z,1574295844.227 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-11-21T00:24:04.228Z,1574295844.228 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-11-21T00:24:04.229Z,1574295844.229 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-11-21T00:24:04.239Z,1574295844.239 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-21T00:24:04.258Z,1574295844.258 [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>


2019-11-21T00:24:04.259Z,1574295844.259 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-11-21T00:24:04.338Z,1574295844.338 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-11-21T00:24:04.339Z,1574295844.339 [Default:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:24:04.340Z,1574295844.340 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-11-21T00:24:04.375Z,1574295844.375 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-11-21T00:24:04.377Z,1574295844.377 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-11-21T00:24:04.399Z,1574295844.399 [Default:E.Execute](DEBUG): Construct Execute.
2019-11-21T00:24:04.402Z,1574295844.402 [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>


2019-11-21T00:24:04.416Z,1574295844.416 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-11-21T00:24:04.437Z,1574295844.437 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-11-21T00:24:04.477Z,1574295844.477 [DDM](INFO): Powering up
2019-11-21T00:24:04.477Z,1574295844.477 [DDM](DEBUG): Initializing DDM.
2019-11-21T00:24:04.503Z,1574295844.503 [DUSBL_Hydroid](INFO): Powering up
2019-11-21T00:24:04.503Z,1574295844.503 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-11-21T00:24:04.517Z,1574295844.517 [Radio_Surface](INFO): Powering up
2019-11-21T00:24:04.722Z,1574295844.722 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-11-21T00:24:04.725Z,1574295844.725 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-11-21T00:24:04.726Z,1574295844.726 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-11-21T00:24:04.733Z,1574295844.733 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-11-21T00:24:04.734Z,1574295844.734 [MassServo](DEBUG): Initializing EZServoServo.
2019-11-21T00:24:04.741Z,1574295844.741 [MassServo](DEBUG): Initializing MassServo.
2019-11-21T00:24:04.742Z,1574295844.742 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-21T00:24:04.749Z,1574295844.749 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-21T00:24:04.750Z,1574295844.750 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-11-21T00:24:04.757Z,1574295844.757 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-11-21T00:24:04.843Z,1574295844.843 [Micromodem](INFO): Powering up
2019-11-21T00:24:04.844Z,1574295844.844 [Micromodem](DEBUG): Initializing Micromodem.
2019-11-21T00:24:05.621Z,1574295845.621 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2019-11-21T00:24:05.621Z,1574295845.621 [RudderServo](FAULT): Rudder failed to initialize
2019-11-21T00:24:05.621Z,1574295845.621 [RudderServo] Communications Fault, FailCount= 1
2019-11-21T00:24:05.621Z,1574295845.621 [RudderServo](ERROR): Communications Fault
2019-11-21T00:24:05.732Z,1574295845.732 [CBIT](ERROR): Communications Fault in component: RudderServo
2019-11-21T00:24:05.914Z,1574295845.914 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-11-21T00:24:05.914Z,1574295845.914 [RudderServo](INFO): Powering down
2019-11-21T00:24:06.620Z,1574295846.620 [RudderServo](DEBUG): Initializing EZServoServo.
2019-11-21T00:24:06.738Z,1574295846.738 [RudderServo](DEBUG): Initializing RudderServo.
2019-11-21T00:24:06.742Z,1574295846.742 [CBIT](INFO): Clearing failed state for component RudderServo
2019-11-21T00:24:06.742Z,1574295846.742 [RudderServo] No Fault, FailCount= 1
2019-11-21T00:24:09.821Z,1574295849.821 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-11-21T00:24:10.224Z,1574295850.224 [Micromodem](INFO): Nmea in: $CATMG,2019-11-21T00:24:09.901914Z,RTC,RTC*52

2019-11-21T00:24:10.224Z,1574295850.224 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-11-21T00:24:09.901914Z,RTC,RTC*52

2019-11-21T00:24:10.627Z,1574295850.627 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-11-21T00:24:10.627Z,1574295850.627 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-11-21T00:24:11.039Z,1574295851.039 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-11-21T00:24:11.039Z,1574295851.039 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-11-21T00:24:11.435Z,1574295851.435 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-11-21T00:24:11.435Z,1574295851.435 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-11-21T00:24:11.839Z,1574295851.839 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-11-21T00:24:11.839Z,1574295851.839 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-11-21T00:24:12.255Z,1574295852.255 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-11-21T00:24:12.255Z,1574295852.255 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-11-21T00:24:12.635Z,1574295852.635 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-11-21T00:24:12.636Z,1574295852.636 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-11-21T00:24:13.063Z,1574295853.063 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-11-21T00:24:13.064Z,1574295853.064 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-11-21T00:24:13.431Z,1574295853.431 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-11-21T00:24:13.432Z,1574295853.432 [Micromodem](INFO): Nmea out: $CCCLK,2019,11,21,00,24,14*4E

2019-11-21T00:24:13.843Z,1574295853.843 [Micromodem](INFO): Nmea in: $CACLK,2019,11,21,0,24,14*7C

2019-11-21T00:24:14.243Z,1574295854.243 [Micromodem](INFO): Nmea in: $CATMS,0,2019-11-21T00:24:15Z*7D

2019-11-21T00:24:14.245Z,1574295854.245 [Micromodem](INFO): Nmea in: $CATMG,2019-11-21T00:24:15.026140Z,USER_CMD,RTC*1B

2019-11-21T00:24:15.047Z,1574295855.047 [DDM](INFO): Dynamic Docking Module:!C REMUS Capture Rev 1.1
2019-11-21T00:24:17.900Z,1574295857.900 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T00:24:22.714Z,1574295862.714 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-11-21T00:24:30.395Z,1574295870.395 [NAL9602](INFO): Powering up NAL9602
2019-11-21T00:24:38.539Z,1574295878.539 [SBIT](IMPORTANT): Beginning Startup BIT
2019-11-21T00:24:38.547Z,1574295878.547 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-21T00:24:41.407Z,1574295881.407 [NAL9602](INFO): NAL9602 initialized
2019-11-21T00:24:47.239Z,1574295887.239 [CommandLine](IMPORTANT): got command report mod DDM.latchState
2019-11-21T00:24:47.240Z,1574295887.240 [CommandLine](IMPORTANT): got command report mod DDM.whiskerState
2019-11-21T00:24:47.245Z,1574295887.245 [CommandLine](IMPORTANT): got command report mod DDM.cablePresent
2019-11-21T00:24:47.246Z,1574295887.246 [CommandLine](IMPORTANT): got command report mod DDM.DDMMode
2019-11-21T00:24:47.247Z,1574295887.247 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-11-21T00:24:47.562Z,1574295887.562 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:24:47.563Z,1574295887.563 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:24:47.563Z,1574295887.563 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:24:47.563Z,1574295887.563 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:24:49.612Z,1574295889.612 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.000411
CHAN A1 (24V): -0.028657
CHAN A2 (12V): -0.007538
CHAN A3 (5V): -0.002416
CHAN B0 (3.3V): -0.000280
CHAN B1 (3.15aV): -0.000102
CHAN B2 (3.15bV): -0.000142
CHAN B3 (GND): 0.001739
OPEN: 0.005433
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-21T00:24:53.535Z,1574295893.535 [CommandLine](IMPORTANT): got command show stack
2019-11-21T00:24:53.535Z,1574295893.535 [CommandLine](IMPORTANT): Behavior Stack:

2019-11-21T00:24:53.535Z,1574295893.535 [MissionManager](IMPORTANT): Mission loaded, but not running.
2019-11-21T00:24:57.793Z,1574295897.793 [RDI_Pathfinder](ERROR): Failed to parse::B        +0.00,        +0.00,   000
2019-11-21T00:25:19.995Z,1574295919.995 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T00:25:19.995Z,1574295919.995 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112017362381,35.0, -0.1,   0.0, 0
2019-11-21T00:25:31.894Z,1574295931.894 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T00:25:31.925Z,1574295931.925 [SBIT](IMPORTANT): SBIT PASSED
2019-11-21T00:25:31.961Z,1574295931.961 [CommandLine](IMPORTANT): got command configSet list
2019-11-21T00:25:31.961Z,1574295931.961 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-11-21T00:25:31.962Z,1574295931.962 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2019-11-21T00:25:31.962Z,1574295931.962 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2019-11-21T00:25:31.962Z,1574295931.962 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-11-21T00:25:31.962Z,1574295931.962 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-11-21T00:25:31.963Z,1574295931.963 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-11-21T00:25:31.964Z,1574295931.964 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2019-11-21T00:25:31.964Z,1574295931.964 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup=1 bool;

2019-11-21T00:25:31.964Z,1574295931.964 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=350 cubic_centimeter;

2019-11-21T00:25:31.964Z,1574295931.964 [CommandLine](IMPORTANT): VerticalControl.massDefault=3.6 millimeter;

2019-11-21T00:25:32.238Z,1574295932.238 [MissionManager](IMPORTANT): Started mission Startup
2019-11-21T00:25:32.239Z,1574295932.239 [Startup] Running Loop=1
2019-11-21T00:25:32.239Z,1574295932.239 [Startup](DEBUG): Aggregate::initialize Startup
2019-11-21T00:25:32.239Z,1574295932.239 [Startup:A.GoToSurface] Running Loop=1
2019-11-21T00:25:32.239Z,1574295932.239 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:25:32.239Z,1574295932.239 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:25:32.240Z,1574295932.240 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:25:32.240Z,1574295932.240 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:25:32.245Z,1574295932.245 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:25:32.245Z,1574295932.245 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:25:32.247Z,1574295932.247 [Startup:StartupSatComms] Running Loop=1
2019-11-21T00:25:32.247Z,1574295932.247 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-11-21T00:25:32.247Z,1574295932.247 [Startup:StartupSatComms:A] Running Loop=1
2019-11-21T00:25:32.662Z,1574295932.662 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-11-21T00:25:38.315Z,1574295938.315 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T00:25:58.116Z,1574295958.116 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T00:26:23.290Z,1574295983.290 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2019-11-21T00:26:23.292Z,1574295983.292 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-11-21T00:26:23.292Z,1574295983.292 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.800003 degree
2019-11-21T00:26:23.294Z,1574295983.294 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-11-21T00:26:23.531Z,1574295983.531 [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,
2019-11-21T00:26:23.947Z,1574295983.947 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:23.947Z,1574295983.947 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-11-21T00:26:23.947Z,1574295983.947 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:23.948Z,1574295983.948 [Startup:StartupSatComms:A] Stopped
2019-11-21T00:26:23.948Z,1574295983.948 [Startup:StartupSatComms:B] Running Loop=1
2019-11-21T00:26:23.974Z,1574295983.974 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:24.338Z,1574295984.338 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-21T00:26:24.346Z,1574295984.346 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:24.346Z,1574295984.346 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-11-21T00:26:25.228Z,1574295985.228 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:25.228Z,1574295985.228 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-11-21T00:26:25.228Z,1574295985.228 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:25.237Z,1574295985.237 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:25.544Z,1574295985.544 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:25.544Z,1574295985.544 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-11-21T00:26:26.369Z,1574295986.369 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:26.369Z,1574295986.369 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-11-21T00:26:26.370Z,1574295986.370 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:26.379Z,1574295986.379 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:26.822Z,1574295986.822 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:26.822Z,1574295986.822 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-11-21T00:26:27.562Z,1574295987.562 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:27.563Z,1574295987.563 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-11-21T00:26:27.563Z,1574295987.563 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:27.690Z,1574295987.690 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:27.984Z,1574295987.984 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:27.984Z,1574295987.984 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-11-21T00:26:28.806Z,1574295988.806 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:28.806Z,1574295988.806 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-11-21T00:26:28.806Z,1574295988.806 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:28.824Z,1574295988.824 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:29.200Z,1574295989.200 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:29.200Z,1574295989.200 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-11-21T00:26:30.041Z,1574295990.041 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:30.042Z,1574295990.042 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-11-21T00:26:30.042Z,1574295990.042 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:30.098Z,1574295990.098 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:30.411Z,1574295990.411 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:30.411Z,1574295990.411 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-11-21T00:26:31.191Z,1574295991.191 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:31.191Z,1574295991.191 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-11-21T00:26:31.191Z,1574295991.191 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:31.201Z,1574295991.201 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:31.638Z,1574295991.638 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:31.638Z,1574295991.638 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-11-21T00:26:32.471Z,1574295992.471 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:32.471Z,1574295992.471 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-11-21T00:26:32.471Z,1574295992.471 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:32.481Z,1574295992.481 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:32.826Z,1574295992.826 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:32.827Z,1574295992.827 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-11-21T00:26:33.628Z,1574295993.628 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-11-21T00:26:33.628Z,1574295993.628 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-11-21T00:26:33.628Z,1574295993.628 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-11-21T00:26:33.642Z,1574295993.642 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:33.939Z,1574295993.939 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005021
2019-11-21T00:26:34.070Z,1574295994.070 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-11-21T00:26:34.070Z,1574295994.070 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-11-21T00:26:34.582Z,1574295994.582 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1574295936.000000 second
2019-11-21T00:26:37.534Z,1574295997.534 [CommandLine](IMPORTANT): got command show stack
2019-11-21T00:26:37.534Z,1574295997.534 [CommandLine](IMPORTANT): Behavior Stack:

2019-11-21T00:26:37.534Z,1574295997.534 [Startup](IMPORTANT): Priority 0: Startup:A.GoToSurface
2019-11-21T00:26:37.534Z,1574295997.534 [Startup:StartupSatComms](IMPORTANT): Priority 1: Startup:StartupSatComms:B
2019-11-21T00:26:46.069Z,1574296006.069 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20191121T000315/Courier0007.lzma
2019-11-21T00:26:48.074Z,1574296008.074 [DataOverHttps](INFO): Moved sent file to Logs/20191121T000315/Courier0007.lzma.bak
2019-11-21T00:26:48.075Z,1574296008.075 [DataOverHttps](INFO): SBD MOMSN=12080105
2019-11-21T00:26:48.592Z,1574296008.592 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-11-21T00:26:49.014Z,1574296009.014 [Startup:StartupSatComms:B] Stopped
2019-11-21T00:26:49.014Z,1574296009.014 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-11-21T00:26:49.014Z,1574296009.014 [Startup:StartupSatComms] Stopped
2019-11-21T00:26:49.014Z,1574296009.014 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-11-21T00:26:49.015Z,1574296009.015 [Startup](INFO): Completed Startup
2019-11-21T00:26:49.015Z,1574296009.015 [MissionManager](INFO): Startup is completed.
2019-11-21T00:26:49.015Z,1574296009.015 [MissionManager](INFO): Uninitializing Mission Startup
2019-11-21T00:26:49.015Z,1574296009.015 [Startup] Stopped
2019-11-21T00:26:49.015Z,1574296009.015 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-11-21T00:26:49.015Z,1574296009.015 [Startup:A.GoToSurface] Stopped
2019-11-21T00:26:49.015Z,1574296009.015 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:26:49.388Z,1574296009.388 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:26:49.389Z,1574296009.389 [Default] Running Loop=1
2019-11-21T00:26:49.389Z,1574296009.389 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:26:49.389Z,1574296009.389 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:26:49.390Z,1574296009.390 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:26:49.390Z,1574296009.390 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:26:49.390Z,1574296009.390 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:26:49.390Z,1574296009.390 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:26:49.391Z,1574296009.391 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:26:49.391Z,1574296009.391 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:26:49.391Z,1574296009.391 [Default:A.Wait] Running Loop=1
2019-11-21T00:26:49.391Z,1574296009.391 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:26:55.855Z,1574296015.855 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:26:55.856Z,1574296015.856 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:26:56.110Z,1574296016.110 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:26:56.113Z,1574296016.113 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:26:56.116Z,1574296016.116 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:26:56.119Z,1574296016.119 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:26:56.122Z,1574296016.122 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:26:56.125Z,1574296016.125 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:26:56.128Z,1574296016.128 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:26:56.151Z,1574296016.151 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:26:56.169Z,1574296016.169 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:26:56.171Z,1574296016.171 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:26:56.180Z,1574296016.180 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:26:56.192Z,1574296016.192 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:26:56.200Z,1574296016.200 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:26:56.227Z,1574296016.227 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:26:56.274Z,1574296016.274 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:26:56.305Z,1574296016.305 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:26:56.320Z,1574296016.320 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:26:56.327Z,1574296016.327 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:26:56.358Z,1574296016.358 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:26:56.373Z,1574296016.373 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:26:56.376Z,1574296016.376 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:26:56.387Z,1574296016.387 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:26:56.398Z,1574296016.398 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:26:56.410Z,1574296016.410 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:26:56.421Z,1574296016.421 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:26:56.428Z,1574296016.428 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:26:56.457Z,1574296016.457 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:26:56.460Z,1574296016.460 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:26:56.472Z,1574296016.472 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:26:56.483Z,1574296016.483 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:26:56.498Z,1574296016.498 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:26:56.517Z,1574296016.517 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:26:56.520Z,1574296016.520 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:26:56.559Z,1574296016.559 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:26:56.579Z,1574296016.579 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:26:56.595Z,1574296016.595 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:26:56.926Z,1574296016.926 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:26:56.949Z,1574296016.949 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:26:56.996Z,1574296016.996 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:26:57.111Z,1574296017.111 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:26:57.169Z,1574296017.169 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:26:57.199Z,1574296017.199 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:26:57.226Z,1574296017.226 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:26:57.268Z,1574296017.268 [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>1.0</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>


2019-11-21T00:26:57.275Z,1574296017.275 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:26:57.492Z,1574296017.492 [Default] Stopped
2019-11-21T00:26:57.492Z,1574296017.492 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:26:57.492Z,1574296017.492 [Default:A.Wait] Stopped
2019-11-21T00:26:57.492Z,1574296017.492 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:26:57.492Z,1574296017.492 [Default:B.GoToSurface] Stopped
2019-11-21T00:26:57.492Z,1574296017.492 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:26:57.492Z,1574296017.492 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:26:57.492Z,1574296017.492 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:26:57.497Z,1574296017.497 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:26:57.497Z,1574296017.497 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:26:57.497Z,1574296017.497 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:26:57.497Z,1574296017.497 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:26:57.497Z,1574296017.497 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:26:57.498Z,1574296017.498 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:26:57.498Z,1574296017.498 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:26:57.498Z,1574296017.498 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:26:57.498Z,1574296017.498 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:26:57.498Z,1574296017.498 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:26:57.499Z,1574296017.499 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:26:57.499Z,1574296017.499 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:26:57.499Z,1574296017.499 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:26:57.499Z,1574296017.499 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:26:57.499Z,1574296017.499 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:26:57.499Z,1574296017.499 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:26:57.890Z,1574296017.890 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:26:57.890Z,1574296017.890 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:26:57.891Z,1574296017.891 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:26:57.891Z,1574296017.891 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:26:57.891Z,1574296017.891 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:26:59.543Z,1574296019.543 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:00.268Z,1574296020.268 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:00.663Z,1574296020.663 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:01.198Z,1574296021.198 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:27:01.498Z,1574296021.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002701.54*5B

2019-11-21T00:27:01.583Z,1574296021.583 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:27:01.583Z,1574296021.583 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:27:01.583Z,1574296021.583 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:27:01.583Z,1574296021.583 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:27:01.584Z,1574296021.584 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:27:01.584Z,1574296021.584 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:27:01.584Z,1574296021.584 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:27:01.589Z,1574296021.589 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:27:01.589Z,1574296021.589 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:27:01.589Z,1574296021.589 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:27:01.942Z,1574296021.942 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.860000 m .
2019-11-21T00:27:01.942Z,1574296021.942 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:27:01.942Z,1574296021.942 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:27:01.942Z,1574296021.942 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:27:01.942Z,1574296021.942 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:27:01.942Z,1574296021.942 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:27:02.336Z,1574296022.336 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:27:02.336Z,1574296022.336 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:27:02.336Z,1574296022.336 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:27:03.117Z,1574296023.117 [PowerOnly](INFO): Powering up
2019-11-21T00:27:03.649Z,1574296023.649 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:03.770Z,1574296023.770 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:27:03.770Z,1574296023.770 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:27:03.771Z,1574296023.771 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:27:03.772Z,1574296023.772 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:27:04.314Z,1574296024.314 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:04.708Z,1574296024.708 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:04.817Z,1574296024.817 [RDI_Pathfinder](ERROR): Failed to parse:.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T00:27:05.238Z,1574296025.238 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:27:05.539Z,1574296025.539 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002705.59*52

2019-11-21T00:27:05.910Z,1574296025.910 [DDM](INFO): Changing to mode: 1
2019-11-21T00:27:05.911Z,1574296025.911 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:05.937Z,1574296025.937 [DDM](INFO): Opening Latch
2019-11-21T00:27:06.162Z,1574296026.162 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:27:06.314Z,1574296026.314 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:06.341Z,1574296026.341 [DDM](INFO): Opening Latch
2019-11-21T00:27:06.718Z,1574296026.718 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:06.745Z,1574296026.745 [DDM](INFO): Opening Latch
2019-11-21T00:27:06.906Z,1574296026.906 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:27:07.122Z,1574296027.122 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:07.274Z,1574296027.274 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:07.537Z,1574296027.537 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:07.930Z,1574296027.930 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:08.102Z,1574296028.102 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:27:08.334Z,1574296028.334 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:08.738Z,1574296028.738 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:09.153Z,1574296029.153 [DDM](INFO): Extending Whiskers.
2019-11-21T00:27:09.306Z,1574296029.306 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:27:09.648Z,1574296029.648 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:10.403Z,1574296030.403 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:10.792Z,1574296030.792 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:11.322Z,1574296031.322 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:27:11.634Z,1574296031.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002711.68*55

2019-11-21T00:27:11.689Z,1574296031.689 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.74 m.
2019-11-21T00:27:13.314Z,1574296033.314 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:15.681Z,1574296035.681 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:16.455Z,1574296036.455 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:16.856Z,1574296036.856 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:17.434Z,1574296037.434 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:27:17.706Z,1574296037.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002717.73*59

2019-11-21T00:27:19.329Z,1574296039.329 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:20.632Z,1574296040.632 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:27:21.367Z,1574296041.367 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:22.111Z,1574296042.111 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:22.508Z,1574296042.508 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:23.062Z,1574296043.062 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:27:23.334Z,1574296043.334 [Micromodem](INFO): Nmea in: $SNTTA,0.002009,,,,002723.39*45

2019-11-21T00:27:25.008Z,1574296045.008 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:27.182Z,1574296047.182 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:27.755Z,1574296047.755 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:28.176Z,1574296048.176 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:28.333Z,1574296048.333 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:27:28.333Z,1574296048.333 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:27:28.536Z,1574296048.536 [DDM](INFO): Retracting Whiskers
2019-11-21T00:27:28.561Z,1574296048.561 [DDM](INFO): Closing Latch
2019-11-21T00:27:28.755Z,1574296048.755 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:27:28.946Z,1574296048.946 [DDM](INFO): Retracting Whiskers
2019-11-21T00:27:28.973Z,1574296048.973 [DDM](INFO): Closing Latch
2019-11-21T00:27:29.014Z,1574296049.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002729.03*53

2019-11-21T00:27:29.182Z,1574296049.182 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:27:29.343Z,1574296049.343 [DDM](INFO): Retracting Whiskers
2019-11-21T00:27:29.748Z,1574296049.748 [DDM](INFO): Retracting Whiskers
2019-11-21T00:27:30.150Z,1574296050.150 [DDM](INFO): Retracting Whiskers
2019-11-21T00:27:30.335Z,1574296050.335 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:27:30.336Z,1574296050.336 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:27:31.046Z,1574296051.046 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:31.800Z,1574296051.800 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:32.212Z,1574296052.212 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:32.738Z,1574296052.738 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:27:33.030Z,1574296053.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002733.07*5C

2019-11-21T00:27:34.702Z,1574296054.702 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:37.095Z,1574296057.095 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:37.867Z,1574296057.867 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:38.275Z,1574296058.275 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:38.819Z,1574296058.819 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:27:39.094Z,1574296059.094 [Micromodem](INFO): Nmea in: $SNTTA,0.001997,,,,002739.14*4C

2019-11-21T00:27:40.832Z,1574296060.832 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:41.584Z,1574296061.584 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:27:43.111Z,1574296063.111 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:43.903Z,1574296063.903 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:44.295Z,1574296064.295 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:44.888Z,1574296064.888 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:27:45.142Z,1574296065.142 [Micromodem](INFO): Nmea in: $SNTTA,0.003980,,,,002745.18*4F

2019-11-21T00:27:46.373Z,1574296066.373 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:27:46.374Z,1574296066.374 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,  BI,-32768,-32768,-32768,-32768,V
2019-11-21T00:27:47.175Z,1574296067.175 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:47.930Z,1574296067.930 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:48.360Z,1574296068.360 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:48.859Z,1574296068.859 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:27:49.178Z,1574296069.178 [Micromodem](INFO): Nmea in: $SNTTA,0.440741,,,,002749.21*49

2019-11-21T00:27:50.831Z,1574296070.831 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:53.220Z,1574296073.220 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:53.992Z,1574296073.992 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:54.400Z,1574296074.400 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:54.955Z,1574296074.955 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:27:55.222Z,1574296075.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002755.26*5F

2019-11-21T00:27:57.295Z,1574296077.295 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:27:58.030Z,1574296078.030 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:27:58.435Z,1574296078.435 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:27:58.911Z,1574296078.911 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:27:59.270Z,1574296079.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002759.31*55

2019-11-21T00:28:00.000Z,1574296081.000 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:03.352Z,1574296083.352 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:04.091Z,1574296084.091 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:04.496Z,1574296084.496 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:05.029Z,1574296085.029 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:28:05.326Z,1574296085.326 [Micromodem](INFO): Nmea in: $SNTTA,,,0.022751,,002805.37*48

2019-11-21T00:28:06.999Z,1574296086.999 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:09.415Z,1574296089.415 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:10.155Z,1574296090.155 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:10.558Z,1574296090.558 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:11.043Z,1574296091.043 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:28:11.390Z,1574296091.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002811.43*53

2019-11-21T00:28:13.035Z,1574296093.035 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:15.082Z,1574296095.082 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:15.806Z,1574296095.806 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:16.211Z,1574296096.211 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:16.691Z,1574296096.691 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:28:17.038Z,1574296097.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002817.08*5A

2019-11-21T00:28:18.704Z,1574296098.704 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:20.743Z,1574296100.743 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:21.467Z,1574296101.467 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:21.868Z,1574296101.868 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:22.404Z,1574296102.404 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:28:22.699Z,1574296102.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002822.74*57

2019-11-21T00:28:24.751Z,1574296104.751 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:25.515Z,1574296105.515 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:25.870Z,1574296105.870 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:28:25.871Z,1574296105.871 [CommandLine](IMPORTANT): Scheduling is paused
2019-11-21T00:28:25.871Z,1574296105.871 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:28:25.927Z,1574296105.927 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:26.029Z,1574296106.029 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:28:26.030Z,1574296106.030 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab] Stopped
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:28:26.030Z,1574296106.030 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:28:26.031Z,1574296106.031 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:28:26.031Z,1574296106.031 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:28:26.031Z,1574296106.031 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:28:26.031Z,1574296106.031 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:28:26.031Z,1574296106.031 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:28:26.378Z,1574296106.378 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:28:26.378Z,1574296106.378 [Default] Running Loop=1
2019-11-21T00:28:26.378Z,1574296106.378 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:28:26.378Z,1574296106.378 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:28:26.378Z,1574296106.378 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:28:26.378Z,1574296106.378 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:28:26.379Z,1574296106.379 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:28:26.379Z,1574296106.379 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:28:26.379Z,1574296106.379 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:28:26.380Z,1574296106.380 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:28:26.380Z,1574296106.380 [Default:A.Wait] Running Loop=1
2019-11-21T00:28:26.380Z,1574296106.380 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:28:26.390Z,1574296106.390 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:28:26.390Z,1574296106.390 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:28:26.391Z,1574296106.391 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:28:26.391Z,1574296106.391 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:28:26.763Z,1574296106.763 [Micromodem](INFO): Nmea in: $SNTTA,0.002051,,,,002826.79*46

2019-11-21T00:28:34.409Z,1574296114.409 [PowerOnly](INFO): Powering down
2019-11-21T00:28:36.015Z,1574296116.015 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:28:36.016Z,1574296116.016 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:28:36.323Z,1574296116.323 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:28:36.325Z,1574296116.325 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:28:36.327Z,1574296116.327 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:28:36.329Z,1574296116.329 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:28:36.331Z,1574296116.331 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:28:36.333Z,1574296116.333 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:28:36.335Z,1574296116.335 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:28:36.337Z,1574296116.337 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:28:36.339Z,1574296116.339 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:28:36.341Z,1574296116.341 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:28:36.343Z,1574296116.343 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:28:36.345Z,1574296116.345 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:28:36.347Z,1574296116.347 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:28:36.349Z,1574296116.349 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:28:36.351Z,1574296116.351 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:28:36.353Z,1574296116.353 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:28:36.355Z,1574296116.355 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:28:36.357Z,1574296116.357 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:28:36.359Z,1574296116.359 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:28:36.413Z,1574296116.413 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:28:36.415Z,1574296116.415 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:28:36.419Z,1574296116.419 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:28:36.449Z,1574296116.449 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:28:36.451Z,1574296116.451 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:28:36.470Z,1574296116.470 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:28:36.472Z,1574296116.472 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:28:36.478Z,1574296116.478 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:28:36.480Z,1574296116.480 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:28:36.497Z,1574296116.497 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:28:36.499Z,1574296116.499 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:28:36.502Z,1574296116.502 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:28:36.504Z,1574296116.504 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:28:36.514Z,1574296116.514 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:28:36.516Z,1574296116.516 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:28:36.523Z,1574296116.523 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:28:36.529Z,1574296116.529 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:28:36.553Z,1574296116.553 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:28:36.564Z,1574296116.564 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:28:36.623Z,1574296116.623 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:28:36.658Z,1574296116.658 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:28:36.682Z,1574296116.682 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:28:36.720Z,1574296116.720 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:28:36.749Z,1574296116.749 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:28:36.793Z,1574296116.793 [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>1.0</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>


2019-11-21T00:28:36.795Z,1574296116.795 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:28:36.889Z,1574296116.889 [Default] Stopped
2019-11-21T00:28:36.890Z,1574296116.890 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:28:36.890Z,1574296116.890 [Default:A.Wait] Stopped
2019-11-21T00:28:36.890Z,1574296116.890 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:28:36.890Z,1574296116.890 [Default:B.GoToSurface] Stopped
2019-11-21T00:28:36.890Z,1574296116.890 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:28:36.890Z,1574296116.890 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:28:36.890Z,1574296116.890 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:28:36.891Z,1574296116.891 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:28:36.892Z,1574296116.892 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:28:36.892Z,1574296116.892 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:28:36.892Z,1574296116.892 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:28:36.892Z,1574296116.892 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:28:36.892Z,1574296116.892 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:28:36.892Z,1574296116.892 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:28:36.897Z,1574296116.897 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:28:36.897Z,1574296116.897 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:28:36.897Z,1574296116.897 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:28:37.312Z,1574296117.312 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:28:37.312Z,1574296117.312 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:28:37.313Z,1574296117.313 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:28:37.313Z,1574296117.313 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:28:37.313Z,1574296117.313 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:28:37.695Z,1574296117.695 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:28:37.695Z,1574296117.695 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:28:37.695Z,1574296117.695 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:28:37.695Z,1574296117.695 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:28:37.696Z,1574296117.696 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:28:37.696Z,1574296117.696 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:28:37.696Z,1574296117.696 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:28:37.696Z,1574296117.696 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:28:37.696Z,1574296117.696 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:28:37.696Z,1574296117.696 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:28:38.065Z,1574296118.065 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.860000 m .
2019-11-21T00:28:38.065Z,1574296118.065 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:28:38.065Z,1574296118.065 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:28:38.065Z,1574296118.065 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:28:38.065Z,1574296118.065 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:28:38.066Z,1574296118.066 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:28:38.488Z,1574296118.488 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:28:38.509Z,1574296118.509 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:28:38.509Z,1574296118.509 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:28:39.254Z,1574296119.254 [PowerOnly](INFO): Powering up
2019-11-21T00:28:39.302Z,1574296119.302 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:39.842Z,1574296119.842 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:28:39.843Z,1574296119.843 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:28:39.843Z,1574296119.843 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:28:39.844Z,1574296119.844 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:28:40.047Z,1574296120.047 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:40.262Z,1574296120.262 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:28:40.456Z,1574296120.456 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:41.050Z,1574296121.050 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:28:41.294Z,1574296121.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002841.32*50

2019-11-21T00:28:41.658Z,1574296121.658 [DDM](INFO): Changing to mode: 1
2019-11-21T00:28:41.658Z,1574296121.658 [DDM](INFO): Extending Whiskers.
2019-11-21T00:28:41.685Z,1574296121.685 [DDM](INFO): Opening Latch
2019-11-21T00:28:42.014Z,1574296122.014 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:28:42.073Z,1574296122.073 [DDM](INFO): Extending Whiskers.
2019-11-21T00:28:42.097Z,1574296122.097 [DDM](INFO): Opening Latch
2019-11-21T00:28:42.466Z,1574296122.466 [DDM](INFO): Extending Whiskers.
2019-11-21T00:28:42.493Z,1574296122.493 [DDM](INFO): Opening Latch
2019-11-21T00:28:42.690Z,1574296122.690 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:28:42.870Z,1574296122.870 [DDM](INFO): Extending Whiskers.
2019-11-21T00:28:43.018Z,1574296123.018 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:43.274Z,1574296123.274 [DDM](INFO): Extending Whiskers.
2019-11-21T00:28:43.463Z,1574296123.463 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:28:43.873Z,1574296123.873 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:28:45.371Z,1574296125.371 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:46.143Z,1574296126.143 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:46.544Z,1574296126.544 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:47.132Z,1574296127.132 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:28:47.366Z,1574296127.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002847.42*51

2019-11-21T00:28:47.434Z,1574296127.434 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.74 m.
2019-11-21T00:28:49.410Z,1574296129.410 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:50.179Z,1574296130.179 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:50.590Z,1574296130.590 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:51.095Z,1574296131.095 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:28:51.414Z,1574296131.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002851.46*52

2019-11-21T00:28:53.075Z,1574296133.075 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:54.769Z,1574296134.769 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:28:55.076Z,1574296135.076 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:28:55.831Z,1574296135.831 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:28:56.240Z,1574296136.240 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:28:56.858Z,1574296136.858 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:28:57.066Z,1574296137.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002857.10*57

2019-11-21T00:28:58.719Z,1574296138.719 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:00.719Z,1574296140.719 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:01.495Z,1574296141.495 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:29:01.904Z,1574296141.904 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:29:02.442Z,1574296142.442 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:29:02.730Z,1574296142.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002902.77*57

2019-11-21T00:29:04.403Z,1574296144.403 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:05.979Z,1574296145.979 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T00:29:06.781Z,1574296146.781 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:07.554Z,1574296147.554 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:29:07.956Z,1574296147.956 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:29:08.495Z,1574296148.495 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:29:08.778Z,1574296148.778 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002908.83*56

2019-11-21T00:29:10.447Z,1574296150.447 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:12.856Z,1574296152.856 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:13.607Z,1574296153.607 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:29:14.012Z,1574296154.012 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:29:14.503Z,1574296154.503 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:29:14.858Z,1574296154.858 [Micromodem](INFO): Nmea in: $SNTTA,0.002050,,,,002914.88*49

2019-11-21T00:29:16.499Z,1574296156.499 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:18.526Z,1574296158.526 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:19.263Z,1574296159.263 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:29:19.672Z,1574296159.672 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:29:20.141Z,1574296160.141 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:29:20.501Z,1574296160.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,002920.54*56

2019-11-21T00:29:22.146Z,1574296162.146 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:24.170Z,1574296164.170 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:29:24.926Z,1574296164.926 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:29:25.328Z,1574296165.328 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:29:25.800Z,1574296165.800 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:29:26.147Z,1574296166.147 [Micromodem](INFO): Nmea in: $SNTTA,0.294317,,,,002926.20*47

2019-11-21T00:29:27.221Z,1574296167.221 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:29:27.222Z,1574296167.222 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:29:27.393Z,1574296167.393 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:29:27.393Z,1574296167.393 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:29:27.393Z,1574296167.393 [lineCaptureHomingLab] Stopped
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:29:27.394Z,1574296167.394 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:29:27.395Z,1574296167.395 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:29:27.395Z,1574296167.395 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:29:27.395Z,1574296167.395 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:29:27.763Z,1574296167.763 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:29:27.763Z,1574296167.763 [Default] Running Loop=1
2019-11-21T00:29:27.763Z,1574296167.763 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:29:27.764Z,1574296167.764 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:29:27.764Z,1574296167.764 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:29:27.764Z,1574296167.764 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:29:27.764Z,1574296167.764 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:29:27.765Z,1574296167.765 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:29:27.765Z,1574296167.765 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:29:27.765Z,1574296167.765 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:29:27.766Z,1574296167.766 [Default:A.Wait] Running Loop=1
2019-11-21T00:29:27.766Z,1574296167.766 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:29:27.853Z,1574296167.853 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:29:27.854Z,1574296167.854 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:29:27.854Z,1574296167.854 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:29:27.854Z,1574296167.854 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:29:28.524Z,1574296168.524 [DDM](INFO): Pause: Retracting Whiskers
2019-11-21T00:29:28.549Z,1574296168.549 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:29:28.926Z,1574296168.926 [DDM](INFO): Pause: Retracting Whiskers
2019-11-21T00:29:28.953Z,1574296168.953 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:29:29.330Z,1574296169.330 [DDM](INFO): Pause: Retracting Whiskers
2019-11-21T00:29:29.734Z,1574296169.734 [DDM](INFO): Pause: Retracting Whiskers
2019-11-21T00:29:33.034Z,1574296173.034 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T00:29:41.185Z,1574296181.185 [Default:A.Wait](INFO): Done Waiting.
2019-11-21T00:29:41.185Z,1574296181.185 [Default:A.Wait] Stopped
2019-11-21T00:29:41.185Z,1574296181.185 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:29:41.508Z,1574296181.508 [Default:CheckIn] Running Loop=1
2019-11-21T00:29:41.509Z,1574296181.509 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T00:29:41.509Z,1574296181.509 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T00:29:41.945Z,1574296181.945 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-11-21T00:29:44.692Z,1574296184.692 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T00:29:47.181Z,1574296187.181 [CommandLine](IMPORTANT): got command get DDM.latchState
2019-11-21T00:29:47.182Z,1574296187.182 [CommandLine](IMPORTANT): DDM.latchState 1 count
2019-11-21T00:29:54.854Z,1574296194.854 [CommandLine](IMPORTANT): got command get DDM.whiskerState
2019-11-21T00:29:54.854Z,1574296194.854 [CommandLine](IMPORTANT): DDM.whiskerState 2 count
2019-11-21T00:30:02.189Z,1574296202.189 [CommandLine](IMPORTANT): got command get DDM.cablePresent
2019-11-21T00:30:02.190Z,1574296202.190 [CommandLine](IMPORTANT): DDM.cablePresent 0 bool
2019-11-21T00:30:10.595Z,1574296210.595 [PowerOnly](INFO): Powering down
2019-11-21T00:30:44.171Z,1574296244.171 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T00:31:02.127Z,1574296262.127 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:31:02.127Z,1574296262.127 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:31:02.531Z,1574296262.531 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:31:02.537Z,1574296262.537 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:31:02.540Z,1574296262.540 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:31:02.546Z,1574296262.546 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:31:02.548Z,1574296262.548 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:31:02.590Z,1574296262.590 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:31:02.592Z,1574296262.592 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:31:02.618Z,1574296262.618 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:31:02.628Z,1574296262.628 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:31:02.663Z,1574296262.663 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:31:02.679Z,1574296262.679 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:31:02.695Z,1574296262.695 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:31:02.717Z,1574296262.717 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:31:02.719Z,1574296262.719 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:31:02.738Z,1574296262.738 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:31:02.740Z,1574296262.740 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:31:02.753Z,1574296262.753 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:31:02.756Z,1574296262.756 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:31:02.774Z,1574296262.774 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:31:02.789Z,1574296262.789 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:31:02.791Z,1574296262.791 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:31:02.809Z,1574296262.809 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:31:02.811Z,1574296262.811 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:31:02.826Z,1574296262.826 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:31:02.828Z,1574296262.828 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:31:02.843Z,1574296262.843 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:31:02.857Z,1574296262.857 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:31:02.859Z,1574296262.859 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:31:02.869Z,1574296262.869 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:31:02.872Z,1574296262.872 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:31:02.894Z,1574296262.894 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:31:02.896Z,1574296262.896 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:31:02.905Z,1574296262.905 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:31:02.919Z,1574296262.919 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:31:02.941Z,1574296262.941 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:31:02.943Z,1574296262.943 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:31:02.997Z,1574296262.997 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:31:03.020Z,1574296263.020 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:31:03.120Z,1574296263.120 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:31:03.190Z,1574296263.190 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:31:03.227Z,1574296263.227 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:31:03.269Z,1574296263.269 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:31:03.288Z,1574296263.288 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:31:03.374Z,1574296263.374 [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>1.0</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>


2019-11-21T00:31:03.376Z,1574296263.376 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:31:03.532Z,1574296263.532 [Default] Stopped
2019-11-21T00:31:03.532Z,1574296263.532 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:31:03.532Z,1574296263.532 [Default:B.GoToSurface] Stopped
2019-11-21T00:31:03.532Z,1574296263.532 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:31:03.532Z,1574296263.532 [Default:CheckIn] Stopped
2019-11-21T00:31:03.532Z,1574296263.532 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T00:31:03.532Z,1574296263.532 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T00:31:03.532Z,1574296263.532 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:31:03.537Z,1574296263.537 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:31:03.537Z,1574296263.537 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:31:03.538Z,1574296263.538 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:31:03.539Z,1574296263.539 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:31:03.924Z,1574296263.924 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:31:03.924Z,1574296263.924 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:31:03.924Z,1574296263.924 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:31:03.924Z,1574296263.924 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:31:03.924Z,1574296263.924 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:31:04.337Z,1574296264.337 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:31:04.337Z,1574296264.337 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:31:04.337Z,1574296264.337 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:31:04.338Z,1574296264.338 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:31:04.748Z,1574296264.748 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.739999 m .
2019-11-21T00:31:04.748Z,1574296264.748 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:31:04.748Z,1574296264.748 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:31:04.748Z,1574296264.748 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:31:04.748Z,1574296264.748 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:31:04.753Z,1574296264.753 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:31:05.127Z,1574296265.127 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:31:05.128Z,1574296265.128 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:31:05.128Z,1574296265.128 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:31:05.912Z,1574296265.912 [PowerOnly](INFO): Powering up
2019-11-21T00:31:05.966Z,1574296265.966 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:06.476Z,1574296266.476 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:31:06.481Z,1574296266.481 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:31:06.482Z,1574296266.482 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:31:06.483Z,1574296266.483 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:31:06.694Z,1574296266.694 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:06.721Z,1574296266.721 [DDM](INFO): Opening Latch
2019-11-21T00:31:06.763Z,1574296266.763 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:07.099Z,1574296267.099 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:07.133Z,1574296267.133 [DDM](INFO): Opening Latch
2019-11-21T00:31:07.168Z,1574296267.168 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:07.503Z,1574296267.503 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:07.529Z,1574296267.529 [DDM](INFO): Opening Latch
2019-11-21T00:31:07.703Z,1574296267.703 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:31:07.704Z,1574296267.704 [Reporter](INFO): acoustic_contact_range 1.920001 m
2019-11-21T00:31:07.908Z,1574296267.908 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:07.998Z,1574296267.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003108.04*50

2019-11-21T00:31:08.137Z,1574296268.137 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.92 m.
2019-11-21T00:31:08.310Z,1574296268.310 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:08.482Z,1574296268.482 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:31:08.902Z,1574296268.902 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:31:10.015Z,1574296270.015 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:10.764Z,1574296270.764 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:11.173Z,1574296271.173 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:11.624Z,1574296271.624 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-3768,-32768,V
2019-11-21T00:31:11.750Z,1574296271.750 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:31:12.010Z,1574296272.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003112.04*5B

2019-11-21T00:31:14.078Z,1574296274.078 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:14.831Z,1574296274.831 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:15.216Z,1574296275.216 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:15.734Z,1574296275.734 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:31:16.047Z,1574296276.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003116.10*5A

2019-11-21T00:31:17.728Z,1574296277.728 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:19.767Z,1574296279.767 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:19.839Z,1574296279.839 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:31:20.476Z,1574296280.476 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:20.872Z,1574296280.872 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:21.332Z,1574296281.332 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:31:21.694Z,1574296281.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003121.75*5D

2019-11-21T00:31:22.986Z,1574296282.986 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:31:22.987Z,1574296282.987 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:31:23.258Z,1574296283.258 [DDM](INFO): Retracting Whiskers
2019-11-21T00:31:23.285Z,1574296283.285 [DDM](INFO): Closing Latch
2019-11-21T00:31:23.371Z,1574296283.371 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:23.690Z,1574296283.690 [DDM](INFO): Retracting Whiskers
2019-11-21T00:31:23.725Z,1574296283.725 [DDM](INFO): Closing Latch
2019-11-21T00:31:23.866Z,1574296283.866 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:31:24.077Z,1574296284.077 [DDM](INFO): Retracting Whiskers
2019-11-21T00:31:24.473Z,1574296284.473 [DDM](INFO): Retracting Whiskers
2019-11-21T00:31:24.880Z,1574296284.880 [DDM](INFO): Retracting Whiskers
2019-11-21T00:31:25.062Z,1574296285.062 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:31:25.063Z,1574296285.063 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:31:25.759Z,1574296285.759 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:26.523Z,1574296286.523 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:26.954Z,1574296286.954 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:27.430Z,1574296287.430 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:31:27.754Z,1574296287.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003127.80*51

2019-11-21T00:31:29.403Z,1574296289.403 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:31.454Z,1574296291.454 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:32.183Z,1574296292.183 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:32.593Z,1574296292.593 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:33.202Z,1574296293.202 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:31:33.410Z,1574296293.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003133.46*5E

2019-11-21T00:31:35.025Z,1574296295.025 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T00:31:35.151Z,1574296295.151 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:35.958Z,1574296295.958 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:31:37.442Z,1574296297.442 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:38.215Z,1574296298.215 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:38.642Z,1574296298.642 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:39.126Z,1574296299.126 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:31:39.450Z,1574296299.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003139.49*5B

2019-11-21T00:31:41.098Z,1574296301.098 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:43.551Z,1574296303.551 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:44.270Z,1574296304.270 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:44.415Z,1574296304.415 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T00:31:44.680Z,1574296304.680 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:45.198Z,1574296305.198 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:31:45.510Z,1574296305.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003145.55*5D

2019-11-21T00:31:46.662Z,1574296306.662 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:31:46.662Z,1574296306.662 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:31:46.763Z,1574296306.763 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:31:46.763Z,1574296306.763 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab] Stopped
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:31:46.763Z,1574296306.763 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:31:46.764Z,1574296306.764 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:31:47.140Z,1574296307.140 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:31:47.140Z,1574296307.140 [Default] Running Loop=1
2019-11-21T00:31:47.140Z,1574296307.140 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:31:47.140Z,1574296307.140 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:31:47.141Z,1574296307.141 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:31:47.141Z,1574296307.141 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:31:47.142Z,1574296307.142 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:31:47.142Z,1574296307.142 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:31:47.142Z,1574296307.142 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:31:47.143Z,1574296307.143 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:31:47.143Z,1574296307.143 [Default:A.Wait] Running Loop=1
2019-11-21T00:31:47.143Z,1574296307.143 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:31:47.270Z,1574296307.270 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:31:47.270Z,1574296307.270 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:31:47.270Z,1574296307.270 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:31:47.271Z,1574296307.271 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:31:50.190Z,1574296310.190 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:31:50.191Z,1574296310.191 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:31:50.455Z,1574296310.455 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:31:50.467Z,1574296310.467 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:31:50.469Z,1574296310.469 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:31:50.471Z,1574296310.471 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:31:50.475Z,1574296310.475 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:31:50.477Z,1574296310.477 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:31:50.479Z,1574296310.479 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:31:50.481Z,1574296310.481 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:31:50.483Z,1574296310.483 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:31:50.485Z,1574296310.485 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:31:50.487Z,1574296310.487 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:31:50.489Z,1574296310.489 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:31:50.491Z,1574296310.491 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:31:50.494Z,1574296310.494 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:31:50.496Z,1574296310.496 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:31:50.498Z,1574296310.498 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:31:50.500Z,1574296310.500 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:31:50.503Z,1574296310.503 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:31:50.505Z,1574296310.505 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:31:50.507Z,1574296310.507 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:31:50.533Z,1574296310.533 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:31:50.535Z,1574296310.535 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:31:50.542Z,1574296310.542 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:31:50.544Z,1574296310.544 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:31:50.547Z,1574296310.547 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:31:50.558Z,1574296310.558 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:31:50.564Z,1574296310.564 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:31:50.574Z,1574296310.574 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:31:50.582Z,1574296310.582 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:31:50.621Z,1574296310.621 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:31:50.624Z,1574296310.624 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:31:50.630Z,1574296310.630 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:31:50.649Z,1574296310.649 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:31:50.651Z,1574296310.651 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:31:50.658Z,1574296310.658 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:31:50.660Z,1574296310.660 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:31:50.679Z,1574296310.680 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:31:50.698Z,1574296310.698 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:31:50.762Z,1574296310.762 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:31:50.784Z,1574296310.784 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:31:50.846Z,1574296310.846 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:31:50.874Z,1574296310.874 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:31:50.903Z,1574296310.903 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:31:50.964Z,1574296310.964 [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>1.0</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>


2019-11-21T00:31:50.975Z,1574296310.975 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:31:51.184Z,1574296311.184 [Default] Stopped
2019-11-21T00:31:51.184Z,1574296311.184 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:31:51.184Z,1574296311.184 [Default:A.Wait] Stopped
2019-11-21T00:31:51.184Z,1574296311.184 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:31:51.184Z,1574296311.184 [Default:B.GoToSurface] Stopped
2019-11-21T00:31:51.184Z,1574296311.184 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:31:51.184Z,1574296311.184 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:31:51.185Z,1574296311.185 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:31:51.186Z,1574296311.186 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:31:51.186Z,1574296311.186 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:31:51.186Z,1574296311.186 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:31:51.186Z,1574296311.186 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:31:51.186Z,1574296311.186 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:31:51.186Z,1574296311.186 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:31:51.187Z,1574296311.187 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:31:51.187Z,1574296311.187 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:31:51.187Z,1574296311.187 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:31:51.187Z,1574296311.187 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:31:51.628Z,1574296311.628 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:31:51.628Z,1574296311.628 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:31:51.628Z,1574296311.628 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:31:51.628Z,1574296311.628 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:31:51.628Z,1574296311.628 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:31:51.984Z,1574296311.984 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T00:31:51.987Z,1574296311.987 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T00:31:51.997Z,1574296311.997 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:31:51.997Z,1574296311.997 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:31:51.997Z,1574296311.997 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:31:51.997Z,1574296311.997 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:31:51.997Z,1574296311.997 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:31:51.997Z,1574296311.997 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:31:51.998Z,1574296311.998 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:31:51.998Z,1574296311.998 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:31:51.998Z,1574296311.998 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:31:51.998Z,1574296311.998 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:31:52.386Z,1574296312.386 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.739999 m .
2019-11-21T00:31:52.386Z,1574296312.386 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:31:52.386Z,1574296312.386 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:31:52.386Z,1574296312.386 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:31:52.387Z,1574296312.387 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:31:52.387Z,1574296312.387 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:31:52.802Z,1574296312.802 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:31:52.802Z,1574296312.802 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:31:52.802Z,1574296312.802 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:31:53.195Z,1574296313.195 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:54.067Z,1574296314.067 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:31:54.214Z,1574296314.214 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:31:54.215Z,1574296314.215 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:31:54.216Z,1574296314.216 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:31:54.216Z,1574296314.216 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:31:54.376Z,1574296314.376 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:31:54.519Z,1574296314.519 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:31:54.898Z,1574296314.898 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:31:55.578Z,1574296315.578 [DDM](INFO): Changing to mode: 1
2019-11-21T00:31:55.578Z,1574296315.578 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:55.611Z,1574296315.611 [DDM](INFO): Opening Latch
2019-11-21T00:31:55.658Z,1574296315.658 [Micromodem](INFO): Nmea in: $SNTTA,0.026726,,,,003155.34*42

2019-11-21T00:31:55.731Z,1574296315.731 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:31:55.987Z,1574296315.987 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:56.013Z,1574296316.013 [DDM](INFO): Opening Latch
2019-11-21T00:31:56.386Z,1574296316.386 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:56.413Z,1574296316.413 [DDM](INFO): Opening Latch
2019-11-21T00:31:56.567Z,1574296316.567 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:31:56.790Z,1574296316.790 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:56.927Z,1574296316.927 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:31:57.197Z,1574296317.197 [DDM](INFO): Extending Whiskers.
2019-11-21T00:31:57.366Z,1574296317.366 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:31:57.766Z,1574296317.766 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:31:59.287Z,1574296319.287 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:00.067Z,1574296320.067 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:00.468Z,1574296320.468 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:00.994Z,1574296320.994 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:32:01.287Z,1574296321.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003201.34*59

2019-11-21T00:32:01.337Z,1574296321.337 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.80 m.
2019-11-21T00:32:02.946Z,1574296322.946 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:04.950Z,1574296324.950 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:05.719Z,1574296325.719 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:06.123Z,1574296326.123 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:06.639Z,1574296326.639 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:32:06.952Z,1574296326.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003207.00*58

2019-11-21T00:32:08.639Z,1574296328.639 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:08.674Z,1574296328.674 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:32:09.934Z,1574296329.934 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:32:09.935Z,1574296329.935 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:32:10.122Z,1574296330.122 [DDM](INFO): Retracting Whiskers
2019-11-21T00:32:10.160Z,1574296330.160 [DDM](INFO): Closing Latch
2019-11-21T00:32:10.527Z,1574296330.527 [DDM](INFO): Retracting Whiskers
2019-11-21T00:32:10.553Z,1574296330.553 [DDM](INFO): Closing Latch
2019-11-21T00:32:10.699Z,1574296330.699 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:10.722Z,1574296330.722 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:32:10.930Z,1574296330.930 [DDM](INFO): Retracting Whiskers
2019-11-21T00:32:11.334Z,1574296331.334 [DDM](INFO): Retracting Whiskers
2019-11-21T00:32:11.406Z,1574296331.406 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:11.738Z,1574296331.738 [DDM](INFO): Retracting Whiskers
2019-11-21T00:32:11.797Z,1574296331.797 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:11.946Z,1574296331.946 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:32:11.947Z,1574296331.947 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:32:12.299Z,1574296332.299 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:32:12.587Z,1574296332.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003212.68*52

2019-11-21T00:32:13.016Z,1574296333.016 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2019-11-21T00:32:14.258Z,1574296334.258 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:16.270Z,1574296336.270 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:17.027Z,1574296337.027 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:17.432Z,1574296337.432 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:17.975Z,1574296337.975 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:32:18.258Z,1574296338.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003218.30*55

2019-11-21T00:32:19.908Z,1574296339.908 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:21.918Z,1574296341.918 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:22.691Z,1574296342.691 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:22.910Z,1574296342.910 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:32:23.060Z,1574296343.060 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:23.516Z,1574296343.516 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:32:23.878Z,1574296343.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003223.97*50

2019-11-21T00:32:25.534Z,1574296345.534 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:27.947Z,1574296347.947 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:28.710Z,1574296348.710 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:29.117Z,1574296349.117 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:29.638Z,1574296349.638 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:32:29.947Z,1574296349.947 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003229.99*54

2019-11-21T00:32:31.625Z,1574296351.625 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:34.023Z,1574296354.023 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:32:34.802Z,1574296354.802 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:32:35.193Z,1574296355.193 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:32:35.686Z,1574296355.686 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:32:36.026Z,1574296356.026 [Micromodem](INFO): Nmea in: $SNTTA,0.001998,,,,003236.07*4A

2019-11-21T00:32:36.662Z,1574296356.662 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:32:36.663Z,1574296356.663 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:32:36.851Z,1574296356.851 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:32:36.851Z,1574296356.851 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab] Stopped
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:32:36.851Z,1574296356.851 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:32:36.852Z,1574296356.852 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:32:37.220Z,1574296357.220 [PowerOnly](INFO): Powering down
2019-11-21T00:32:37.240Z,1574296357.240 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:32:37.241Z,1574296357.241 [Default] Running Loop=1
2019-11-21T00:32:37.241Z,1574296357.241 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:32:37.241Z,1574296357.241 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:32:37.241Z,1574296357.241 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:32:37.241Z,1574296357.241 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:32:37.242Z,1574296357.242 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:32:37.242Z,1574296357.242 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:32:37.242Z,1574296357.242 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:32:37.243Z,1574296357.243 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:32:37.243Z,1574296357.243 [Default:A.Wait] Running Loop=1
2019-11-21T00:32:37.243Z,1574296357.243 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:32:37.289Z,1574296357.289 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:32:37.290Z,1574296357.290 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:32:37.290Z,1574296357.290 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:32:37.290Z,1574296357.290 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:32:50.561Z,1574296370.561 [Default:A.Wait](INFO): Done Waiting.
2019-11-21T00:32:50.561Z,1574296370.561 [Default:A.Wait] Stopped
2019-11-21T00:32:50.562Z,1574296370.562 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:32:50.980Z,1574296370.980 [Default:CheckIn] Running Loop=1
2019-11-21T00:32:50.980Z,1574296370.980 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T00:32:50.980Z,1574296370.980 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T00:34:11.594Z,1574296451.594 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:34:11.595Z,1574296451.595 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:34:11.882Z,1574296451.882 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:34:11.884Z,1574296451.884 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:34:11.886Z,1574296451.886 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:34:11.888Z,1574296451.888 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:34:11.890Z,1574296451.890 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:34:11.892Z,1574296451.892 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:34:11.894Z,1574296451.894 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:34:11.896Z,1574296451.896 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:34:11.899Z,1574296451.899 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:34:11.901Z,1574296451.901 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:34:11.903Z,1574296451.903 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:34:11.905Z,1574296451.905 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:34:11.907Z,1574296451.907 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:34:11.909Z,1574296451.909 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:34:11.911Z,1574296451.911 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:34:11.913Z,1574296451.913 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:34:11.915Z,1574296451.915 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:34:11.959Z,1574296451.959 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:34:11.961Z,1574296451.961 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:34:11.963Z,1574296451.963 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:34:11.965Z,1574296451.965 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:34:11.967Z,1574296451.967 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:34:11.990Z,1574296451.990 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:34:11.992Z,1574296451.992 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:34:12.010Z,1574296452.010 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:34:12.012Z,1574296452.012 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:34:12.014Z,1574296452.014 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:34:12.016Z,1574296452.016 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:34:12.041Z,1574296452.041 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:34:12.043Z,1574296452.043 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:34:12.045Z,1574296452.045 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:34:12.047Z,1574296452.047 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:34:12.060Z,1574296452.060 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:34:12.062Z,1574296452.062 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:34:12.064Z,1574296452.064 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:34:12.067Z,1574296452.067 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:34:12.165Z,1574296452.165 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:34:12.180Z,1574296452.180 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:34:12.216Z,1574296452.216 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:34:12.238Z,1574296452.238 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:34:12.254Z,1574296452.254 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:34:12.272Z,1574296452.272 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:34:12.288Z,1574296452.288 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:34:12.333Z,1574296452.333 [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>1.0</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>


2019-11-21T00:34:12.335Z,1574296452.335 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:34:12.615Z,1574296452.615 [Default] Stopped
2019-11-21T00:34:12.615Z,1574296452.615 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:34:12.615Z,1574296452.615 [Default:B.GoToSurface] Stopped
2019-11-21T00:34:12.615Z,1574296452.615 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:34:12.616Z,1574296452.616 [Default:CheckIn] Stopped
2019-11-21T00:34:12.616Z,1574296452.616 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T00:34:12.616Z,1574296452.616 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T00:34:12.617Z,1574296452.617 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:34:12.618Z,1574296452.618 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:34:12.618Z,1574296452.618 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:34:12.618Z,1574296452.618 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:34:12.619Z,1574296452.619 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:34:12.619Z,1574296452.619 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:34:12.619Z,1574296452.619 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:34:12.619Z,1574296452.619 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:34:12.620Z,1574296452.620 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:34:12.620Z,1574296452.620 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:34:12.621Z,1574296452.621 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:34:12.622Z,1574296452.622 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:34:12.623Z,1574296452.623 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:34:12.623Z,1574296452.623 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:34:12.623Z,1574296452.623 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:34:12.623Z,1574296452.623 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:34:12.624Z,1574296452.624 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:34:12.624Z,1574296452.624 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:34:13.032Z,1574296453.032 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:34:13.034Z,1574296453.034 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:34:13.034Z,1574296453.034 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:34:13.034Z,1574296453.034 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:34:13.034Z,1574296453.034 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:34:13.401Z,1574296453.401 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:34:13.401Z,1574296453.401 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:34:13.401Z,1574296453.401 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:34:13.401Z,1574296453.401 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:34:13.402Z,1574296453.402 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:34:13.402Z,1574296453.402 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:34:13.402Z,1574296453.402 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:34:13.402Z,1574296453.402 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:34:13.402Z,1574296453.402 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:34:13.402Z,1574296453.402 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:34:13.815Z,1574296453.815 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.739999 m .
2019-11-21T00:34:13.815Z,1574296453.815 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:34:13.816Z,1574296453.816 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:34:13.816Z,1574296453.816 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:34:13.816Z,1574296453.816 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:34:13.816Z,1574296453.816 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:34:14.194Z,1574296454.194 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:34:14.194Z,1574296454.194 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:34:14.194Z,1574296454.194 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:34:14.981Z,1574296454.981 [PowerOnly](INFO): Powering up
2019-11-21T00:34:15.027Z,1574296455.027 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:34:15.510Z,1574296455.510 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:34:15.511Z,1574296455.511 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:34:15.512Z,1574296455.512 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:34:15.512Z,1574296455.512 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:34:15.770Z,1574296455.770 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:34:15.986Z,1574296455.986 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:34:16.175Z,1574296456.175 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:34:16.770Z,1574296456.770 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:34:17.006Z,1574296457.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,003417.04*5B

2019-11-21T00:34:17.384Z,1574296457.384 [DDM](INFO): Changing to mode: 1
2019-11-21T00:34:17.384Z,1574296457.384 [DDM](INFO): Extending Whiskers.
2019-11-21T00:34:17.409Z,1574296457.409 [DDM](INFO): Opening Latch
2019-11-21T00:34:17.550Z,1574296457.550 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:34:17.787Z,1574296457.787 [DDM](INFO): Extending Whiskers.
2019-11-21T00:34:17.817Z,1574296457.817 [DDM](INFO): Opening Latch
2019-11-21T00:34:18.190Z,1574296458.190 [DDM](INFO): Extending Whiskers.
2019-11-21T00:34:18.221Z,1574296458.221 [DDM](INFO): Opening Latch
2019-11-21T00:34:18.378Z,1574296458.378 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:34:18.618Z,1574296458.618 [DDM](INFO): Extending Whiskers.
2019-11-21T00:34:18.761Z,1574296458.761 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:34:19.001Z,1574296459.001 [DDM](INFO): Extending Whiskers.
2019-11-21T00:34:19.207Z,1574296459.207 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:34:19.571Z,1574296459.571 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:34:21.093Z,1574296461.093 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:34:21.205Z,1574296461.205 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:34:21.206Z,1574296461.206 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:34:21.511Z,1574296461.511 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:34:21.511Z,1574296461.511 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab] Stopped
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:34:21.511Z,1574296461.511 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:34:21.512Z,1574296461.512 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:34:21.878Z,1574296461.878 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:34:21.878Z,1574296461.878 [Default] Running Loop=1
2019-11-21T00:34:21.879Z,1574296461.879 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:34:21.879Z,1574296461.879 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:34:21.879Z,1574296461.879 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:34:21.879Z,1574296461.879 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:34:21.879Z,1574296461.879 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:34:21.880Z,1574296461.880 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:34:21.880Z,1574296461.880 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:34:21.880Z,1574296461.880 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:34:21.881Z,1574296461.881 [Default:A.Wait] Running Loop=1
2019-11-21T00:34:21.881Z,1574296461.881 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:34:21.890Z,1574296461.890 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:34:21.890Z,1574296461.890 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:34:21.891Z,1574296461.891 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:34:21.891Z,1574296461.891 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:34:22.677Z,1574296462.677 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:34:23.073Z,1574296463.073 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:34:35.198Z,1574296475.198 [Default:A.Wait](INFO): Done Waiting.
2019-11-21T00:34:35.198Z,1574296475.198 [Default:A.Wait] Stopped
2019-11-21T00:34:35.198Z,1574296475.198 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:34:35.613Z,1574296475.613 [Default:CheckIn] Running Loop=1
2019-11-21T00:34:35.613Z,1574296475.613 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T00:34:35.613Z,1574296475.613 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T00:35:46.698Z,1574296546.698 [PowerOnly](INFO): Powering down
2019-11-21T00:35:57.636Z,1574296557.636 [RDI_Pathfinder](ERROR): Failed to parse:
00,   0.00,   0.00,   0.00
2019-11-21T00:37:54.741Z,1574296674.741 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T00:37:55.546Z,1574296675.546 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T00:37:55.546Z,1574296675.546 [NAL9602] Data Fault, FailCount= 1
2019-11-21T00:37:55.546Z,1574296675.546 [NAL9602](ERROR): Data Fault
2019-11-21T00:37:55.584Z,1574296675.584 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T00:37:55.978Z,1574296675.978 [NAL9602](INFO): Powering down
2019-11-21T00:37:56.818Z,1574296676.818 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T00:37:56.818Z,1574296676.818 [NAL9602] No Fault, FailCount= 1
2019-11-21T00:38:03.699Z,1574296683.699 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T00:38:26.255Z,1574296706.255 [NAL9602](INFO): Powering up NAL9602
2019-11-21T00:38:35.166Z,1574296715.166 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:38:35.166Z,1574296715.166 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2019-11-21T00:38:37.159Z,1574296717.159 [NAL9602](INFO): NAL9602 initialized
2019-11-21T00:38:43.691Z,1574296723.691 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-11-21T00:39:24.060Z,1574296764.060 [RDI_Pathfinder](ERROR): Failed to parse:
00
2019-11-21T00:39:35.762Z,1574296775.762 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T00:34:35.6Z
2019-11-21T00:39:35.762Z,1574296775.762 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T00:39:35.763Z,1574296775.763 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T00:39:36.187Z,1574296776.187 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-11-21T00:39:43.349Z,1574296783.349 [DataOverHttps](INFO): Sending 235 bytes from file Logs/20191121T001232/Courier0004.lzma
2019-11-21T00:39:45.354Z,1574296785.354 [DataOverHttps](INFO): Moved sent file to Logs/20191121T001232/Courier0004.lzma.bak
2019-11-21T00:39:45.354Z,1574296785.354 [DataOverHttps](INFO): SBD MOMSN=12080118
2019-11-21T00:40:04.021Z,1574296804.021 [DataOverHttps](INFO): Sending 235 bytes from file Logs/20191121T002353/Courier0004.lzma
2019-11-21T00:40:06.027Z,1574296806.027 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0004.lzma.bak
2019-11-21T00:40:06.027Z,1574296806.027 [DataOverHttps](INFO): SBD MOMSN=12080121
2019-11-21T00:40:06.859Z,1574296806.859 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T00:40:18.628Z,1574296818.628 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:40:18.628Z,1574296818.628 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T00:40:25.502Z,1574296825.502 [DataOverHttps](INFO): Sending 1067 bytes from file Logs/20191121T000315/Express0008.lzma
2019-11-21T00:40:27.506Z,1574296827.506 [DataOverHttps](INFO): Moved sent file to Logs/20191121T000315/Express0008.lzma.bak
2019-11-21T00:40:27.507Z,1574296827.507 [DataOverHttps](INFO): SBD MOMSN=12080124
2019-11-21T00:40:44.948Z,1574296844.948 [DataOverHttps](INFO): Sending 1376 bytes from file Logs/20191121T001232/Express0001.lzma
2019-11-21T00:40:46.954Z,1574296846.954 [DataOverHttps](INFO): Moved sent file to Logs/20191121T001232/Express0001.lzma.bak
2019-11-21T00:40:46.955Z,1574296846.955 [DataOverHttps](INFO): SBD MOMSN=12080159
2019-11-21T00:40:58.996Z,1574296858.996 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T00:40:58.996Z,1574296858.996 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112017520281,35.0, -0.1,   0.,  0
2019-11-21T00:41:05.594Z,1574296865.594 [DataOverHttps](INFO): Sending 1244 bytes from file Logs/20191121T001232/Express0005.lzma
2019-11-21T00:41:07.601Z,1574296867.601 [DataOverHttps](INFO): Moved sent file to Logs/20191121T001232/Express0005.lzma.bak
2019-11-21T00:41:07.602Z,1574296867.602 [DataOverHttps](INFO): SBD MOMSN=12080209
2019-11-21T00:41:24.994Z,1574296884.994 [DataOverHttps](INFO): Sending 1288 bytes from file Logs/20191121T002353/Express0001.lzma
2019-11-21T00:41:26.999Z,1574296886.999 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0001.lzma.bak
2019-11-21T00:41:26.999Z,1574296886.999 [DataOverHttps](INFO): SBD MOMSN=12080253
2019-11-21T00:41:46.014Z,1574296906.014 [DataOverHttps](INFO): Sending 1333 bytes from file Logs/20191121T002353/Express0005.lzma
2019-11-21T00:41:48.019Z,1574296908.019 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0005.lzma.bak
2019-11-21T00:41:48.019Z,1574296908.019 [DataOverHttps](INFO): SBD MOMSN=12080293
2019-11-21T00:41:49.922Z,1574296909.922 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T00:41:49.922Z,1574296909.922 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T00:41:49.922Z,1574296909.922 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:41:55.162Z,1574296915.162 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:41:55.162Z,1574296915.162 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T00:44:40.585Z,1574297080.585 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:44:40.586Z,1574297080.586 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:44:40.857Z,1574297080.857 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:44:40.859Z,1574297080.859 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:44:40.869Z,1574297080.869 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:44:40.872Z,1574297080.872 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:44:40.882Z,1574297080.882 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:44:40.884Z,1574297080.884 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:44:40.890Z,1574297080.890 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:44:40.892Z,1574297080.892 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:44:40.903Z,1574297080.903 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:44:40.904Z,1574297080.904 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:44:40.911Z,1574297080.911 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:44:40.917Z,1574297080.917 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:44:40.919Z,1574297080.919 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:44:40.921Z,1574297080.921 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:44:40.923Z,1574297080.923 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:44:40.925Z,1574297080.925 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:44:40.927Z,1574297080.927 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:44:40.953Z,1574297080.953 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:44:40.956Z,1574297080.956 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:44:40.958Z,1574297080.958 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:44:40.960Z,1574297080.960 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:44:40.962Z,1574297080.962 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:44:40.964Z,1574297080.964 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:44:40.974Z,1574297080.974 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:44:40.976Z,1574297080.976 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:44:40.978Z,1574297080.978 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:44:40.980Z,1574297080.980 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:44:40.982Z,1574297080.982 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:44:40.984Z,1574297080.984 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:44:40.998Z,1574297080.998 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:44:41.000Z,1574297081.000 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:44:41.015Z,1574297081.015 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:44:41.017Z,1574297081.017 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:44:41.019Z,1574297081.019 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:44:41.021Z,1574297081.021 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:44:41.023Z,1574297081.023 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:44:41.046Z,1574297081.046 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:44:41.064Z,1574297081.064 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:44:41.081Z,1574297081.081 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:44:41.131Z,1574297081.131 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:44:41.155Z,1574297081.155 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:44:41.215Z,1574297081.215 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:44:41.246Z,1574297081.246 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:44:41.304Z,1574297081.304 [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>1.0</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>


2019-11-21T00:44:41.311Z,1574297081.311 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:44:41.702Z,1574297081.702 [Default] Stopped
2019-11-21T00:44:41.702Z,1574297081.702 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:44:41.702Z,1574297081.702 [Default:B.GoToSurface] Stopped
2019-11-21T00:44:41.702Z,1574297081.702 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:44:41.702Z,1574297081.702 [Default:CheckIn] Stopped
2019-11-21T00:44:41.702Z,1574297081.702 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T00:44:41.702Z,1574297081.702 [Default:CheckIn:C.Wait] Stopped
2019-11-21T00:44:41.702Z,1574297081.702 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:44:41.702Z,1574297081.702 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:44:41.703Z,1574297081.703 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:44:41.704Z,1574297081.704 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:44:41.715Z,1574297081.715 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:44:41.715Z,1574297081.715 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:44:42.038Z,1574297082.038 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:44:42.038Z,1574297082.038 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:44:42.038Z,1574297082.038 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:44:42.038Z,1574297082.038 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:44:42.038Z,1574297082.038 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:44:42.421Z,1574297082.421 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:44:42.422Z,1574297082.422 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:44:42.846Z,1574297082.846 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.739999 m .
2019-11-21T00:44:42.846Z,1574297082.846 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:44:42.846Z,1574297082.846 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:44:42.846Z,1574297082.846 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:44:42.847Z,1574297082.847 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:44:42.847Z,1574297082.847 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:44:43.271Z,1574297083.271 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:44:43.271Z,1574297083.271 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:44:43.271Z,1574297083.271 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:44:43.707Z,1574297083.707 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:44:44.046Z,1574297084.046 [PowerOnly](INFO): Powering up
2019-11-21T00:44:44.512Z,1574297084.512 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:44:44.685Z,1574297084.685 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:44:44.686Z,1574297084.686 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:44:44.686Z,1574297084.686 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:44:44.687Z,1574297084.687 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:44:44.811Z,1574297084.811 [DDM](INFO): Extending Whiskers.
2019-11-21T00:44:44.845Z,1574297084.845 [DDM](INFO): Opening Latch
2019-11-21T00:44:44.876Z,1574297084.876 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:44:45.215Z,1574297085.215 [DDM](INFO): Extending Whiskers.
2019-11-21T00:44:45.241Z,1574297085.241 [DDM](INFO): Opening Latch
2019-11-21T00:44:45.390Z,1574297085.390 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:44:45.619Z,1574297085.619 [DDM](INFO): Extending Whiskers.
2019-11-21T00:44:45.645Z,1574297085.645 [DDM](INFO): Opening Latch
2019-11-21T00:44:45.757Z,1574297085.757 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.86 m.
2019-11-21T00:44:45.799Z,1574297085.799 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:44:46.024Z,1574297086.024 [DDM](INFO): Extending Whiskers.
2019-11-21T00:44:46.102Z,1574297086.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004445.78*50

2019-11-21T00:44:46.427Z,1574297086.427 [DDM](INFO): Extending Whiskers.
2019-11-21T00:44:46.618Z,1574297086.618 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:44:47.030Z,1574297087.030 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:44:47.354Z,1574297087.354 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:44:49.770Z,1574297089.770 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:44:50.499Z,1574297090.499 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:44:50.904Z,1574297090.904 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:44:51.503Z,1574297091.503 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:44:51.734Z,1574297091.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004451.77*5A

2019-11-21T00:44:53.437Z,1574297093.437 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:44:55.812Z,1574297095.812 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:44:56.559Z,1574297096.559 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:44:56.981Z,1574297096.981 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,004
$SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23
 expected 56
2019-11-21T00:44:56.981Z,1574297096.981 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:44:56.984Z,1574297096.984 [Micromodem](INFO): Nmea in: $CATXP,280*48

2019-11-21T00:44:56.985Z,1574297096.985 [Micromodem](ERROR): Response from modem unexpected: $CATXP,280*48

2019-11-21T00:44:57.372Z,1574297097.372 [Micromodem](INFO): Nmea in: $CATXF,280*5E

2019-11-21T00:44:57.372Z,1574297097.372 [Micromodem](ERROR): Response from modem unexpected: $CATXF,280*5E

2019-11-21T00:44:57.373Z,1574297097.373 [Micromodem](INFO): Nmea in: $CAERR,004458,NI  ,29,Busy completing a previous request*76

2019-11-21T00:44:57.374Z,1574297097.374 [Micromodem](ERROR): Got error from modem: $CAERR,004458,NI  ,29,Busy completing a previous request*76

2019-11-21T00:44:57.495Z,1574297097.495 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:44:57.814Z,1574297097.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004457.84*50

2019-11-21T00:44:57.814Z,1574297097.814 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,004457.84*50

2019-11-21T00:44:57.918Z,1574297097.918 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:44:59.439Z,1574297099.439 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:00.710Z,1574297100.710 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:45:00.711Z,1574297100.711 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:45:00.972Z,1574297100.972 [DDM](INFO): Retracting Whiskers
2019-11-21T00:45:01.001Z,1574297101.001 [DDM](INFO): Closing Latch
2019-11-21T00:45:01.375Z,1574297101.375 [DDM](INFO): Retracting Whiskers
2019-11-21T00:45:01.409Z,1574297101.409 [DDM](INFO): Closing Latch
2019-11-21T00:45:01.479Z,1574297101.479 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:01.518Z,1574297101.518 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:45:01.779Z,1574297101.779 [DDM](INFO): Retracting Whiskers
2019-11-21T00:45:02.183Z,1574297102.183 [DDM](INFO): Retracting Whiskers
2019-11-21T00:45:02.594Z,1574297102.594 [DDM](INFO): Retracting Whiskers
2019-11-21T00:45:02.799Z,1574297102.799 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:45:02.800Z,1574297102.800 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:45:03.880Z,1574297103.880 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:05.897Z,1574297105.897 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:07.951Z,1574297107.951 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:08.282Z,1574297108.282 [Micromodem](ERROR): Nmea resend: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:08.685Z,1574297108.685 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:08.697Z,1574297108.697 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:09.092Z,1574297109.092 [Micromodem](INFO): Nmea in: $CAERR,004509,NI  ,29,Busy completing a previous request*73

2019-11-21T00:45:09.092Z,1574297109.092 [Micromodem](ERROR): Got error from modem: $CAERR,004509,NI  ,29,Busy completing a previous request*73

2019-11-21T00:45:09.251Z,1574297109.251 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:45:09.510Z,1574297109.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004509.55*56

2019-11-21T00:45:09.510Z,1574297109.510 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,004509.55*56

2019-11-21T00:45:11.162Z,1574297111.162 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:13.165Z,1574297113.165 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:14.050Z,1574297114.050 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:45:15.564Z,1574297115.564 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:16.421Z,1574297116.421 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T00:45:16.421Z,1574297116.421 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T00:45:16.421Z,1574297116.421 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T00:45:16.421Z,1574297116.421 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T00:45:16.541Z,1574297116.541 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T00:45:16.829Z,1574297116.829 [RDI_Pathfinder](INFO): Powering down
2019-11-21T00:45:17.636Z,1574297117.636 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T00:45:17.643Z,1574297117.643 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T00:45:17.979Z,1574297117.979 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:19.961Z,1574297119.961 [Micromodem](ERROR): Nmea resend: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:20.056Z,1574297120.056 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:20.384Z,1574297120.384 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:20.775Z,1574297120.775 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:21.183Z,1574297121.183 [Micromodem](INFO): Nmea in: $CAERR,004521,NI  ,29,Busy completing a previous request*79

2019-11-21T00:45:21.183Z,1574297121.183 [Micromodem](ERROR): Got error from modem: $CAERR,004521,NI  ,29,Busy completing a previous request*79

2019-11-21T00:45:21.185Z,1574297121.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004521.24*5A

2019-11-21T00:45:21.185Z,1574297121.185 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,004521.24*5A

2019-11-21T00:45:22.432Z,1574297122.432 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:24.433Z,1574297124.433 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:26.494Z,1574297126.494 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:28.498Z,1574297128.498 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:29.129Z,1574297129.129 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:45:29.130Z,1574297129.130 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:45:29.322Z,1574297129.322 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:45:29.322Z,1574297129.322 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:45:29.322Z,1574297129.322 [lineCaptureHomingLab] Stopped
2019-11-21T00:45:29.322Z,1574297129.322 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:45:29.322Z,1574297129.322 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:45:29.322Z,1574297129.322 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:45:29.322Z,1574297129.322 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:45:29.323Z,1574297129.323 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:45:29.708Z,1574297129.708 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:45:29.708Z,1574297129.708 [Default] Running Loop=1
2019-11-21T00:45:29.708Z,1574297129.708 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:45:29.708Z,1574297129.708 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:45:29.708Z,1574297129.708 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:45:29.741Z,1574297129.741 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:45:29.741Z,1574297129.741 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:45:29.742Z,1574297129.742 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:45:29.742Z,1574297129.742 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:45:29.742Z,1574297129.742 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:45:29.743Z,1574297129.743 [Default:A.Wait] Running Loop=1
2019-11-21T00:45:29.743Z,1574297129.743 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:45:29.756Z,1574297129.756 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:45:29.761Z,1574297129.761 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:45:29.761Z,1574297129.761 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:45:29.762Z,1574297129.762 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:45:30.895Z,1574297130.895 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T00:45:32.082Z,1574297132.082 [Micromodem](ERROR): Nmea resend: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:32.492Z,1574297132.492 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:33.146Z,1574297133.146 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:45:33.147Z,1574297133.147 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:45:33.309Z,1574297133.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004533.36*5A

2019-11-21T00:45:33.429Z,1574297133.429 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:45:33.431Z,1574297133.431 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:45:33.433Z,1574297133.433 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:45:33.435Z,1574297133.435 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:45:33.438Z,1574297133.438 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:45:33.440Z,1574297133.440 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:45:33.442Z,1574297133.442 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:45:33.444Z,1574297133.444 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:45:33.466Z,1574297133.466 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:45:33.468Z,1574297133.468 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:45:33.474Z,1574297133.474 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:45:33.476Z,1574297133.476 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:45:33.483Z,1574297133.483 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:45:33.489Z,1574297133.489 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:45:33.491Z,1574297133.491 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:45:33.497Z,1574297133.497 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:45:33.499Z,1574297133.499 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:45:33.506Z,1574297133.506 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:45:33.508Z,1574297133.508 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:45:33.530Z,1574297133.530 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:45:33.532Z,1574297133.532 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:45:33.539Z,1574297133.539 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:45:33.549Z,1574297133.549 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:45:33.551Z,1574297133.551 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:45:33.560Z,1574297133.560 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:45:33.567Z,1574297133.567 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:45:33.573Z,1574297133.573 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:45:33.575Z,1574297133.575 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:45:33.581Z,1574297133.581 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:45:33.583Z,1574297133.583 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:45:33.590Z,1574297133.590 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:45:33.592Z,1574297133.592 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:45:33.598Z,1574297133.598 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:45:33.610Z,1574297133.610 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:45:33.613Z,1574297133.613 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:45:33.615Z,1574297133.615 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:45:33.638Z,1574297133.638 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:45:33.655Z,1574297133.655 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:45:33.671Z,1574297133.671 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:45:33.745Z,1574297133.745 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:45:33.760Z,1574297133.760 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:45:33.803Z,1574297133.803 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:45:33.848Z,1574297133.848 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:45:33.917Z,1574297133.917 [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>1.0</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>


2019-11-21T00:45:33.919Z,1574297133.919 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:45:34.159Z,1574297134.159 [Default] Stopped
2019-11-21T00:45:34.159Z,1574297134.159 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:45:34.159Z,1574297134.159 [Default:A.Wait] Stopped
2019-11-21T00:45:34.159Z,1574297134.159 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:45:34.159Z,1574297134.159 [Default:B.GoToSurface] Stopped
2019-11-21T00:45:34.159Z,1574297134.159 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:45:34.160Z,1574297134.160 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:45:34.160Z,1574297134.160 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:45:34.165Z,1574297134.165 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:45:34.165Z,1574297134.165 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:45:34.165Z,1574297134.165 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:45:34.165Z,1574297134.165 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:45:34.166Z,1574297134.166 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:45:34.166Z,1574297134.166 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:45:34.166Z,1574297134.166 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:45:34.166Z,1574297134.166 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:45:34.166Z,1574297134.166 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:45:34.166Z,1574297134.166 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:45:34.532Z,1574297134.532 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:45:34.532Z,1574297134.532 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:45:34.546Z,1574297134.546 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:45:34.546Z,1574297134.546 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:45:34.546Z,1574297134.546 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:45:34.949Z,1574297134.949 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:45:34.950Z,1574297134.950 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:45:35.350Z,1574297135.350 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.800000 m .
2019-11-21T00:45:35.350Z,1574297135.350 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:45:35.350Z,1574297135.350 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:45:35.350Z,1574297135.350 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:45:35.350Z,1574297135.350 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:45:35.351Z,1574297135.351 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:45:35.773Z,1574297135.773 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:45:35.773Z,1574297135.773 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:45:35.773Z,1574297135.773 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:45:36.184Z,1574297136.184 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:37.032Z,1574297137.032 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:37.160Z,1574297137.160 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:45:37.165Z,1574297137.165 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:45:37.166Z,1574297137.166 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:45:37.167Z,1574297137.167 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:45:37.344Z,1574297137.344 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:37.499Z,1574297137.499 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:45:37.843Z,1574297137.843 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:45:38.543Z,1574297138.543 [DDM](INFO): Changing to mode: 1
2019-11-21T00:45:38.543Z,1574297138.543 [DDM](INFO): Extending Whiskers.
2019-11-21T00:45:38.569Z,1574297138.569 [DDM](INFO): Opening Latch
2019-11-21T00:45:38.616Z,1574297138.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004538.30*57

2019-11-21T00:45:38.711Z,1574297138.711 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:45:38.948Z,1574297138.948 [DDM](INFO): Extending Whiskers.
2019-11-21T00:45:38.973Z,1574297138.973 [DDM](INFO): Opening Latch
2019-11-21T00:45:39.350Z,1574297139.350 [DDM](INFO): Extending Whiskers.
2019-11-21T00:45:39.385Z,1574297139.385 [DDM](INFO): Opening Latch
2019-11-21T00:45:39.542Z,1574297139.542 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:45:39.755Z,1574297139.755 [DDM](INFO): Extending Whiskers.
2019-11-21T00:45:39.867Z,1574297139.867 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:40.166Z,1574297140.166 [DDM](INFO): Extending Whiskers.
2019-11-21T00:45:40.362Z,1574297140.362 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:45:40.715Z,1574297140.715 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:45:41.881Z,1574297141.881 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:42.623Z,1574297142.623 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:43.032Z,1574297143.032 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:43.546Z,1574297143.546 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:45:43.862Z,1574297143.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004543.90*51

2019-11-21T00:45:43.933Z,1574297143.933 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.86 m.
2019-11-21T00:45:45.514Z,1574297145.514 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:47.910Z,1574297147.910 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:48.682Z,1574297148.682 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:49.084Z,1574297149.084 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:49.583Z,1574297149.583 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:45:49.906Z,1574297149.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004549.96*5D

2019-11-21T00:45:51.578Z,1574297151.578 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:51.614Z,1574297151.614 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:45:53.970Z,1574297153.970 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:54.735Z,1574297154.735 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:45:55.144Z,1574297155.144 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:45:55.643Z,1574297155.643 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:45:55.974Z,1574297155.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004556.01*5D

2019-11-21T00:45:57.621Z,1574297157.621 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:45:58.093Z,1574297158.093 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T00:45:58.093Z,1574297158.093 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T00:45:58.093Z,1574297158.093 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T00:45:58.093Z,1574297158.093 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T00:45:58.153Z,1574297158.153 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T00:45:58.469Z,1574297158.469 [RDI_Pathfinder](INFO): Powering down
2019-11-21T00:45:59.253Z,1574297159.253 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T00:45:59.253Z,1574297159.253 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T00:46:00.033Z,1574297160.033 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:00.799Z,1574297160.799 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:01.200Z,1574297161.200 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:01.738Z,1574297161.738 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:46:02.030Z,1574297162.030 [Micromodem](INFO): Nmea in: $SNTTA,,,0.442173,,004602.07*40

2019-11-21T00:46:03.690Z,1574297163.690 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:06.084Z,1574297166.084 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:06.863Z,1574297166.863 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:07.264Z,1574297167.264 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:07.744Z,1574297167.744 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:46:08.082Z,1574297168.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004608.14*51

2019-11-21T00:46:09.734Z,1574297169.734 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:11.748Z,1574297171.748 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:12.543Z,1574297172.543 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:12.593Z,1574297172.593 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T00:46:12.920Z,1574297172.920 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:13.516Z,1574297173.516 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:46:13.754Z,1574297173.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004613.82*54

2019-11-21T00:46:15.368Z,1574297175.368 [PowerOnly](INFO): Powering down
2019-11-21T00:46:15.817Z,1574297175.817 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:16.555Z,1574297176.555 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:16.968Z,1574297176.968 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:17.491Z,1574297177.491 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:46:17.797Z,1574297177.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004617.83*51

2019-11-21T00:46:19.434Z,1574297179.434 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:20.235Z,1574297180.235 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:46:20.235Z,1574297180.235 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:46:20.560Z,1574297180.560 [DDM](INFO): Retracting Whiskers
2019-11-21T00:46:20.585Z,1574297180.585 [DDM](INFO): Closing Latch
2019-11-21T00:46:20.963Z,1574297180.963 [DDM](INFO): Retracting Whiskers
2019-11-21T00:46:20.997Z,1574297180.997 [DDM](INFO): Closing Latch
2019-11-21T00:46:21.166Z,1574297181.166 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:46:21.367Z,1574297181.367 [DDM](INFO): Retracting Whiskers
2019-11-21T00:46:21.463Z,1574297181.463 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:21.770Z,1574297181.770 [DDM](INFO): Retracting Whiskers
2019-11-21T00:46:22.176Z,1574297182.176 [DDM](INFO): Retracting Whiskers
2019-11-21T00:46:22.246Z,1574297182.246 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:22.370Z,1574297182.370 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:46:22.641Z,1574297182.641 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:23.150Z,1574297183.150 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:46:23.472Z,1574297183.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004623.52*5A

2019-11-21T00:46:25.130Z,1574297185.130 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:27.547Z,1574297187.547 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:28.295Z,1574297188.295 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:28.700Z,1574297188.700 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:29.211Z,1574297189.211 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:46:29.522Z,1574297189.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.008168,004629.57*4C

2019-11-21T00:46:31.165Z,1574297191.165 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:33.178Z,1574297193.178 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:33.617Z,1574297193.617 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:46:33.927Z,1574297193.927 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:34.336Z,1574297194.336 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:34.827Z,1574297194.827 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:46:35.154Z,1574297195.154 [Micromodem](INFO): Nmea in: $SNTTA,0.002004,,,,004635.20*40

2019-11-21T00:46:36.817Z,1574297196.817 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:38.831Z,1574297198.831 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:39.587Z,1574297199.587 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:39.989Z,1574297199.989 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:40.527Z,1574297200.527 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:46:40.819Z,1574297200.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004640.87*57

2019-11-21T00:46:42.489Z,1574297202.489 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:44.492Z,1574297204.492 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:46:45.235Z,1574297205.235 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:46:45.644Z,1574297205.644 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:46:46.176Z,1574297206.176 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:46:46.482Z,1574297206.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004646.51*5A

2019-11-21T00:46:47.522Z,1574297207.522 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:46:47.523Z,1574297207.523 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:46:47.718Z,1574297207.718 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:46:47.718Z,1574297207.718 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab] Stopped
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:46:47.718Z,1574297207.718 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:46:47.719Z,1574297207.719 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:46:48.068Z,1574297208.068 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:46:48.068Z,1574297208.068 [Default] Running Loop=1
2019-11-21T00:46:48.068Z,1574297208.068 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:46:48.068Z,1574297208.068 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:46:48.068Z,1574297208.068 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:46:48.068Z,1574297208.068 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:46:48.069Z,1574297208.069 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:46:48.069Z,1574297208.069 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:46:48.070Z,1574297208.070 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:46:48.070Z,1574297208.070 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:46:48.070Z,1574297208.070 [Default:A.Wait] Running Loop=1
2019-11-21T00:46:48.070Z,1574297208.070 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:46:48.121Z,1574297208.121 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:46:48.122Z,1574297208.122 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:46:48.122Z,1574297208.122 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:46:48.122Z,1574297208.122 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:46:51.263Z,1574297211.263 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:46:51.667Z,1574297211.667 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:46:52.071Z,1574297212.071 [DDM](INFO): Pause: Closing Latch
2019-11-21T00:46:55.938Z,1574297215.938 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:47:01.403Z,1574297221.403 [Default:A.Wait](INFO): Done Waiting.
2019-11-21T00:47:01.403Z,1574297221.403 [Default:A.Wait] Stopped
2019-11-21T00:47:01.403Z,1574297221.403 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:47:01.800Z,1574297221.800 [Default:CheckIn] Running Loop=1
2019-11-21T00:47:01.800Z,1574297221.800 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T00:47:01.801Z,1574297221.801 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T00:47:07.242Z,1574297227.242 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:47:07.856Z,1574297227.856 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T00:47:25.289Z,1574297245.289 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:47:25.290Z,1574297245.290 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:47:25.490Z,1574297245.490 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MissionTimeout = 4.000000 h
2019-11-21T00:47:25.492Z,1574297245.492 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Repeat = 1.000000 count
2019-11-21T00:47:25.494Z,1574297245.494 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLat = 36.743600 arcdeg
2019-11-21T00:47:25.496Z,1574297245.496 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockLon = -121.880000 arcdeg
2019-11-21T00:47:25.498Z,1574297245.498 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLat = nan arcdeg
2019-11-21T00:47:25.500Z,1574297245.500 [MissionManager](INFO): DefineArg lineCaptureHomingLab.StartLon = nan arcdeg
2019-11-21T00:47:25.502Z,1574297245.502 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalRange = 650.000000 m
2019-11-21T00:47:25.504Z,1574297245.504 [MissionManager](INFO): DefineArg lineCaptureHomingLab.CameraRange = 50.000000 m
2019-11-21T00:47:25.507Z,1574297245.507 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockRange = 1.000000 m
2019-11-21T00:47:25.508Z,1574297245.508 [MissionManager](INFO): DefineArg lineCaptureHomingLab.UpdateNav = 0 bool
2019-11-21T00:47:25.511Z,1574297245.511 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TerminalGuidanceTimeout = 30.000000 min
2019-11-21T00:47:25.549Z,1574297245.549 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DockTimeout = 60.000000 s
2019-11-21T00:47:25.551Z,1574297245.551 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutDistance = 150.000000 m
2019-11-21T00:47:25.557Z,1574297245.557 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RolloutTime = 5.000000 min
2019-11-21T00:47:25.559Z,1574297245.559 [MissionManager](INFO): DefineArg lineCaptureHomingLab.HoldAltitude = 7.000000 m
2019-11-21T00:47:25.566Z,1574297245.566 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InvalidAltitudeTimeout = 15.000000 min
2019-11-21T00:47:25.568Z,1574297245.568 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepth = 5.000000 m
2019-11-21T00:47:25.574Z,1574297245.574 [MissionManager](INFO): DefineArg lineCaptureHomingLab.InitDepthTimeout = 30.000000 min
2019-11-21T00:47:25.576Z,1574297245.576 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TransponderCode = 2.000000 count
2019-11-21T00:47:25.583Z,1574297245.583 [MissionManager](INFO): DefineArg lineCaptureHomingLab.TrackingUpdatePeriod = 2.000000 s
2019-11-21T00:47:25.612Z,1574297245.612 [MissionManager](INFO): DefineArg lineCaptureHomingLab.NumberOfPings = 1.000000 count
2019-11-21T00:47:25.642Z,1574297245.642 [MissionManager](INFO): DefineArg lineCaptureHomingLab.Speed = 1.000000 m/s
2019-11-21T00:47:25.658Z,1574297245.658 [MissionManager](INFO): DefineArg lineCaptureHomingLab.DepthDeadband = 0.010000 m
2019-11-21T00:47:25.660Z,1574297245.660 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KpHeading = 0.800000 n/a
2019-11-21T00:47:25.671Z,1574297245.671 [MissionManager](INFO): DefineArg lineCaptureHomingLab.KiHeading = 0.002000 1/s
2019-11-21T00:47:25.679Z,1574297245.679 [MissionManager](INFO): DefineArg lineCaptureHomingLab.RudderDeadband = 0.050000 arcdeg
2019-11-21T00:47:25.685Z,1574297245.685 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinAltitude = 5.000000 m
2019-11-21T00:47:25.687Z,1574297245.687 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MaxDepth = 205.000000 m
2019-11-21T00:47:25.694Z,1574297245.694 [MissionManager](INFO): DefineArg lineCaptureHomingLab.MinOffshore = 2.000000 km
2019-11-21T00:47:25.695Z,1574297245.695 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.HomingActive = 1 bool
2019-11-21T00:47:25.702Z,1574297245.702 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.Docked = 0 bool
2019-11-21T00:47:25.704Z,1574297245.704 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DiveMode = 0.000000 count
2019-11-21T00:47:25.710Z,1574297245.710 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DoingComms = 0.000000 count
2019-11-21T00:47:25.749Z,1574297245.749 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.InitialDive = 1.000000 count
2019-11-21T00:47:25.751Z,1574297245.751 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.MaintainAltitude = 2.000000 count
2019-11-21T00:47:25.762Z,1574297245.762 [MissionManager](INFO): DefineOutput lineCaptureHomingLab.DetachFromDock = 3.000000 count
2019-11-21T00:47:25.802Z,1574297245.802 [lineCaptureHomingLab:B.Mass](DEBUG): Construct.
2019-11-21T00:47:25.812Z,1574297245.812 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:47:25.836Z,1574297245.836 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Construct.
2019-11-21T00:47:25.858Z,1574297245.858 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-11-21T00:47:25.874Z,1574297245.874 [lineCaptureHomingLab:Lap:TerminalGuidance:Dock:BreakOffDock:WaitForBreakOff:A.Wait](DEBUG): Construct Wait.
2019-11-21T00:47:25.891Z,1574297245.891 [lineCaptureHomingLab:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-11-21T00:47:25.906Z,1574297245.906 [lineCaptureHomingLab:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-11-21T00:47:25.952Z,1574297245.952 [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>1.0</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>


2019-11-21T00:47:25.958Z,1574297245.958 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-11-21T00:47:26.066Z,1574297246.066 [Default] Stopped
2019-11-21T00:47:26.066Z,1574297246.066 [Default](DEBUG): Aggregate::uninitialize Default
2019-11-21T00:47:26.066Z,1574297246.066 [Default:B.GoToSurface] Stopped
2019-11-21T00:47:26.066Z,1574297246.066 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-11-21T00:47:26.066Z,1574297246.066 [Default:CheckIn] Stopped
2019-11-21T00:47:26.066Z,1574297246.066 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T00:47:26.066Z,1574297246.066 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T00:47:26.067Z,1574297246.067 [MissionManager](IMPORTANT): Started mission lineCaptureHomingLab
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab] Running Loop=1
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab](DEBUG): Aggregate::initialize lineCaptureHomingLab
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:47:26.067Z,1574297246.067 [lineCaptureHomingLab:B.Mass](DEBUG): Initialize.
2019-11-21T00:47:26.068Z,1574297246.068 [lineCaptureHomingLab:Lap] Running Loop=1
2019-11-21T00:47:26.068Z,1574297246.068 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap
2019-11-21T00:47:26.068Z,1574297246.068 [lineCaptureHomingLab:Lap:A] Running Loop=1
2019-11-21T00:47:26.068Z,1574297246.068 [lineCaptureHomingLab:Lap:A](IMPORTANT): Initiating homing sequence.
2019-11-21T00:47:26.073Z,1574297246.073 [lineCaptureHomingLab:Lap:A] Stopped
2019-11-21T00:47:26.073Z,1574297246.073 [lineCaptureHomingLab:Lap:B] Running Loop=1
2019-11-21T00:47:26.073Z,1574297246.073 [lineCaptureHomingLab:B.Mass] Running Loop=1
2019-11-21T00:47:26.073Z,1574297246.073 [lineCaptureHomingLab:TrackTransponder] Running Loop=1
2019-11-21T00:47:26.073Z,1574297246.073 [lineCaptureHomingLab:TrackTransponder:A.] Running Loop=1
2019-11-21T00:47:26.493Z,1574297246.493 [lineCaptureHomingLab:Lap:B] Stopped
2019-11-21T00:47:26.493Z,1574297246.493 [lineCaptureHomingLab:Lap:MidcourseGuidance] Running Loop=1
2019-11-21T00:47:26.493Z,1574297246.493 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:47:26.493Z,1574297246.493 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-11-21T00:47:26.493Z,1574297246.493 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-11-21T00:47:26.870Z,1574297246.870 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T00:47:26.870Z,1574297246.870 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00
2019-11-21T00:47:26.885Z,1574297246.885 [lineCaptureHomingLab:Lap:MidcourseGuidance] Stopped
2019-11-21T00:47:26.885Z,1574297246.885 [lineCaptureHomingLab:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:MidcourseGuidance
2019-11-21T00:47:26.885Z,1574297246.885 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:TerminalGuidance] Running Loop=1
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:47:26.886Z,1574297246.886 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Running Loop=1
2019-11-21T00:47:27.294Z,1574297247.294 [lineCaptureHomingLab:Lap:TerminalGuidance:D](IMPORTANT): Terminal guidance at range: 1.800000 m .
2019-11-21T00:47:27.294Z,1574297247.294 [lineCaptureHomingLab:Lap:TerminalGuidance:D] Stopped
2019-11-21T00:47:27.294Z,1574297247.294 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Running Loop=1
2019-11-21T00:47:27.294Z,1574297247.294 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Running Loop=1
2019-11-21T00:47:27.294Z,1574297247.294 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Running Loop=1
2019-11-21T00:47:27.294Z,1574297247.294 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Running Loop=1
2019-11-21T00:47:27.672Z,1574297247.672 [lineCaptureHomingLab:Lap:TerminalGuidance:E] Stopped
2019-11-21T00:47:27.672Z,1574297247.672 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Running Loop=1
2019-11-21T00:47:27.672Z,1574297247.672 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](DEBUG): Initialize.
2019-11-21T00:47:28.075Z,1574297248.075 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:28.472Z,1574297248.472 [PowerOnly](INFO): Powering up
2019-11-21T00:47:28.943Z,1574297248.943 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:47:29.086Z,1574297249.086 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:47:29.087Z,1574297249.087 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:47:29.088Z,1574297249.088 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:47:29.089Z,1574297249.089 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:47:29.251Z,1574297249.251 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:47:29.403Z,1574297249.403 [Reporter](INFO): DDM.cablePresent 0 bool
2019-11-21T00:47:29.763Z,1574297249.763 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:47:30.455Z,1574297250.455 [DDM](INFO): Changing to mode: 1
2019-11-21T00:47:30.455Z,1574297250.455 [DDM](INFO): Extending Whiskers.
2019-11-21T00:47:30.483Z,1574297250.483 [DDM](INFO): Opening Latch
2019-11-21T00:47:30.530Z,1574297250.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004730.22*5E

2019-11-21T00:47:30.667Z,1574297250.667 [Reporter](INFO): DDM.DDMMode 1 enum
2019-11-21T00:47:30.856Z,1574297250.856 [DDM](INFO): Extending Whiskers.
2019-11-21T00:47:30.888Z,1574297250.888 [DDM](INFO): Opening Latch
2019-11-21T00:47:31.259Z,1574297251.259 [DDM](INFO): Extending Whiskers.
2019-11-21T00:47:31.285Z,1574297251.285 [DDM](INFO): Opening Latch
2019-11-21T00:47:31.664Z,1574297251.664 [DDM](INFO): Extending Whiskers.
2019-11-21T00:47:31.689Z,1574297251.689 [DDM](INFO): Opening Latch
2019-11-21T00:47:31.786Z,1574297251.786 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:31.870Z,1574297251.870 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:47:32.067Z,1574297252.067 [DDM](INFO): Extending Whiskers.
2019-11-21T00:47:32.234Z,1574297252.234 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:47:32.690Z,1574297252.690 [Reporter](INFO): DDM.latchState 2 count
2019-11-21T00:47:34.149Z,1574297254.149 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:34.931Z,1574297254.931 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:47:35.340Z,1574297255.340 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:47:35.879Z,1574297255.879 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:47:36.166Z,1574297256.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004736.21*5B

2019-11-21T00:47:36.226Z,1574297256.226 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance](IMPORTANT): Armed for intercept at range: 1.74 m.
2019-11-21T00:47:37.828Z,1574297257.828 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:40.221Z,1574297260.221 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:40.995Z,1574297260.995 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:47:41.396Z,1574297261.396 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:47:41.927Z,1574297261.927 [Reporter](INFO): acoustic_contact_range 1.860000 m
2019-11-21T00:47:42.218Z,1574297262.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004742.27*5E

2019-11-21T00:47:43.634Z,1574297263.634 [Reporter](INFO): DDM.whiskerState 1 count
2019-11-21T00:47:44.286Z,1574297264.286 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:45.031Z,1574297265.031 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:47:45.443Z,1574297265.443 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:47:45.915Z,1574297265.915 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:47:46.265Z,1574297266.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004746.31*5D

2019-11-21T00:47:47.944Z,1574297267.944 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:50.315Z,1574297270.315 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:51.091Z,1574297271.091 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:47:51.499Z,1574297271.499 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:47:52.078Z,1574297272.078 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:47:52.318Z,1574297272.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004752.37*5E

2019-11-21T00:47:53.966Z,1574297273.966 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:55.630Z,1574297275.630 [Reporter](INFO): DDM.cablePresent 1 bool
2019-11-21T00:47:55.631Z,1574297275.631 [Reporter](INFO): DDM.DDMMode 0 enum
2019-11-21T00:47:55.902Z,1574297275.902 [DDM](INFO): Retracting Whiskers
2019-11-21T00:47:55.929Z,1574297275.929 [DDM](INFO): Closing Latch
2019-11-21T00:47:55.994Z,1574297275.994 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:47:56.309Z,1574297276.309 [DDM](INFO): Retracting Whiskers
2019-11-21T00:47:56.333Z,1574297276.333 [DDM](INFO): Closing Latch
2019-11-21T00:47:56.502Z,1574297276.502 [Reporter](INFO): DDM.latchState 0 count
2019-11-21T00:47:56.710Z,1574297276.710 [DDM](INFO): Retracting Whiskers
2019-11-21T00:47:56.778Z,1574297276.778 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:47:57.114Z,1574297277.114 [DDM](INFO): Retracting Whiskers
2019-11-21T00:47:57.184Z,1574297277.184 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:47:57.518Z,1574297277.518 [DDM](INFO): Retracting Whiskers
2019-11-21T00:47:57.686Z,1574297277.686 [Reporter](INFO): DDM.latchState 1 count
2019-11-21T00:47:57.686Z,1574297277.686 [Reporter](INFO): DDM.whiskerState 0 count
2019-11-21T00:47:57.687Z,1574297277.687 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:47:57.966Z,1574297277.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004758.05*55

2019-11-21T00:47:59.662Z,1574297279.662 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:01.226Z,1574297281.226 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T00:48:01.227Z,1574297281.227 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112017590468,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T00:48:02.067Z,1574297282.067 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:02.807Z,1574297282.807 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:03.208Z,1574297283.208 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:03.758Z,1574297283.758 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:48:04.034Z,1574297284.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004804.08*5E

2019-11-21T00:48:05.695Z,1574297285.695 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:08.094Z,1574297288.094 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:08.867Z,1574297288.867 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:09.027Z,1574297289.027 [Reporter](INFO): DDM.whiskerState 2 count
2019-11-21T00:48:09.239Z,1574297289.239 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:09.683Z,1574297289.683 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T00:48:09.767Z,1574297289.767 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:48:10.071Z,1574297290.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004810.14*56

2019-11-21T00:48:12.123Z,1574297292.123 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:12.876Z,1574297292.876 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:13.279Z,1574297293.279 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:13.838Z,1574297293.838 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:48:14.110Z,1574297294.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004814.15*53

2019-11-21T00:48:15.764Z,1574297295.764 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:18.167Z,1574297298.167 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:18.940Z,1574297298.940 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:19.340Z,1574297299.340 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:19.935Z,1574297299.935 [Reporter](INFO): acoustic_contact_range 1.739999 m
2019-11-21T00:48:20.170Z,1574297300.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004820.21*53

2019-11-21T00:48:21.846Z,1574297301.846 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:23.853Z,1574297303.853 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:24.595Z,1574297304.595 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:25.000Z,1574297305.000 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:25.574Z,1574297305.574 [Reporter](INFO): acoustic_contact_range 1.679999 m
2019-11-21T00:48:25.834Z,1574297305.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004825.87*5A

2019-11-21T00:48:27.516Z,1574297307.516 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:29.928Z,1574297309.928 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:30.655Z,1574297310.655 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:31.056Z,1574297311.056 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:31.566Z,1574297311.566 [Reporter](INFO): acoustic_contact_range 1.800000 m
2019-11-21T00:48:31.886Z,1574297311.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004831.93*5A

2019-11-21T00:48:33.552Z,1574297313.552 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:35.569Z,1574297315.569 [lineCaptureHomingLab:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-11-21T00:48:35.986Z,1574297315.986 [CommandLine](IMPORTANT): got command stop
2019-11-21T00:48:35.986Z,1574297315.986 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-11-21T00:48:36.311Z,1574297316.311 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-11-21T00:48:36.420Z,1574297316.420 [MissionManager](INFO): MissionManager is completed.
2019-11-21T00:48:36.421Z,1574297316.421 [MissionManager](INFO): Uninitializing Mission lineCaptureHomingLab
2019-11-21T00:48:36.422Z,1574297316.422 [lineCaptureHomingLab] Stopped
2019-11-21T00:48:36.422Z,1574297316.422 [lineCaptureHomingLab](DEBUG): Aggregate::uninitialize lineCaptureHomingLab
2019-11-21T00:48:36.422Z,1574297316.422 [lineCaptureHomingLab:TrackTransponder] Stopped
2019-11-21T00:48:36.422Z,1574297316.422 [lineCaptureHomingLab:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:TrackTransponder
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:TrackTransponder:A.] Stopped
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:B.Mass] Stopped
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:B.Mass](DEBUG): Uninitialize.
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:Lap] Stopped
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:Lap](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:Lap:TerminalGuidance] Stopped
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHomingLab:Lap:TerminalGuidance
2019-11-21T00:48:36.423Z,1574297316.423 [lineCaptureHomingLab:Lap:TerminalGuidance:A] Stopped
2019-11-21T00:48:36.424Z,1574297316.424 [lineCaptureHomingLab:Lap:TerminalGuidance:B] Stopped
2019-11-21T00:48:36.424Z,1574297316.424 [lineCaptureHomingLab:Lap:TerminalGuidance:C] Stopped
2019-11-21T00:48:36.424Z,1574297316.424 [lineCaptureHomingLab:Lap:TerminalGuidance:F.TerminalGuidance] Stopped
2019-11-21T00:48:36.712Z,1574297316.712 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-11-21T00:48:36.798Z,1574297316.798 [MissionManager](IMPORTANT): Started mission Default
2019-11-21T00:48:36.799Z,1574297316.799 [Default] Running Loop=1
2019-11-21T00:48:36.799Z,1574297316.799 [Default](DEBUG): Aggregate::initialize Default
2019-11-21T00:48:36.799Z,1574297316.799 [Default:B.GoToSurface] Running Loop=1
2019-11-21T00:48:36.799Z,1574297316.799 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-11-21T00:48:36.799Z,1574297316.799 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-11-21T00:48:36.800Z,1574297316.800 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-11-21T00:48:36.800Z,1574297316.800 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-11-21T00:48:36.800Z,1574297316.800 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-11-21T00:48:36.805Z,1574297316.805 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-11-21T00:48:36.805Z,1574297316.805 [Default:A.Wait] Running Loop=1
2019-11-21T00:48:36.805Z,1574297316.805 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:48:36.946Z,1574297316.946 [Reporter](INFO): DDM.latchState no_value
2019-11-21T00:48:36.946Z,1574297316.946 [Reporter](INFO): DDM.whiskerState no_value
2019-11-21T00:48:36.946Z,1574297316.946 [Reporter](INFO): DDM.cablePresent no_value
2019-11-21T00:48:36.947Z,1574297316.947 [Reporter](INFO): DDM.DDMMode no_value
2019-11-21T00:48:37.539Z,1574297317.539 [Micromodem](INFO): Nmea in: $SNTTA,,,,,004837.58*5B

2019-11-21T00:48:50.097Z,1574297330.097 [Default:A.Wait](INFO): Done Waiting.
2019-11-21T00:48:50.098Z,1574297330.098 [Default:A.Wait] Stopped
2019-11-21T00:48:50.098Z,1574297330.098 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:48:50.504Z,1574297330.504 [Default:CheckIn] Running Loop=1
2019-11-21T00:48:50.505Z,1574297330.505 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T00:48:50.505Z,1574297330.505 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T00:48:59.760Z,1574297339.760 [PowerOnly](INFO): Powering down
2019-11-21T00:52:05.591Z,1574297525.591 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T00:52:06.404Z,1574297526.404 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T00:52:06.404Z,1574297526.404 [NAL9602] Data Fault, FailCount= 2
2019-11-21T00:52:06.404Z,1574297526.404 [NAL9602](ERROR): Data Fault
2019-11-21T00:52:06.476Z,1574297526.476 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T00:52:06.803Z,1574297526.803 [NAL9602](INFO): Powering down
2019-11-21T00:52:07.666Z,1574297527.666 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T00:52:07.666Z,1574297527.666 [NAL9602] No Fault, FailCount= 2
2019-11-21T00:52:12.495Z,1574297532.495 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:52:12.496Z,1574297532.496 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T00:52:37.099Z,1574297557.099 [NAL9602](INFO): Powering up NAL9602
2019-11-21T00:52:48.016Z,1574297568.016 [NAL9602](INFO): NAL9602 initialized
2019-11-21T00:52:52.507Z,1574297572.507 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:52:52.508Z,1574297572.508 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-11-21T00:53:50.666Z,1574297630.666 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T00:48:50.5Z
2019-11-21T00:53:50.666Z,1574297630.666 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T00:53:50.666Z,1574297630.666 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T00:54:00.002Z,1574297640.002 [DataOverHttps](INFO): Sending 699 bytes from file Logs/20191121T002353/Express0008.lzma
2019-11-21T00:54:00.048Z,1574297640.048 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T00:54:00.048Z,1574297640.048 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T00:54:02.006Z,1574297642.006 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0008.lzma.bak
2019-11-21T00:54:02.006Z,1574297642.006 [DataOverHttps](INFO): SBD MOMSN=12080367
2019-11-21T00:54:04.085Z,1574297644.085 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T00:54:04.085Z,1574297644.085 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T00:54:04.085Z,1574297644.085 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T00:54:23.443Z,1574297663.443 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T00:54:48.549Z,1574297688.549 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T00:54:48.549Z,1574297688.549 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-11-21T00:56:42.859Z,1574297802.859 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T00:56:42.860Z,1574297802.860 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018074668,31,   0.0,1448.9,  0
2019-11-21T00:59:04.684Z,1574297944.684 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T00:59:04.684Z,1574297944.684 [Default:CheckIn:C.Wait] Stopped
2019-11-21T00:59:04.684Z,1574297944.684 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T00:59:04.685Z,1574297944.685 [Default:CheckIn:D] Running Loop=1
2019-11-21T00:59:05.089Z,1574297945.089 [Default:CheckIn:D] Stopped
2019-11-21T00:59:05.089Z,1574297945.089 [Default:CheckIn:E] Running Loop=1
2019-11-21T00:59:05.513Z,1574297945.513 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.471506 min 
2019-11-21T00:59:05.513Z,1574297945.513 [Default:CheckIn:E] Stopped
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn] Stopped
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn](INFO): Running loop #2
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn] Running Loop=2
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T00:59:05.514Z,1574297945.514 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T01:00:39.658Z,1574298039.658 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T01:00:39.658Z,1574298039.658 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-11-21T01:00:49.736Z,1574298049.736 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:00:49.736Z,1574298049.736 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018115268,35.0, -0.1,   0.0,1448
2019-11-21T01:02:40.025Z,1574298160.025 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T01:02:40.025Z,1574298160.025 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2019-11-21T01:03:43.849Z,1574298223.849 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-11-21T01:04:05.705Z,1574298245.705 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T00:59:05.5Z
2019-11-21T01:04:05.705Z,1574298245.705 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T01:04:05.706Z,1574298245.706 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T01:04:09.283Z,1574298249.283 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T01:04:13.268Z,1574298253.268 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20191121T002353/Express0011.lzma
2019-11-21T01:04:15.274Z,1574298255.274 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0011.lzma.bak
2019-11-21T01:04:15.274Z,1574298255.274 [DataOverHttps](INFO): SBD MOMSN=12080408
2019-11-21T01:04:16.993Z,1574298256.993 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T01:04:16.993Z,1574298256.993 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T01:04:16.993Z,1574298256.993 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T01:04:39.985Z,1574298279.985 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T01:07:03.479Z,1574298423.479 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:07:03.480Z,1574298423.480 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:08:00.012Z,1574298480.012 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:08:00.012Z,1574298480.012 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018190368,35.0, -.0,1448.9,  0
2019-11-21T01:09:17.607Z,1574298557.607 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T01:09:17.607Z,1574298557.607 [Default:CheckIn:C.Wait] Stopped
2019-11-21T01:09:17.607Z,1574298557.607 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T01:09:17.607Z,1574298557.607 [Default:CheckIn:D] Running Loop=1
2019-11-21T01:09:18.001Z,1574298558.001 [Default:CheckIn:D] Stopped
2019-11-21T01:09:18.001Z,1574298558.001 [Default:CheckIn:E] Running Loop=1
2019-11-21T01:09:18.417Z,1574298558.417 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 20.686709 min 
2019-11-21T01:09:18.417Z,1574298558.417 [Default:CheckIn:E] Stopped
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn] Stopped
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn](INFO): Running loop #3
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn] Running Loop=3
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T01:09:18.418Z,1574298558.418 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T01:09:19.985Z,1574298559.985 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T01:09:19.985Z,1574298559.985 [NAL9602] Data Fault, FailCount= 3
2019-11-21T01:09:19.985Z,1574298559.985 [NAL9602](ERROR): Data Fault
2019-11-21T01:09:20.064Z,1574298560.064 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:09:20.390Z,1574298560.390 [NAL9602](INFO): Powering down
2019-11-21T01:09:21.234Z,1574298561.234 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:09:21.234Z,1574298561.234 [NAL9602] No Fault, FailCount= 3
2019-11-21T01:09:50.686Z,1574298590.686 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:10:01.604Z,1574298601.604 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:10:02.841Z,1574298602.841 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T01:10:27.506Z,1574298627.506 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T01:10:27.506Z,1574298627.506 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,         73226.00
2019-11-21T01:11:43.833Z,1574298703.833 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:11:43.834Z,1574298703.834 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018224768,35.0, -0.1,   0.0, 0
2019-11-21T01:12:40.835Z,1574298760.835 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T01:12:40.835Z,1574298760.835 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-11-21T01:13:45.839Z,1574298825.839 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:13:45.839Z,1574298825.839 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:14:18.606Z,1574298858.606 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T01:09:18.4Z
2019-11-21T01:14:18.606Z,1574298858.606 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T01:14:18.606Z,1574298858.606 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T01:14:26.156Z,1574298866.156 [DataOverHttps](INFO): Sending 238 bytes from file Logs/20191121T002353/Express0014.lzma
2019-11-21T01:14:28.162Z,1574298868.162 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0014.lzma.bak
2019-11-21T01:14:28.162Z,1574298868.162 [DataOverHttps](INFO): SBD MOMSN=12080422
2019-11-21T01:14:29.919Z,1574298869.919 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T01:14:29.919Z,1574298869.919 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T01:14:29.919Z,1574298869.919 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T01:15:05.027Z,1574298905.027 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T01:15:35.734Z,1574298935.734 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T01:15:47.497Z,1574298947.497 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T01:15:47.497Z,1574298947.497 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +   +0.00,   0.00,26173226.00
2019-11-21T01:18:01.194Z,1574299081.194 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:18:01.195Z,1574299081.195 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:18:22.198Z,1574299102.198 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:18:22.199Z,1574299102.199 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:18:25.836Z,1574299105.836 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:18:25.836Z,1574299105.836 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:19:21.184Z,1574299161.184 [RDI_Pathfinder](ERROR): Failed to parse:
00,   0.00,   0.00,   0.00,   0.00
2019-11-21T01:19:30.487Z,1574299170.487 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T01:19:30.487Z,1574299170.487 [Default:CheckIn:C.Wait] Stopped
2019-11-21T01:19:30.487Z,1574299170.487 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T01:19:30.488Z,1574299170.488 [Default:CheckIn:D] Running Loop=1
2019-11-21T01:19:30.900Z,1574299170.900 [Default:CheckIn:D] Stopped
2019-11-21T01:19:30.900Z,1574299170.900 [Default:CheckIn:E] Running Loop=1
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 30.901681 min 
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn:E] Stopped
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn] Stopped
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn](INFO): Running loop #4
2019-11-21T01:19:31.287Z,1574299171.287 [Default:CheckIn] Running Loop=4
2019-11-21T01:19:31.288Z,1574299171.288 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T01:19:31.288Z,1574299171.288 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T01:19:45.835Z,1574299185.835 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:19:45.835Z,1574299185.835 [RDI_Pathfinder](ERROR): Failed to parse:
:TS8304968,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T01:20:04.003Z,1574299204.003 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T01:20:04.081Z,1574299204.081 [NAL9602](FAULT): received: 
+CSQ:0

OK
2019-11-21T01:20:04.081Z,1574299204.081 [NAL9602] Data Fault, FailCount= 4
2019-11-21T01:20:04.081Z,1574299204.081 [NAL9602](ERROR): Data Fault
2019-11-21T01:20:04.149Z,1574299204.149 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:20:04.399Z,1574299204.399 [NAL9602](INFO): Powering down
2019-11-21T01:20:05.241Z,1574299205.241 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:20:05.241Z,1574299205.241 [NAL9602] No Fault, FailCount= 4
2019-11-21T01:20:06.840Z,1574299206.840 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:20:06.840Z,1574299206.840 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:20:22.188Z,1574299222.188 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:20:22.188Z,1574299222.188 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:20:34.699Z,1574299234.699 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:20:45.607Z,1574299245.607 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:20:46.413Z,1574299246.413 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T01:20:46.413Z,1574299246.413 [NAL9602] Data Fault, FailCount= 5
2019-11-21T01:20:46.413Z,1574299246.413 [NAL9602](ERROR): Data Fault
2019-11-21T01:20:46.508Z,1574299246.508 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:20:46.510Z,1574299246.510 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T01:20:46.815Z,1574299246.815 [NAL9602](INFO): Powering down
2019-11-21T01:20:46.868Z,1574299246.868 [CommandLine](FAULT): Scheduling is paused
2019-11-21T01:20:46.868Z,1574299246.868 [CBIT](INFO): Critical error at 20191121T012046
2019-11-21T01:22:22.198Z,1574299342.198 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:22:22.198Z,1574299342.198 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018332568,35.0, -0.1,448.9,  0
2019-11-21T01:22:46.481Z,1574299366.481 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:22:46.481Z,1574299366.481 [NAL9602] No Fault, FailCount= 5
2019-11-21T01:22:46.807Z,1574299366.807 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:22:57.734Z,1574299377.734 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:24:31.470Z,1574299471.470 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T01:19:31.3Z
2019-11-21T01:24:31.470Z,1574299471.470 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T01:24:31.470Z,1574299471.470 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T01:24:35.075Z,1574299475.075 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T01:24:38.884Z,1574299478.884 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20191121T002353/Courier0016.lzma
2019-11-21T01:24:40.890Z,1574299480.890 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0016.lzma.bak
2019-11-21T01:24:40.890Z,1574299480.890 [DataOverHttps](INFO): SBD MOMSN=12080438
2019-11-21T01:25:02.265Z,1574299502.265 [DataOverHttps](INFO): Sending 285 bytes from file Logs/20191121T002353/Express0017.lzma
2019-11-21T01:25:04.271Z,1574299504.271 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0017.lzma.bak
2019-11-21T01:25:04.271Z,1574299504.271 [DataOverHttps](INFO): SBD MOMSN=12080441
2019-11-21T01:25:05.794Z,1574299505.794 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T01:25:06.684Z,1574299506.684 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T01:25:06.689Z,1574299506.689 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T01:25:06.689Z,1574299506.689 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T01:26:06.816Z,1574299566.816 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:26:06.816Z,1574299566.816 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T01:30:07.237Z,1574299807.237 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T01:30:07.237Z,1574299807.237 [Default:CheckIn:C.Wait] Stopped
2019-11-21T01:30:07.237Z,1574299807.237 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T01:30:07.238Z,1574299807.238 [Default:CheckIn:D] Running Loop=1
2019-11-21T01:30:07.644Z,1574299807.644 [Default:CheckIn:D] Stopped
2019-11-21T01:30:07.644Z,1574299807.644 [Default:CheckIn:E] Running Loop=1
2019-11-21T01:30:08.057Z,1574299808.057 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 41.514083 min 
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn:E] Stopped
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn] Stopped
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn](INFO): Running loop #5
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn] Running Loop=5
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T01:30:08.058Z,1574299808.058 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T01:30:40.731Z,1574299840.731 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T01:30:40.810Z,1574299840.810 [NAL9602](FAULT): received: 
+CSQ:0

OK
2019-11-21T01:30:40.810Z,1574299840.810 [NAL9602] Data Fault, FailCount= 1
2019-11-21T01:30:40.810Z,1574299840.810 [NAL9602](ERROR): Data Fault
2019-11-21T01:30:40.930Z,1574299840.930 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:30:41.123Z,1574299841.123 [NAL9602](INFO): Powering down
2019-11-21T01:30:42.025Z,1574299842.025 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:30:42.025Z,1574299842.025 [NAL9602] No Fault, FailCount= 1
2019-11-21T01:31:11.432Z,1574299871.432 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:31:22.340Z,1574299882.340 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:33:29.641Z,1574300009.641 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T01:33:29.641Z,1574300009.641 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.00,26173226.00
2019-11-21T01:33:39.732Z,1574300019.732 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T01:34:09.631Z,1574300049.631 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T01:34:09.631Z,1574300049.631 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-11-21T01:34:52.846Z,1574300092.846 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:34:52.846Z,1574300092.846 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018455668,35.0, -0.1,   .9,  0
2019-11-21T01:35:08.204Z,1574300108.204 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T01:30:08.1Z
2019-11-21T01:35:08.204Z,1574300108.204 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T01:35:08.204Z,1574300108.204 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T01:35:11.815Z,1574300111.815 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T01:35:16.341Z,1574300116.341 [DataOverHttps](INFO): Sending 242 bytes from file Logs/20191121T002353/Express0020.lzma
2019-11-21T01:35:18.346Z,1574300118.346 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0020.lzma.bak
2019-11-21T01:35:18.346Z,1574300118.346 [DataOverHttps](INFO): SBD MOMSN=12080457
2019-11-21T01:35:20.320Z,1574300120.320 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T01:35:20.320Z,1574300120.320 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T01:35:20.320Z,1574300120.320 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T01:35:42.511Z,1574300142.511 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T01:35:42.586Z,1574300142.586 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T01:35:54.304Z,1574300154.304 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T01:37:47.054Z,1574300267.054 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T01:38:17.264Z,1574300297.264 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T01:38:17.286Z,1574300297.286 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T01:39:58.664Z,1574300398.664 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T01:39:58.664Z,1574300398.664 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00226.00
2019-11-21T01:40:20.900Z,1574300420.900 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T01:40:20.901Z,1574300420.901 [Default:CheckIn:C.Wait] Stopped
2019-11-21T01:40:20.901Z,1574300420.901 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T01:40:20.901Z,1574300420.901 [Default:CheckIn:D] Running Loop=1
2019-11-21T01:40:21.301Z,1574300421.301 [Default:CheckIn:D] Stopped
2019-11-21T01:40:21.301Z,1574300421.301 [Default:CheckIn:E] Running Loop=1
2019-11-21T01:40:21.712Z,1574300421.712 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 51.741711 min 
2019-11-21T01:40:21.712Z,1574300421.712 [Default:CheckIn:E] Stopped
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn] Stopped
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn](INFO): Running loop #6
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn] Running Loop=6
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T01:40:21.713Z,1574300421.713 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T01:40:23.291Z,1574300423.291 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T01:40:23.291Z,1574300423.291 [NAL9602] Data Fault, FailCount= 2
2019-11-21T01:40:23.291Z,1574300423.291 [NAL9602](ERROR): Data Fault
2019-11-21T01:40:23.342Z,1574300423.342 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:40:23.695Z,1574300423.695 [NAL9602](INFO): Powering down
2019-11-21T01:40:24.546Z,1574300424.546 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:40:24.546Z,1574300424.546 [NAL9602] No Fault, FailCount= 2
2019-11-21T01:40:53.995Z,1574300453.995 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:41:04.898Z,1574300464.898 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:41:11.814Z,1574300471.814 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T01:41:13.822Z,1574300473.822 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:41:13.823Z,1574300473.823 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112018521768,35.0, 0.0,1448.9,  0
2019-11-21T01:41:34.450Z,1574300494.450 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:41:34.450Z,1574300494.450 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2019-11-21T01:43:55.450Z,1574300635.450 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T01:43:55.451Z,1574300635.451 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3278,-32768,V
2019-11-21T01:43:57.478Z,1574300637.478 [RDI_Pathfinder](ERROR): Failed to parse:
2768,V
2019-11-21T01:45:04.881Z,1574300704.881 [NAL9602](INFO): SBD MO Status=2, MOMSN=9953, MT Status=2, MTMSN=0
2019-11-21T01:45:04.881Z,1574300704.881 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-21T01:45:21.879Z,1574300721.879 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T01:40:21.7Z
2019-11-21T01:45:21.879Z,1574300721.879 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T01:45:21.879Z,1574300721.879 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T01:45:29.608Z,1574300729.608 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0022.lzma
2019-11-21T01:45:31.602Z,1574300731.602 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0022.lzma.bak
2019-11-21T01:45:31.603Z,1574300731.603 [DataOverHttps](INFO): SBD MOMSN=12080472
2019-11-21T01:45:49.077Z,1574300749.077 [DataOverHttps](INFO): Sending 236 bytes from file Logs/20191121T002353/Express0023.lzma
2019-11-21T01:45:51.082Z,1574300751.082 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0023.lzma.bak
2019-11-21T01:45:51.082Z,1574300751.082 [DataOverHttps](INFO): SBD MOMSN=12080474
2019-11-21T01:45:53.009Z,1574300753.009 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T01:45:53.009Z,1574300753.009 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T01:45:53.009Z,1574300753.009 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T01:46:08.322Z,1574300768.322 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T01:46:16.454Z,1574300776.454 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T01:46:16.454Z,1574300776.454 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-11-21T01:46:39.027Z,1574300799.027 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T01:47:30.811Z,1574300850.811 [RDI_Pathfinder](ERROR): Failed to parse:
:T68,V
2019-11-21T01:47:52.169Z,1574300872.169 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T01:47:52.169Z,1574300872.169 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,1911201858556-0.1,   0.0,1448.9,  0
2019-11-21T01:50:53.595Z,1574301053.595 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T01:50:53.595Z,1574301053.595 [Default:CheckIn:C.Wait] Stopped
2019-11-21T01:50:53.595Z,1574301053.595 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T01:50:53.596Z,1574301053.596 [Default:CheckIn:D] Running Loop=1
2019-11-21T01:50:53.986Z,1574301053.986 [Default:CheckIn:D] Stopped
2019-11-21T01:50:53.986Z,1574301053.986 [Default:CheckIn:E] Running Loop=1
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 62.286454 min 
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn:E] Stopped
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn] Stopped
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn](INFO): Running loop #7
2019-11-21T01:50:54.454Z,1574301054.454 [Default:CheckIn] Running Loop=7
2019-11-21T01:50:54.455Z,1574301054.455 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T01:50:54.455Z,1574301054.455 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T01:50:55.607Z,1574301055.607 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T01:51:27.083Z,1574301087.083 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T01:51:27.157Z,1574301087.157 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T01:51:27.157Z,1574301087.157 [NAL9602] Data Fault, FailCount= 3
2019-11-21T01:51:27.157Z,1574301087.157 [NAL9602](ERROR): Data Fault
2019-11-21T01:51:27.222Z,1574301087.222 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:51:27.483Z,1574301087.483 [NAL9602](INFO): Powering down
2019-11-21T01:51:28.340Z,1574301088.340 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:51:28.340Z,1574301088.340 [NAL9602] No Fault, FailCount= 3
2019-11-21T01:51:57.782Z,1574301117.782 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:52:08.711Z,1574301128.711 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:52:09.509Z,1574301129.509 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T01:52:09.509Z,1574301129.509 [NAL9602] Data Fault, FailCount= 4
2019-11-21T01:52:09.509Z,1574301129.509 [NAL9602](ERROR): Data Fault
2019-11-21T01:52:09.545Z,1574301129.545 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T01:52:09.907Z,1574301129.907 [NAL9602](INFO): Powering down
2019-11-21T01:52:10.751Z,1574301130.751 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T01:52:10.751Z,1574301130.751 [NAL9602] No Fault, FailCount= 4
2019-11-21T01:52:40.203Z,1574301160.203 [NAL9602](INFO): Powering up NAL9602
2019-11-21T01:52:51.110Z,1574301171.110 [NAL9602](INFO): NAL9602 initialized
2019-11-21T01:54:13.538Z,1574301253.538 [NAL9602](INFO): SBD MO Status=2, MOMSN=9953, MT Status=2, MTMSN=0
2019-11-21T01:54:13.538Z,1574301253.538 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-21T01:55:54.599Z,1574301354.599 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T01:50:54.5Z
2019-11-21T01:55:54.599Z,1574301354.599 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T01:55:54.600Z,1574301354.600 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T01:55:58.171Z,1574301358.171 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T01:56:02.585Z,1574301362.585 [DataOverHttps](INFO): Sending 270 bytes from file Logs/20191121T002353/Express0026.lzma
2019-11-21T01:56:04.590Z,1574301364.590 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0026.lzma.bak
2019-11-21T01:56:04.590Z,1574301364.590 [DataOverHttps](INFO): SBD MOMSN=12080491
2019-11-21T01:56:06.285Z,1574301366.285 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T01:56:06.285Z,1574301366.285 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T01:56:06.285Z,1574301366.285 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T01:56:28.887Z,1574301388.887 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T01:59:49.727Z,1574301589.727 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T02:01:02.831Z,1574301662.831 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:01:02.831Z,1574301662.831 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191120195.0, -0.1,   0.0,1448.9,  0
2019-11-21T02:01:06.884Z,1574301666.884 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T02:01:06.884Z,1574301666.884 [Default:CheckIn:C.Wait] Stopped
2019-11-21T02:01:06.884Z,1574301666.884 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T02:01:06.884Z,1574301666.884 [Default:CheckIn:D] Running Loop=1
2019-11-21T02:01:07.277Z,1574301667.277 [Default:CheckIn:D] Stopped
2019-11-21T02:01:07.277Z,1574301667.277 [Default:CheckIn:E] Running Loop=1
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 72.507975 min 
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn:E] Stopped
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn] Stopped
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn](INFO): Running loop #8
2019-11-21T02:01:07.694Z,1574301667.694 [Default:CheckIn] Running Loop=8
2019-11-21T02:01:07.695Z,1574301667.695 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T02:01:07.695Z,1574301667.695 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T02:01:40.383Z,1574301700.383 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T02:01:40.457Z,1574301700.457 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T02:01:40.457Z,1574301700.457 [NAL9602] Data Fault, FailCount= 5
2019-11-21T02:01:40.457Z,1574301700.457 [NAL9602](ERROR): Data Fault
2019-11-21T02:01:40.518Z,1574301700.518 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:01:40.518Z,1574301700.518 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T02:01:40.799Z,1574301700.799 [NAL9602](INFO): Powering down
2019-11-21T02:01:40.852Z,1574301700.852 [CBIT](INFO): Critical error at 20191121T020140
2019-11-21T02:03:40.845Z,1574301820.845 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:03:40.845Z,1574301820.845 [NAL9602] No Fault, FailCount= 5
2019-11-21T02:03:41.190Z,1574301821.190 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:03:52.095Z,1574301832.095 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:03:52.899Z,1574301832.899 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T02:03:52.899Z,1574301832.899 [NAL9602] Data Fault, FailCount= 1
2019-11-21T02:03:52.899Z,1574301832.899 [NAL9602](ERROR): Data Fault
2019-11-21T02:03:52.958Z,1574301832.958 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:03:53.303Z,1574301833.303 [NAL9602](INFO): Powering down
2019-11-21T02:03:54.185Z,1574301834.185 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:03:54.185Z,1574301834.185 [NAL9602] No Fault, FailCount= 1
2019-11-21T02:04:23.603Z,1574301863.603 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:04:34.527Z,1574301874.527 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:05:23.549Z,1574301923.549 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T02:05:23.549Z,1574301923.549 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T02:05:23.549Z,1574301923.549 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T02:05:23.549Z,1574301923.549 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T02:05:23.621Z,1574301923.621 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T02:05:23.893Z,1574301923.893 [RDI_Pathfinder](INFO): Powering down
2019-11-21T02:05:24.669Z,1574301924.669 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T02:05:24.669Z,1574301924.669 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T02:05:37.958Z,1574301937.958 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T02:06:07.867Z,1574301967.867 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T02:01:07.7Z
2019-11-21T02:06:07.867Z,1574301967.867 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T02:06:07.868Z,1574301967.868 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T02:06:11.467Z,1574301971.467 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T02:06:16.261Z,1574301976.261 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0028.lzma
2019-11-21T02:06:18.266Z,1574301978.266 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0028.lzma.bak
2019-11-21T02:06:18.266Z,1574301978.266 [DataOverHttps](INFO): SBD MOMSN=12080500
2019-11-21T02:06:35.631Z,1574301995.631 [DataOverHttps](INFO): Sending 278 bytes from file Logs/20191121T002353/Express0029.lzma
2019-11-21T02:06:37.630Z,1574301997.630 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0029.lzma.bak
2019-11-21T02:06:37.631Z,1574301997.631 [DataOverHttps](INFO): SBD MOMSN=12080512
2019-11-21T02:06:39.794Z,1574301999.794 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T02:06:39.794Z,1574301999.794 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T02:06:39.794Z,1574301999.794 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T02:06:42.171Z,1574302002.171 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T02:07:26.630Z,1574302046.630 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00,   0.00
2019-11-21T02:07:31.907Z,1574302051.907 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2019-11-21T02:08:10.262Z,1574302090.262 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:08:10.262Z,1574302090.262 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112019191415,35.0, -0.1,   0.0  0
2019-11-21T02:10:52.271Z,1574302252.271 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:10:52.271Z,1574302252.271 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112019215615,35.0, -0.1,   0.0,14
2019-11-21T02:11:40.365Z,1574302300.365 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T02:11:40.365Z,1574302300.365 [Default:CheckIn:C.Wait] Stopped
2019-11-21T02:11:40.365Z,1574302300.365 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T02:11:40.365Z,1574302300.365 [Default:CheckIn:D] Running Loop=1
2019-11-21T02:11:40.778Z,1574302300.778 [Default:CheckIn:D] Stopped
2019-11-21T02:11:40.778Z,1574302300.778 [Default:CheckIn:E] Running Loop=1
2019-11-21T02:11:41.185Z,1574302301.185 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 83.066325 min 
2019-11-21T02:11:41.185Z,1574302301.185 [Default:CheckIn:E] Stopped
2019-11-21T02:11:41.185Z,1574302301.185 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T02:11:41.186Z,1574302301.186 [Default:CheckIn] Stopped
2019-11-21T02:11:41.186Z,1574302301.186 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T02:11:41.186Z,1574302301.186 [Default:CheckIn](INFO): Running loop #9
2019-11-21T02:11:41.186Z,1574302301.186 [Default:CheckIn] Running Loop=9
2019-11-21T02:11:41.186Z,1574302301.186 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T02:11:41.186Z,1574302301.186 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T02:12:13.867Z,1574302333.867 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T02:12:13.941Z,1574302333.941 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T02:12:13.942Z,1574302333.942 [NAL9602] Data Fault, FailCount= 2
2019-11-21T02:12:13.942Z,1574302333.942 [NAL9602](ERROR): Data Fault
2019-11-21T02:12:14.057Z,1574302334.057 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:12:14.267Z,1574302334.267 [NAL9602](INFO): Powering down
2019-11-21T02:12:15.190Z,1574302335.190 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:12:15.190Z,1574302335.190 [NAL9602] No Fault, FailCount= 2
2019-11-21T02:12:27.630Z,1574302347.630 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:12:27.630Z,1574302347.630 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:12:31.257Z,1574302351.257 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:12:31.257Z,1574302351.257 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:12:44.571Z,1574302364.571 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:12:55.492Z,1574302375.492 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:14:12.275Z,1574302452.275 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:14:12.275Z,1574302452.275 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:14:53.067Z,1574302493.067 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:14:53.067Z,1574302493.067 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112019255615,35.0, -0.1,553.99
2019-11-21T02:15:37.926Z,1574302537.926 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T02:15:37.926Z,1574302537.926 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.   +0.00,        +0.00,   0.00,599.98
2019-11-21T02:16:41.335Z,1574302601.335 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T02:11:41.2Z
2019-11-21T02:16:41.335Z,1574302601.335 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T02:16:41.335Z,1574302601.335 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T02:16:44.951Z,1574302604.951 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T02:16:48.633Z,1574302608.633 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20191121T002353/Express0032.lzma
2019-11-21T02:16:50.646Z,1574302610.646 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0032.lzma.bak
2019-11-21T02:16:50.647Z,1574302610.647 [DataOverHttps](INFO): SBD MOMSN=12080520
2019-11-21T02:16:52.689Z,1574302612.689 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T02:16:52.689Z,1574302612.689 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T02:16:52.689Z,1574302612.689 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T02:17:15.659Z,1574302635.659 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T02:19:37.914Z,1574302777.914 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T02:19:37.915Z,1574302777.915 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3768,V
2019-11-21T02:21:53.266Z,1574302913.266 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T02:21:53.266Z,1574302913.266 [Default:CheckIn:C.Wait] Stopped
2019-11-21T02:21:53.266Z,1574302913.266 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T02:21:53.266Z,1574302913.266 [Default:CheckIn:D] Running Loop=1
2019-11-21T02:21:53.637Z,1574302913.637 [Default:CheckIn:D] Stopped
2019-11-21T02:21:53.637Z,1574302913.637 [Default:CheckIn:E] Running Loop=1
2019-11-21T02:21:54.049Z,1574302914.049 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 93.280640 min 
2019-11-21T02:21:54.049Z,1574302914.049 [Default:CheckIn:E] Stopped
2019-11-21T02:21:54.049Z,1574302914.049 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T02:21:54.049Z,1574302914.049 [Default:CheckIn] Stopped
2019-11-21T02:21:54.049Z,1574302914.049 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T02:21:54.050Z,1574302914.050 [Default:CheckIn](INFO): Running loop #10
2019-11-21T02:21:54.050Z,1574302914.050 [Default:CheckIn] Running Loop=10
2019-11-21T02:21:54.050Z,1574302914.050 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T02:21:54.050Z,1574302914.050 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T02:21:55.635Z,1574302915.635 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T02:21:55.635Z,1574302915.635 [NAL9602] Data Fault, FailCount= 3
2019-11-21T02:21:55.635Z,1574302915.635 [NAL9602](ERROR): Data Fault
2019-11-21T02:21:55.701Z,1574302915.701 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:21:56.029Z,1574302916.029 [NAL9602](INFO): Powering down
2019-11-21T02:21:56.898Z,1574302916.898 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:21:56.898Z,1574302916.898 [NAL9602] No Fault, FailCount= 3
2019-11-21T02:21:58.911Z,1574302918.911 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T02:21:58.911Z,1574302918.911 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,980.96
2019-11-21T02:22:15.444Z,1574302935.444 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:22:15.445Z,1574302935.445 [RDI_Pathfinder](ERROR): Failed to parse:
:TS9331915,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T02:22:26.343Z,1574302946.343 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:22:37.254Z,1574302957.254 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:23:58.900Z,1574303038.900 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:23:58.908Z,1574303038.908 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:26:02.108Z,1574303162.108 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T02:26:15.438Z,1574303175.438 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T02:26:54.228Z,1574303214.228 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T02:21:54.0Z
2019-11-21T02:26:54.228Z,1574303214.228 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T02:26:54.228Z,1574303214.228 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T02:27:02.385Z,1574303222.385 [DataOverHttps](INFO): Sending 241 bytes from file Logs/20191121T002353/Express0035.lzma
2019-11-21T02:27:04.386Z,1574303224.386 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0035.lzma.bak
2019-11-21T02:27:04.386Z,1574303224.386 [DataOverHttps](INFO): SBD MOMSN=12080534
2019-11-21T02:27:06.342Z,1574303226.342 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T02:27:06.342Z,1574303226.342 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T02:27:06.342Z,1574303226.342 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T02:27:40.641Z,1574303260.641 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T02:28:02.084Z,1574303282.084 [RDI_Pathfinder](ERROR): Failed to parse:        +0.00,   0.00,1342.92
2019-11-21T02:28:03.295Z,1574303283.295 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:28:03.295Z,1574303283.295 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:28:11.357Z,1574303291.357 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T02:28:23.110Z,1574303303.110 [RDI_Pathfinder](ERROR): Failed to parse:     +0.00,        +0.00,        +0.00,   0.00,1363.92
2019-11-21T02:29:00.260Z,1574303340.260 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:29:00.261Z,1574303340.261 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2019-11-21T02:29:17.627Z,1574303357.627 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:29:17.627Z,1574303357.627 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:29:36.618Z,1574303376.618 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:29:36.618Z,1574303376.618 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:32:06.933Z,1574303526.933 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T02:32:06.933Z,1574303526.933 [Default:CheckIn:C.Wait] Stopped
2019-11-21T02:32:06.933Z,1574303526.933 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T02:32:06.933Z,1574303526.933 [Default:CheckIn:D] Running Loop=1
2019-11-21T02:32:07.344Z,1574303527.344 [Default:CheckIn:D] Stopped
2019-11-21T02:32:07.345Z,1574303527.345 [Default:CheckIn:E] Running Loop=1
2019-11-21T02:32:07.741Z,1574303527.741 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 103.509098 min 
2019-11-21T02:32:07.741Z,1574303527.741 [Default:CheckIn:E] Stopped
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn] Stopped
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn](INFO): Running loop #11
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn] Running Loop=11
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T02:32:07.742Z,1574303527.742 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T02:32:37.264Z,1574303557.264 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:32:37.264Z,1574303557.264 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112019434115,35.0, -0.1,  2768,V
2019-11-21T02:33:57.618Z,1574303637.618 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:33:57.619Z,1574303637.619 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:34:02.074Z,1574303642.074 [RDI_Pathfinder](ERROR): Failed to parse::SA,   +0.00,   +0.00,  0.00
2019-11-21T02:35:42.265Z,1574303742.265 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:35:42.265Z,1574303742.265 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:37:07.937Z,1574303827.937 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T02:32:07.7Z
2019-11-21T02:37:07.937Z,1574303827.937 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T02:37:07.938Z,1574303827.938 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T02:37:11.511Z,1574303831.511 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T02:37:15.320Z,1574303835.320 [DataOverHttps](INFO): Sending 225 bytes from file Logs/20191121T002353/Express0038.lzma
2019-11-21T02:37:17.328Z,1574303837.328 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0038.lzma.bak
2019-11-21T02:37:17.328Z,1574303837.328 [DataOverHttps](INFO): SBD MOMSN=12080548
2019-11-21T02:37:20.058Z,1574303840.058 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T02:37:20.058Z,1574303840.058 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T02:37:20.058Z,1574303840.058 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T02:37:42.225Z,1574303862.225 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T02:37:47.920Z,1574303867.920 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T02:37:47.920Z,1574303867.920 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.00,1929.85
2019-11-21T02:40:38.448Z,1574304038.448 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:41:46.358Z,1574304106.358 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:41:58.067Z,1574304118.067 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:42:08.996Z,1574304128.996 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T02:42:20.614Z,1574304140.614 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T02:42:20.614Z,1574304140.614 [Default:CheckIn:C.Wait] Stopped
2019-11-21T02:42:20.614Z,1574304140.614 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T02:42:20.615Z,1574304140.615 [Default:CheckIn:D] Running Loop=1
2019-11-21T02:42:21.035Z,1574304141.035 [Default:CheckIn:D] Stopped
2019-11-21T02:42:21.035Z,1574304141.035 [Default:CheckIn:E] Running Loop=1
2019-11-21T02:42:21.425Z,1574304141.425 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 113.737264 min 
2019-11-21T02:42:21.425Z,1574304141.425 [Default:CheckIn:E] Stopped
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn] Stopped
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn](INFO): Running loop #12
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn] Running Loop=12
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T02:42:21.426Z,1574304141.426 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T02:42:23.011Z,1574304143.011 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T02:42:23.011Z,1574304143.011 [NAL9602] Data Fault, FailCount= 4
2019-11-21T02:42:23.011Z,1574304143.011 [NAL9602](ERROR): Data Fault
2019-11-21T02:42:23.105Z,1574304143.105 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:42:23.415Z,1574304143.415 [NAL9602](INFO): Powering down
2019-11-21T02:42:24.270Z,1574304144.270 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:42:24.270Z,1574304144.270 [NAL9602] No Fault, FailCount= 4
2019-11-21T02:42:53.711Z,1574304173.711 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:43:04.618Z,1574304184.618 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:43:07.906Z,1574304187.906 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:43:07.906Z,1574304187.906 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2019-11-21T02:43:48.290Z,1574304228.290 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T02:43:48.290Z,1574304228.290 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V2768,-32768,-32768,V
2019-11-21T02:44:34.007Z,1574304274.007 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:44:59.878Z,1574304299.878 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:45:54.409Z,1574304354.409 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:46:08.897Z,1574304368.897 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T02:46:08.898Z,1574304368.898 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3278,V
2019-11-21T02:46:21.072Z,1574304381.072 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T02:46:48.475Z,1574304408.475 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T02:46:48.493Z,1574304408.493 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T02:47:21.608Z,1574304441.608 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T02:42:21.4Z
2019-11-21T02:47:21.608Z,1574304441.608 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T02:47:21.608Z,1574304441.608 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T02:47:29.508Z,1574304449.508 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0040.lzma
2019-11-21T02:47:31.514Z,1574304451.514 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0040.lzma.bak
2019-11-21T02:47:31.515Z,1574304451.515 [DataOverHttps](INFO): SBD MOMSN=12080560
2019-11-21T02:47:49.263Z,1574304469.263 [DataOverHttps](INFO): Sending 234 bytes from file Logs/20191121T002353/Express0041.lzma
2019-11-21T02:47:51.063Z,1574304471.063 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0041.lzma.bak
2019-11-21T02:47:51.063Z,1574304471.063 [DataOverHttps](INFO): SBD MOMSN=12080562
2019-11-21T02:47:52.751Z,1574304472.751 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T02:47:52.751Z,1574304472.751 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T02:47:52.751Z,1574304472.751 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T02:48:08.063Z,1574304488.063 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T02:48:38.767Z,1574304518.767 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T02:50:28.271Z,1574304628.271 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:50:28.271Z,1574304628.271 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:51:08.265Z,1574304668.265 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:51:08.265Z,1574304668.265 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:52:53.314Z,1574304773.314 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T02:52:53.314Z,1574304773.314 [Default:CheckIn:C.Wait] Stopped
2019-11-21T02:52:53.315Z,1574304773.315 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T02:52:53.315Z,1574304773.315 [Default:CheckIn:D] Running Loop=1
2019-11-21T02:52:53.729Z,1574304773.729 [Default:CheckIn:D] Stopped
2019-11-21T02:52:53.729Z,1574304773.729 [Default:CheckIn:E] Running Loop=1
2019-11-21T02:52:54.139Z,1574304774.139 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 124.282170 min 
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn:E] Stopped
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn] Stopped
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn](INFO): Running loop #13
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn] Running Loop=13
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T02:52:54.140Z,1574304774.140 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T02:53:26.823Z,1574304806.823 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T02:53:26.905Z,1574304806.905 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T02:53:26.905Z,1574304806.905 [NAL9602] Data Fault, FailCount= 5
2019-11-21T02:53:26.905Z,1574304806.905 [NAL9602](ERROR): Data Fault
2019-11-21T02:53:26.942Z,1574304806.942 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:53:26.942Z,1574304806.942 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T02:53:27.237Z,1574304807.237 [NAL9602](INFO): Powering down
2019-11-21T02:53:27.303Z,1574304807.303 [CBIT](INFO): Critical error at 20191121T025326
2019-11-21T02:54:28.316Z,1574304868.316 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T02:55:05.426Z,1574304905.426 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T02:55:27.280Z,1574304927.280 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:55:27.280Z,1574304927.280 [NAL9602] No Fault, FailCount= 5
2019-11-21T02:55:27.626Z,1574304927.626 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:55:29.256Z,1574304929.256 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T02:55:29.257Z,1574304929.257 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T02:55:38.539Z,1574304938.539 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:55:39.350Z,1574304939.350 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T02:55:39.350Z,1574304939.350 [NAL9602] Data Fault, FailCount= 1
2019-11-21T02:55:39.350Z,1574304939.350 [NAL9602](ERROR): Data Fault
2019-11-21T02:55:39.389Z,1574304939.389 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T02:55:39.742Z,1574304939.742 [NAL9602](INFO): Powering down
2019-11-21T02:55:40.628Z,1574304940.628 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T02:55:40.628Z,1574304940.628 [NAL9602] No Fault, FailCount= 1
2019-11-21T02:55:45.417Z,1574304945.417 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:55:45.417Z,1574304945.417 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020064915,35.0, -0.11448.9,  0
2019-11-21T02:56:10.043Z,1574304970.043 [NAL9602](INFO): Powering up NAL9602
2019-11-21T02:56:20.951Z,1574304980.951 [NAL9602](INFO): NAL9602 initialized
2019-11-21T02:57:54.335Z,1574305074.335 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T02:52:54.1Z
2019-11-21T02:57:54.335Z,1574305074.335 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T02:57:54.335Z,1574305074.335 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T02:57:57.903Z,1574305077.903 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T02:58:01.712Z,1574305081.712 [DataOverHttps](INFO): Sending 69 bytes from file Logs/20191121T002353/Courier0043.lzma
2019-11-21T02:58:03.718Z,1574305083.718 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0043.lzma.bak
2019-11-21T02:58:03.719Z,1574305083.719 [DataOverHttps](INFO): SBD MOMSN=12080578
2019-11-21T02:58:14.097Z,1574305094.097 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T02:58:14.097Z,1574305094.097 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.0D,        +0.00,        +0.00,        +0.00,   0.00,3154.56
2019-11-21T02:58:22.129Z,1574305102.129 [DataOverHttps](INFO): Sending 278 bytes from file Logs/20191121T002353/Express0044.lzma
2019-11-21T02:58:24.134Z,1574305104.134 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0044.lzma.bak
2019-11-21T02:58:24.135Z,1574305104.135 [DataOverHttps](INFO): SBD MOMSN=12080581
2019-11-21T02:58:25.829Z,1574305105.829 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T02:58:25.829Z,1574305105.829 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T02:58:25.829Z,1574305105.829 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T02:58:28.611Z,1574305108.611 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T02:59:46.600Z,1574305186.600 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T02:59:46.601Z,1574305186.601 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020105015,35.0, -0.1,   0.0,1448.RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T03:02:11.247Z,1574305331.247 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:02:11.247Z,1574305331.247 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:02:31.869Z,1574305351.869 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:02:31.869Z,1574305351.869 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020133615,35.0, 0.0,1448.9,  0
2019-11-21T03:02:47.603Z,1574305367.603 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:02:47.604Z,1574305367.604 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020135115,35.0, -0.11448.9,  0
2019-11-21T03:03:26.405Z,1574305406.405 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T03:03:26.405Z,1574305406.405 [Default:CheckIn:C.Wait] Stopped
2019-11-21T03:03:26.405Z,1574305406.405 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T03:03:26.406Z,1574305406.406 [Default:CheckIn:D] Running Loop=1
2019-11-21T03:03:26.798Z,1574305406.798 [Default:CheckIn:D] Stopped
2019-11-21T03:03:26.798Z,1574305406.798 [Default:CheckIn:E] Running Loop=1
2019-11-21T03:03:27.231Z,1574305407.231 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 134.833325 min 
2019-11-21T03:03:27.231Z,1574305407.231 [Default:CheckIn:E] Stopped
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn] Stopped
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn](INFO): Running loop #14
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn] Running Loop=14
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T03:03:27.232Z,1574305407.232 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T03:03:59.894Z,1574305439.894 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T03:03:59.977Z,1574305439.977 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T03:03:59.977Z,1574305439.977 [NAL9602] Data Fault, FailCount= 2
2019-11-21T03:03:59.977Z,1574305439.977 [NAL9602](ERROR): Data Fault
2019-11-21T03:04:00.069Z,1574305440.069 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:04:00.299Z,1574305440.299 [NAL9602](INFO): Powering down
2019-11-21T03:04:01.163Z,1574305441.163 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:04:01.163Z,1574305441.163 [NAL9602] No Fault, FailCount= 2
2019-11-21T03:04:14.058Z,1574305454.058 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:04:14.059Z,1574305454.059 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020151715,35     +0.00,        +0.00,   0.00,3514.48
2019-11-21T03:04:30.599Z,1574305470.599 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:04:41.507Z,1574305481.507 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:08:27.405Z,1574305707.405 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T03:03:27.2Z
2019-11-21T03:08:27.406Z,1574305707.406 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T03:08:27.406Z,1574305707.406 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T03:08:30.979Z,1574305710.979 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T03:08:35.065Z,1574305715.065 [DataOverHttps](INFO): Sending 254 bytes from file Logs/20191121T002353/Express0047.lzma
2019-11-21T03:08:37.078Z,1574305717.078 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0047.lzma.bak
2019-11-21T03:08:37.079Z,1574305717.079 [DataOverHttps](INFO): SBD MOMSN=12080599
2019-11-21T03:08:39.139Z,1574305719.139 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T03:08:39.139Z,1574305719.139 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T03:08:39.139Z,1574305719.139 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T03:09:01.679Z,1574305741.679 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T03:09:56.269Z,1574305796.269 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T03:09:57.883Z,1574305797.883 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:09:57.884Z,1574305797.884 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:10:38.264Z,1574305838.264 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:10:38.264Z,1574305838.264 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:13:39.692Z,1574306019.692 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T03:13:39.692Z,1574306019.692 [Default:CheckIn:C.Wait] Stopped
2019-11-21T03:13:39.692Z,1574306019.692 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T03:13:39.697Z,1574306019.697 [Default:CheckIn:D] Running Loop=1
2019-11-21T03:13:40.109Z,1574306020.109 [Default:CheckIn:D] Stopped
2019-11-21T03:13:40.109Z,1574306020.109 [Default:CheckIn:E] Running Loop=1
2019-11-21T03:13:40.496Z,1574306020.496 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 145.055176 min 
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn:E] Stopped
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn] Stopped
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn](INFO): Running loop #15
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn] Running Loop=15
2019-11-21T03:13:40.517Z,1574306020.517 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T03:13:40.518Z,1574306020.518 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T03:13:42.076Z,1574306022.076 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T03:13:42.076Z,1574306022.076 [NAL9602] Data Fault, FailCount= 3
2019-11-21T03:13:42.076Z,1574306022.076 [NAL9602](ERROR): Data Fault
2019-11-21T03:13:42.142Z,1574306022.142 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:13:42.479Z,1574306022.479 [NAL9602](INFO): Powering down
2019-11-21T03:13:43.349Z,1574306023.349 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:13:43.349Z,1574306023.349 [NAL9602] No Fault, FailCount= 3
2019-11-21T03:13:58.313Z,1574306038.313 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:13:58.313Z,1574306038.313 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:14:12.779Z,1574306052.779 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:14:23.685Z,1574306063.685 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:16:35.418Z,1574306195.418 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T03:16:35.418Z,1574306195.418 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2019-11-21T03:17:24.304Z,1574306244.304 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:17:24.305Z,1574306244.305 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:17:38.875Z,1574306258.875 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2019-11-21T03:17:58.230Z,1574306278.230 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T03:18:40.655Z,1574306320.655 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T03:13:40.5Z
2019-11-21T03:18:40.655Z,1574306320.655 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T03:18:40.655Z,1574306320.655 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T03:18:49.035Z,1574306329.035 [DataOverHttps](INFO): Sending 234 bytes from file Logs/20191121T002353/Express0050.lzma
2019-11-21T03:18:50.335Z,1574306330.335 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0050.lzma.bak
2019-11-21T03:18:50.336Z,1574306330.336 [DataOverHttps](INFO): SBD MOMSN=12080618
2019-11-21T03:18:52.010Z,1574306332.010 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T03:18:52.010Z,1574306332.010 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T03:18:52.010Z,1574306332.010 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T03:19:19.868Z,1574306359.868 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T03:19:27.091Z,1574306367.091 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T03:19:57.795Z,1574306397.795 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T03:21:19.859Z,1574306479.859 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:21:19.859Z,1574306479.859 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020322415,35.0, -0.1,   .9,  0
2019-11-21T03:22:22.883Z,1574306542.883 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:22:22.883Z,1574306542.883 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020332715,35.0, -0.1,   0.0,14
2019-11-21T03:23:41.234Z,1574306621.234 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:23:41.235Z,1574306621.235 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020340, -0.1,   0.0,1448.9,  0
2019-11-21T03:23:52.556Z,1574306632.556 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T03:23:52.556Z,1574306632.556 [Default:CheckIn:C.Wait] Stopped
2019-11-21T03:23:52.556Z,1574306632.556 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T03:23:52.556Z,1574306632.556 [Default:CheckIn:D] Running Loop=1
2019-11-21T03:23:52.974Z,1574306632.974 [Default:CheckIn:D] Stopped
2019-11-21T03:23:52.974Z,1574306632.974 [Default:CheckIn:E] Running Loop=1
2019-11-21T03:23:53.374Z,1574306633.374 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 155.269596 min 
2019-11-21T03:23:53.374Z,1574306633.374 [Default:CheckIn:E] Stopped
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn] Stopped
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn](INFO): Running loop #16
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn] Running Loop=16
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T03:23:53.375Z,1574306633.375 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T03:23:55.382Z,1574306635.382 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:23:55.382Z,1574306635.382 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191120235.0, -0.1,   0.0,1448.9,  0
2019-11-21T03:24:26.065Z,1574306666.065 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T03:24:26.141Z,1574306666.141 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T03:24:26.141Z,1574306666.141 [NAL9602] Data Fault, FailCount= 4
2019-11-21T03:24:26.141Z,1574306666.141 [NAL9602](ERROR): Data Fault
2019-11-21T03:24:26.236Z,1574306666.236 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:24:26.459Z,1574306666.459 [NAL9602](INFO): Powering down
2019-11-21T03:24:27.307Z,1574306667.307 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:24:27.307Z,1574306667.307 [NAL9602] No Fault, FailCount= 4
2019-11-21T03:24:56.783Z,1574306696.783 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:25:07.691Z,1574306707.691 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:25:08.504Z,1574306708.504 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T03:25:08.504Z,1574306708.504 [NAL9602] Data Fault, FailCount= 5
2019-11-21T03:25:08.505Z,1574306708.505 [NAL9602](ERROR): Data Fault
2019-11-21T03:25:08.548Z,1574306708.548 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:25:08.569Z,1574306708.569 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T03:25:08.903Z,1574306708.903 [NAL9602](INFO): Powering down
2019-11-21T03:25:08.956Z,1574306708.956 [CBIT](INFO): Critical error at 20191121T032508
2019-11-21T03:27:08.537Z,1574306828.537 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:27:08.537Z,1574306828.537 [NAL9602] No Fault, FailCount= 5
2019-11-21T03:27:08.899Z,1574306828.899 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:27:19.808Z,1574306839.808 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:27:39.246Z,1574306859.246 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:27:39.246Z,1574306859.246 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020384315,35.0, -0.1,   0.0,144

2019-11-21T03:28:36.207Z,1574306916.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:28:36.207Z,1574306916.207 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020394015,35.0, -.0,1448.9,  0
2019-11-21T03:28:53.579Z,1574306933.579 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T03:23:53.4Z
2019-11-21T03:28:53.579Z,1574306933.579 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T03:28:53.579Z,1574306933.579 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T03:28:57.979Z,1574306937.979 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T03:29:01.256Z,1574306941.256 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0052.lzma
2019-11-21T03:29:03.377Z,1574306943.377 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:29:03.377Z,1574306943.377 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:29:04.193Z,1574306944.193 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0052.lzma.bak
2019-11-21T03:29:04.194Z,1574306944.194 [DataOverHttps](INFO): SBD MOMSN=12080633
2019-11-21T03:29:16.590Z,1574306956.590 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:29:16.590Z,1574306956.590 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191125,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T03:29:20.729Z,1574306960.729 [DataOverHttps](INFO): Sending 285 bytes from file Logs/20191121T002353/Express0053.lzma
2019-11-21T03:29:22.734Z,1574306962.734 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0053.lzma.bak
2019-11-21T03:29:22.735Z,1574306962.735 [DataOverHttps](INFO): SBD MOMSN=12080636
2019-11-21T03:29:24.681Z,1574306964.681 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T03:29:24.681Z,1574306964.681 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T03:29:24.681Z,1574306964.681 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T03:29:28.695Z,1574306968.695 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T03:30:01.855Z,1574307001.855 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:30:01.855Z,1574307001.855 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:33:16.586Z,1574307196.586 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:33:16.586Z,1574307196.586 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:33:43.249Z,1574307223.249 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:33:43.249Z,1574307223.249 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,1911202044471-0.1,   0.0,1448.9,  0
2019-11-21T03:34:25.284Z,1574307265.284 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T03:34:25.284Z,1574307265.284 [Default:CheckIn:C.Wait] Stopped
2019-11-21T03:34:25.284Z,1574307265.284 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T03:34:25.284Z,1574307265.284 [Default:CheckIn:D] Running Loop=1
2019-11-21T03:34:25.687Z,1574307265.687 [Default:CheckIn:D] Stopped
2019-11-21T03:34:25.687Z,1574307265.687 [Default:CheckIn:E] Running Loop=1
2019-11-21T03:34:26.075Z,1574307266.075 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 165.814795 min 
2019-11-21T03:34:26.075Z,1574307266.075 [Default:CheckIn:E] Stopped
2019-11-21T03:34:26.075Z,1574307266.075 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T03:34:26.075Z,1574307266.075 [Default:CheckIn] Stopped
2019-11-21T03:34:26.075Z,1574307266.075 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T03:34:26.076Z,1574307266.076 [Default:CheckIn](INFO): Running loop #17
2019-11-21T03:34:26.076Z,1574307266.076 [Default:CheckIn] Running Loop=17
2019-11-21T03:34:26.076Z,1574307266.076 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T03:34:26.076Z,1574307266.076 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T03:34:58.769Z,1574307298.769 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T03:34:58.853Z,1574307298.853 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T03:34:58.853Z,1574307298.853 [NAL9602] Data Fault, FailCount= 1
2019-11-21T03:34:58.853Z,1574307298.853 [NAL9602](ERROR): Data Fault
2019-11-21T03:34:58.941Z,1574307298.941 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:34:59.179Z,1574307299.179 [NAL9602](INFO): Powering down
2019-11-21T03:35:00.054Z,1574307300.054 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:35:00.054Z,1574307300.054 [NAL9602] No Fault, FailCount= 1
2019-11-21T03:35:29.480Z,1574307329.480 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:35:37.582Z,1574307337.582 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T03:35:40.387Z,1574307340.387 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:36:01.848Z,1574307361.848 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:36:01.857Z,1574307361.857 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:36:41.851Z,1574307401.851 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2019-11-21T03:38:36.588Z,1574307516.588 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:38:36.588Z,1574307516.588 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:38:41.855Z,1574307521.855 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T03:38:41.855Z,1574307521.855 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2019-11-21T03:39:26.286Z,1574307566.286 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T03:34:26.1Z
2019-11-21T03:39:26.286Z,1574307566.286 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T03:39:26.287Z,1574307566.287 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T03:39:29.876Z,1574307569.876 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T03:39:33.812Z,1574307573.812 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20191121T002353/Express0056.lzma
2019-11-21T03:39:35.818Z,1574307575.818 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0056.lzma.bak
2019-11-21T03:39:35.819Z,1574307575.819 [DataOverHttps](INFO): SBD MOMSN=12080649
2019-11-21T03:39:37.575Z,1574307577.575 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:39:37.575Z,1574307577.575 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020504115,35.0, 0.0,1448.9,  0
2019-11-21T03:39:37.584Z,1574307577.584 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T03:39:37.584Z,1574307577.584 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T03:39:37.584Z,1574307577.584 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T03:40:00.579Z,1574307600.579 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T03:40:57.569Z,1574307657.569 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:40:57.570Z,1574307657.570 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020520115,35.0, -0.1, 48.9,  0
2019-11-21T03:42:02.213Z,1574307722.213 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:42:02.213Z,1574307722.213 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112020530615,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T03:44:38.185Z,1574307878.185 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T03:44:38.185Z,1574307878.185 [Default:CheckIn:C.Wait] Stopped
2019-11-21T03:44:38.185Z,1574307878.185 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T03:44:38.185Z,1574307878.185 [Default:CheckIn:D] Running Loop=1
2019-11-21T03:44:38.574Z,1574307878.574 [Default:CheckIn:D] Stopped
2019-11-21T03:44:38.574Z,1574307878.574 [Default:CheckIn:E] Running Loop=1
2019-11-21T03:44:38.991Z,1574307878.991 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 176.029590 min 
2019-11-21T03:44:38.991Z,1574307878.991 [Default:CheckIn:E] Stopped
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn] Stopped
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn](INFO): Running loop #18
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn] Running Loop=18
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T03:44:38.992Z,1574307878.992 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T03:44:40.563Z,1574307880.563 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T03:44:40.563Z,1574307880.563 [NAL9602] Data Fault, FailCount= 2
2019-11-21T03:44:40.563Z,1574307880.563 [NAL9602](ERROR): Data Fault
2019-11-21T03:44:40.620Z,1574307880.620 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:44:40.967Z,1574307880.967 [NAL9602](INFO): Powering down
2019-11-21T03:44:41.857Z,1574307881.857 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:44:41.857Z,1574307881.857 [NAL9602] No Fault, FailCount= 2
2019-11-21T03:45:11.287Z,1574307911.287 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:45:22.200Z,1574307922.200 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:45:22.222Z,1574307922.222 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T03:46:01.850Z,1574307961.850 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:46:01.850Z,1574307961.850 [RDI_Pathfinder](ERROR): Failed to parse:
:TS8,V
2019-11-21T03:46:44.270Z,1574308004.270 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:47:42.866Z,1574308062.866 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:47:42.867Z,1574308062.867 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32BE,-32768,-3768,V
2019-11-21T03:48:21.673Z,1574308101.673 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T03:49:10.561Z,1574308150.561 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T03:49:37.206Z,1574308177.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T03:49:37.206Z,1574308177.206 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.   +0.00,        +0.00,   0.00,6237.29
2019-11-21T03:49:39.214Z,1574308179.214 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T03:44:38.0Z
2019-11-21T03:49:39.214Z,1574308179.214 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T03:49:39.214Z,1574308179.214 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T03:49:46.789Z,1574308186.789 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0059.lzma
2019-11-21T03:49:49.301Z,1574308189.301 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0059.lzma.bak
2019-11-21T03:49:49.302Z,1574308189.302 [DataOverHttps](INFO): SBD MOMSN=12080666
2019-11-21T03:49:50.519Z,1574308190.519 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T03:49:50.520Z,1574308190.520 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T03:49:50.520Z,1574308190.520 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T03:50:25.631Z,1574308225.631 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T03:50:41.841Z,1574308241.841 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T03:50:41.841Z,1574308241.841 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T03:50:45.132Z,1574308245.132 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T03:50:56.335Z,1574308256.335 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T03:51:37.561Z,1574308297.561 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T03:51:37.561Z,1574308297.561 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112021024115,35.0, -0.1,   0.,  0
2019-11-21T03:52:02.213Z,1574308322.213 [RDI_Pathfinder](ERROR): Failed to parse:
00,   0.00,   0.00,   0.00,   0.00
2019-11-21T03:52:52.388Z,1574308372.388 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T03:53:41.710Z,1574308421.710 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T03:53:50.060Z,1574308430.060 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,035350,A40
 expected 1
2019-11-21T03:54:07.960Z,1574308447.960 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T03:54:51.134Z,1574308491.134 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T03:54:51.134Z,1574308491.134 [Default:CheckIn:C.Wait] Stopped
2019-11-21T03:54:51.135Z,1574308491.135 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T03:54:51.135Z,1574308491.135 [Default:CheckIn:D] Running Loop=1
2019-11-21T03:54:51.502Z,1574308491.502 [Default:CheckIn:D] Stopped
2019-11-21T03:54:51.502Z,1574308491.502 [Default:CheckIn:E] Running Loop=1
2019-11-21T03:54:51.953Z,1574308491.953 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 186.245052 min 
2019-11-21T03:54:51.953Z,1574308491.953 [Default:CheckIn:E] Stopped
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn] Stopped
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn](INFO): Running loop #19
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn] Running Loop=19
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T03:54:51.954Z,1574308491.954 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T03:55:01.639Z,1574308501.639 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T03:55:14.914Z,1574308514.914 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T03:55:14.916Z,1574308514.916 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T03:55:24.595Z,1574308524.595 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T03:55:24.673Z,1574308524.673 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T03:55:24.674Z,1574308524.674 [NAL9602] Data Fault, FailCount= 3
2019-11-21T03:55:24.674Z,1574308524.674 [NAL9602](ERROR): Data Fault
2019-11-21T03:55:24.777Z,1574308524.777 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:55:25.025Z,1574308525.025 [NAL9602](INFO): Powering down
2019-11-21T03:55:25.897Z,1574308525.897 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:55:25.897Z,1574308525.897 [NAL9602] No Fault, FailCount= 3
2019-11-21T03:55:55.299Z,1574308555.299 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:56:06.211Z,1574308566.211 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:56:07.019Z,1574308567.019 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T03:56:07.019Z,1574308567.019 [NAL9602] Data Fault, FailCount= 4
2019-11-21T03:56:07.019Z,1574308567.019 [NAL9602](ERROR): Data Fault
2019-11-21T03:56:07.052Z,1574308567.052 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T03:56:07.429Z,1574308567.429 [NAL9602](INFO): Powering down
2019-11-21T03:56:08.277Z,1574308568.277 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T03:56:08.277Z,1574308568.277 [NAL9602] No Fault, FailCount= 4
2019-11-21T03:56:37.720Z,1574308597.720 [NAL9602](INFO): Powering up NAL9602
2019-11-21T03:56:48.626Z,1574308608.626 [NAL9602](INFO): NAL9602 initialized
2019-11-21T03:57:14.500Z,1574308634.500 [NAL9602](INFO): SBD MO Status=2, MOMSN=9953, MT Status=2, MTMSN=0
2019-11-21T03:57:14.500Z,1574308634.500 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-21T03:59:52.097Z,1574308792.097 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T03:54:51.0Z
2019-11-21T03:59:52.097Z,1574308792.097 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T03:59:52.098Z,1574308792.098 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T03:59:55.679Z,1574308795.679 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T04:00:00.224Z,1574308800.224 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0061.lzma
2019-11-21T04:00:02.231Z,1574308802.231 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0061.lzma.bak
2019-11-21T04:00:02.231Z,1574308802.231 [DataOverHttps](INFO): SBD MOMSN=12080682
2019-11-21T04:00:21.641Z,1574308821.641 [DataOverHttps](INFO): Sending 272 bytes from file Logs/20191121T002353/Express0062.lzma
2019-11-21T04:00:23.646Z,1574308823.646 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0062.lzma.bak
2019-11-21T04:00:23.647Z,1574308823.647 [DataOverHttps](INFO): SBD MOMSN=12080684
2019-11-21T04:00:25.621Z,1574308825.621 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T04:00:25.621Z,1574308825.621 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T04:00:25.621Z,1574308825.621 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T04:00:26.395Z,1574308826.395 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T04:00:48.240Z,1574308848.240 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T04:00:48.240Z,1574308848.240 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112021110, -0.1,   0.0,1448.9,  0
2019-11-21T04:05:26.229Z,1574309126.229 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T04:05:26.229Z,1574309126.229 [Default:CheckIn:C.Wait] Stopped
2019-11-21T04:05:26.229Z,1574309126.229 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T04:05:26.229Z,1574309126.229 [Default:CheckIn:D] Running Loop=1
2019-11-21T04:05:26.602Z,1574309126.602 [Default:CheckIn:D] Stopped
2019-11-21T04:05:26.602Z,1574309126.602 [Default:CheckIn:E] Running Loop=1
2019-11-21T04:05:27.010Z,1574309127.010 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 196.830046 min 
2019-11-21T04:05:27.010Z,1574309127.010 [Default:CheckIn:E] Stopped
2019-11-21T04:05:27.010Z,1574309127.010 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T04:05:27.010Z,1574309127.010 [Default:CheckIn] Stopped
2019-11-21T04:05:27.010Z,1574309127.010 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T04:05:27.010Z,1574309127.010 [Default:CheckIn](INFO): Running loop #20
2019-11-21T04:05:27.011Z,1574309127.011 [Default:CheckIn] Running Loop=20
2019-11-21T04:05:27.011Z,1574309127.011 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T04:05:27.011Z,1574309127.011 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T04:05:59.695Z,1574309159.695 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T04:05:59.777Z,1574309159.777 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T04:05:59.777Z,1574309159.777 [NAL9602] Data Fault, FailCount= 5
2019-11-21T04:05:59.777Z,1574309159.777 [NAL9602](ERROR): Data Fault
2019-11-21T04:05:59.872Z,1574309159.872 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:05:59.877Z,1574309159.877 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T04:06:00.097Z,1574309160.097 [NAL9602](INFO): Powering down
2019-11-21T04:06:00.155Z,1574309160.155 [CBIT](INFO): Critical error at 20191121T040559
2019-11-21T04:06:49.839Z,1574309209.839 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:06:49.840Z,1574309209.840 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:08:00.127Z,1574309280.127 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:08:00.127Z,1574309280.127 [NAL9602] No Fault, FailCount= 5
2019-11-21T04:08:00.487Z,1574309280.487 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:08:11.399Z,1574309291.399 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:08:12.207Z,1574309292.207 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T04:08:12.207Z,1574309292.207 [NAL9602] Data Fault, FailCount= 1
2019-11-21T04:08:12.207Z,1574309292.207 [NAL9602](ERROR): Data Fault
2019-11-21T04:08:12.265Z,1574309292.265 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:08:12.611Z,1574309292.611 [NAL9602](INFO): Powering down
2019-11-21T04:08:13.493Z,1574309293.493 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:08:13.493Z,1574309293.493 [NAL9602] No Fault, FailCount= 1
2019-11-21T04:08:30.830Z,1574309310.830 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T04:08:42.911Z,1574309322.911 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:08:46.190Z,1574309326.190 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:08:46.190Z,1574309326.190 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:08:50.202Z,1574309330.202 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:08:50.202Z,1574309330.202 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:08:53.813Z,1574309333.813 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:09:12.026Z,1574309352.026 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T04:09:12.026Z,1574309352.026 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.000.00,        +0.00,   0.00,7410.71
2019-11-21T04:09:26.184Z,1574309366.184 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:09:26.184Z,1574309366.184 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:10:27.223Z,1574309427.223 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T04:05:27.0Z
2019-11-21T04:10:27.223Z,1574309427.223 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T04:10:27.223Z,1574309427.223 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T04:10:30.836Z,1574309430.836 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T04:10:34.544Z,1574309434.544 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0064.lzma
2019-11-21T04:10:36.550Z,1574309436.550 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0064.lzma.bak
2019-11-21T04:10:36.551Z,1574309436.551 [DataOverHttps](INFO): SBD MOMSN=12080702
2019-11-21T04:10:53.989Z,1574309453.989 [DataOverHttps](INFO): Sending 270 bytes from file Logs/20191121T002353/Express0065.lzma
2019-11-21T04:10:55.995Z,1574309455.995 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0065.lzma.bak
2019-11-21T04:10:55.995Z,1574309455.995 [DataOverHttps](INFO): SBD MOMSN=12080705
2019-11-21T04:10:57.937Z,1574309457.937 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T04:10:57.937Z,1574309457.937 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T04:10:57.937Z,1574309457.937 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T04:11:01.519Z,1574309461.519 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T04:15:12.856Z,1574309712.856 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:15:12.856Z,1574309712.856 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2019-11-21T04:15:58.497Z,1574309758.497 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T04:15:58.497Z,1574309758.497 [Default:CheckIn:C.Wait] Stopped
2019-11-21T04:15:58.497Z,1574309758.497 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T04:15:58.497Z,1574309758.497 [Default:CheckIn:D] Running Loop=1
2019-11-21T04:15:58.910Z,1574309758.910 [Default:CheckIn:D] Stopped
2019-11-21T04:15:58.911Z,1574309758.911 [Default:CheckIn:E] Running Loop=1
2019-11-21T04:15:59.308Z,1574309759.308 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 207.368522 min 
2019-11-21T04:15:59.308Z,1574309759.308 [Default:CheckIn:E] Stopped
2019-11-21T04:15:59.308Z,1574309759.308 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T04:15:59.308Z,1574309759.308 [Default:CheckIn] Stopped
2019-11-21T04:15:59.309Z,1574309759.309 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T04:15:59.309Z,1574309759.309 [Default:CheckIn](INFO): Running loop #21
2019-11-21T04:15:59.309Z,1574309759.309 [Default:CheckIn] Running Loop=21
2019-11-21T04:15:59.309Z,1574309759.309 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T04:15:59.309Z,1574309759.309 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T04:16:10.217Z,1574309770.217 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:16:10.217Z,1574309770.217 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:16:31.991Z,1574309791.991 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T04:16:32.069Z,1574309792.069 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T04:16:32.069Z,1574309792.069 [NAL9602] Data Fault, FailCount= 2
2019-11-21T04:16:32.069Z,1574309792.069 [NAL9602](ERROR): Data Fault
2019-11-21T04:16:32.154Z,1574309792.154 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:16:32.399Z,1574309792.399 [NAL9602](INFO): Powering down
2019-11-21T04:16:33.246Z,1574309793.246 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:16:33.246Z,1574309793.246 [NAL9602] No Fault, FailCount= 2
2019-11-21T04:17:02.699Z,1574309822.699 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:17:07.191Z,1574309827.191 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T04:17:07.191Z,1574309827.191 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0    +0.00,   0.00,7886.48
2019-11-21T04:17:13.601Z,1574309833.601 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:17:47.564Z,1574309867.564 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T04:17:47.564Z,1574309867.564 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-11-21T04:18:32.017Z,1574309912.017 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T04:18:46.181Z,1574309926.181 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:18:46.181Z,1574309926.181 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:19:07.188Z,1574309947.188 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2019-11-21T04:20:31.202Z,1574310031.202 [RDI_Pathfinder](ERROR): Failed to parse:
00,   0.00,   0.00,   0.00,   0.00
2019-11-21T04:20:59.470Z,1574310059.470 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T04:15:59.3Z
2019-11-21T04:20:59.470Z,1574310059.470 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T04:20:59.470Z,1574310059.470 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T04:21:03.075Z,1574310063.075 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T04:21:07.105Z,1574310067.105 [DataOverHttps](INFO): Sending 264 bytes from file Logs/20191121T002353/Express0068.lzma
2019-11-21T04:21:09.110Z,1574310069.110 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0068.lzma.bak
2019-11-21T04:21:09.111Z,1574310069.111 [DataOverHttps](INFO): SBD MOMSN=12080723
2019-11-21T04:21:10.819Z,1574310070.819 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T04:21:10.819Z,1574310070.819 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T04:21:10.819Z,1574310070.819 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T04:21:33.782Z,1574310093.782 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T04:26:11.358Z,1574310371.358 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T04:26:11.358Z,1574310371.358 [Default:CheckIn:C.Wait] Stopped
2019-11-21T04:26:11.358Z,1574310371.358 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T04:26:11.358Z,1574310371.358 [Default:CheckIn:D] Running Loop=1
2019-11-21T04:26:11.765Z,1574310371.765 [Default:CheckIn:D] Stopped
2019-11-21T04:26:11.765Z,1574310371.765 [Default:CheckIn:E] Running Loop=1
2019-11-21T04:26:12.186Z,1574310372.186 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 217.582764 min 
2019-11-21T04:26:12.186Z,1574310372.186 [Default:CheckIn:E] Stopped
2019-11-21T04:26:12.186Z,1574310372.186 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T04:26:12.186Z,1574310372.186 [Default:CheckIn] Stopped
2019-11-21T04:26:12.186Z,1574310372.186 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T04:26:12.186Z,1574310372.186 [Default:CheckIn](INFO): Running loop #22
2019-11-21T04:26:12.187Z,1574310372.187 [Default:CheckIn] Running Loop=22
2019-11-21T04:26:12.187Z,1574310372.187 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T04:26:12.187Z,1574310372.187 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T04:26:13.755Z,1574310373.755 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T04:26:13.755Z,1574310373.755 [NAL9602] Data Fault, FailCount= 3
2019-11-21T04:26:13.755Z,1574310373.755 [NAL9602](ERROR): Data Fault
2019-11-21T04:26:13.831Z,1574310373.831 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:26:14.159Z,1574310374.159 [NAL9602](INFO): Powering down
2019-11-21T04:26:15.062Z,1574310375.062 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:26:15.062Z,1574310375.062 [NAL9602] No Fault, FailCount= 3
2019-11-21T04:26:25.104Z,1574310385.104 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T04:26:44.459Z,1574310404.459 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:26:55.367Z,1574310415.367 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:28:14.000Z,1574310495.000 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T04:31:12.335Z,1574310672.335 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T04:26:12.2Z
2019-11-21T04:31:12.335Z,1574310672.335 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T04:31:12.335Z,1574310672.335 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T04:31:20.025Z,1574310680.025 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0071.lzma
2019-11-21T04:31:22.031Z,1574310682.031 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0071.lzma.bak
2019-11-21T04:31:22.031Z,1574310682.031 [DataOverHttps](INFO): SBD MOMSN=12080736
2019-11-21T04:31:23.670Z,1574310683.670 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T04:31:23.670Z,1574310683.670 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T04:31:23.670Z,1574310683.670 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T04:31:58.769Z,1574310718.769 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T04:32:29.475Z,1574310749.475 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T04:32:39.194Z,1574310759.194 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:32:39.194Z,1574310759.194 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:34:02.843Z,1574310842.843 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:34:02.843Z,1574310842.843 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-11-21T04:34:42.840Z,1574310882.840 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:34:42.840Z,1574310882.840 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:34:57.372Z,1574310897.372 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T04:35:57.552Z,1574310957.552 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T04:35:57.552Z,1574310957.552 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3268,-32768,V
2019-11-21T04:36:24.239Z,1574310984.239 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T04:36:24.239Z,1574310984.239 [Default:CheckIn:C.Wait] Stopped
2019-11-21T04:36:24.239Z,1574310984.239 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T04:36:24.239Z,1574310984.239 [Default:CheckIn:D] Running Loop=1
2019-11-21T04:36:24.638Z,1574310984.638 [Default:CheckIn:D] Stopped
2019-11-21T04:36:24.638Z,1574310984.638 [Default:CheckIn:E] Running Loop=1
2019-11-21T04:36:25.053Z,1574310985.053 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 227.797331 min 
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn:E] Stopped
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn] Stopped
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn](INFO): Running loop #23
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn] Running Loop=23
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T04:36:25.054Z,1574310985.054 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T04:36:57.747Z,1574311017.747 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T04:36:57.829Z,1574311017.829 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T04:36:57.829Z,1574311017.829 [NAL9602] Data Fault, FailCount= 4
2019-11-21T04:36:57.829Z,1574311017.829 [NAL9602](ERROR): Data Fault
2019-11-21T04:36:57.908Z,1574311017.908 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:36:58.135Z,1574311018.135 [NAL9602](INFO): Powering down
2019-11-21T04:36:58.000Z,1574311019.000 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:36:58.000Z,1574311019.000 [NAL9602] No Fault, FailCount= 4
2019-11-21T04:37:00.189Z,1574311020.189 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T04:37:00.189Z,1574311020.189 [RDI_Pathfinder](ERROR): Failed to parse:
:TS1480415,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T04:37:28.431Z,1574311048.431 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:37:39.343Z,1574311059.343 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:37:40.151Z,1574311060.151 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T04:37:40.151Z,1574311060.151 [NAL9602] Data Fault, FailCount= 5
2019-11-21T04:37:40.151Z,1574311060.151 [NAL9602](ERROR): Data Fault
2019-11-21T04:37:40.231Z,1574311060.231 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:37:40.231Z,1574311060.231 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T04:37:40.563Z,1574311060.563 [NAL9602](INFO): Powering down
2019-11-21T04:37:40.599Z,1574311060.599 [CBIT](INFO): Critical error at 20191121T043740
2019-11-21T04:38:01.175Z,1574311081.175 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T04:38:01.176Z,1574311081.176 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112021490515,35.048.9,  0
2019-11-21T04:39:40.202Z,1574311180.202 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:39:40.202Z,1574311180.202 [NAL9602] No Fault, FailCount= 5
2019-11-21T04:39:40.548Z,1574311180.548 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:39:51.459Z,1574311191.459 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:41:17.179Z,1574311277.179 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T04:41:17.179Z,1574311277.179 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,9335.21
2019-11-21T04:41:25.245Z,1574311285.245 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T04:36:25.1Z
2019-11-21T04:41:25.245Z,1574311285.245 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T04:41:25.246Z,1574311285.246 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T04:41:28.848Z,1574311288.848 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T04:41:32.604Z,1574311292.604 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0073.lzma
2019-11-21T04:41:34.610Z,1574311294.610 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0073.lzma.bak
2019-11-21T04:41:34.611Z,1574311294.611 [DataOverHttps](INFO): SBD MOMSN=12080751
2019-11-21T04:41:39.814Z,1574311299.814 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:41:39.814Z,1574311299.814 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:41:52.189Z,1574311312.189 [DataOverHttps](INFO): Sending 269 bytes from file Logs/20191121T002353/Express0074.lzma
2019-11-21T04:41:54.194Z,1574311314.194 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0074.lzma.bak
2019-11-21T04:41:54.195Z,1574311314.195 [DataOverHttps](INFO): SBD MOMSN=12080754
2019-11-21T04:41:55.955Z,1574311315.955 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T04:41:55.955Z,1574311315.955 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T04:41:55.955Z,1574311315.955 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T04:41:59.546Z,1574311319.546 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T04:42:00.821Z,1574311320.821 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:42:00.821Z,1574311320.821 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00, :BI,-32768,-32768,-32768,-32768,V
2019-11-21T04:42:03.212Z,1574311323.212 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T04:42:03.213Z,1574311323.213 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T04:46:56.525Z,1574311616.525 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T04:46:56.525Z,1574311616.525 [Default:CheckIn:C.Wait] Stopped
2019-11-21T04:46:56.525Z,1574311616.525 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T04:46:56.525Z,1574311616.525 [Default:CheckIn:D] Running Loop=1
2019-11-21T04:46:56.924Z,1574311616.924 [Default:CheckIn:D] Stopped
2019-11-21T04:46:56.924Z,1574311616.924 [Default:CheckIn:E] Running Loop=1
2019-11-21T04:46:57.335Z,1574311617.335 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 238.335433 min 
2019-11-21T04:46:57.335Z,1574311617.335 [Default:CheckIn:E] Stopped
2019-11-21T04:46:57.335Z,1574311617.335 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T04:46:57.335Z,1574311617.335 [Default:CheckIn] Stopped
2019-11-21T04:46:57.335Z,1574311617.335 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T04:46:57.336Z,1574311617.336 [Default:CheckIn](INFO): Running loop #24
2019-11-21T04:46:57.336Z,1574311617.336 [Default:CheckIn] Running Loop=24
2019-11-21T04:46:57.336Z,1574311617.336 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T04:46:57.336Z,1574311617.336 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T04:47:30.017Z,1574311650.017 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T04:47:30.101Z,1574311650.101 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T04:47:30.101Z,1574311650.101 [NAL9602] Data Fault, FailCount= 1
2019-11-21T04:47:30.101Z,1574311650.101 [NAL9602](ERROR): Data Fault
2019-11-21T04:47:30.147Z,1574311650.147 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:47:30.437Z,1574311650.437 [NAL9602](INFO): Powering down
2019-11-21T04:47:31.280Z,1574311651.280 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:47:31.280Z,1574311651.280 [NAL9602] No Fault, FailCount= 1
2019-11-21T04:48:00.722Z,1574311680.722 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:48:11.650Z,1574311691.650 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:51:57.535Z,1574311917.535 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T04:46:57.3Z
2019-11-21T04:51:57.535Z,1574311917.535 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T04:51:57.535Z,1574311917.535 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T04:52:00.772Z,1574311920.772 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T04:52:05.596Z,1574311925.596 [DataOverHttps](INFO): Sending 256 bytes from file Logs/20191121T002353/Express0077.lzma
2019-11-21T04:52:07.602Z,1574311927.602 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0077.lzma.bak
2019-11-21T04:52:07.603Z,1574311927.603 [DataOverHttps](INFO): SBD MOMSN=12080770
2019-11-21T04:52:10.093Z,1574311930.093 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T04:52:10.093Z,1574311930.093 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T04:52:10.093Z,1574311930.093 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T04:52:31.451Z,1574311951.451 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T04:52:56.520Z,1574311976.520 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T04:52:56.520Z,1574311976.520 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191120220400150.1,   0.0,1448.9,  0
2019-11-21T04:57:10.665Z,1574312230.665 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T04:57:10.665Z,1574312230.665 [Default:CheckIn:C.Wait] Stopped
2019-11-21T04:57:10.665Z,1574312230.665 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T04:57:10.666Z,1574312230.666 [Default:CheckIn:D] Running Loop=1
2019-11-21T04:57:11.101Z,1574312231.101 [Default:CheckIn:D] Stopped
2019-11-21T04:57:11.101Z,1574312231.101 [Default:CheckIn:E] Running Loop=1
2019-11-21T04:57:11.472Z,1574312231.472 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 248.571712 min 
2019-11-21T04:57:11.477Z,1574312231.477 [Default:CheckIn:E] Stopped
2019-11-21T04:57:11.477Z,1574312231.477 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T04:57:11.477Z,1574312231.477 [Default:CheckIn] Stopped
2019-11-21T04:57:11.477Z,1574312231.477 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T04:57:11.477Z,1574312231.477 [Default:CheckIn](INFO): Running loop #25
2019-11-21T04:57:11.477Z,1574312231.477 [Default:CheckIn] Running Loop=25
2019-11-21T04:57:11.478Z,1574312231.478 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T04:57:11.478Z,1574312231.478 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T04:57:13.043Z,1574312233.043 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T04:57:13.043Z,1574312233.043 [NAL9602] Data Fault, FailCount= 2
2019-11-21T04:57:13.043Z,1574312233.043 [NAL9602](ERROR): Data Fault
2019-11-21T04:57:13.122Z,1574312233.122 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T04:57:13.447Z,1574312233.447 [NAL9602](INFO): Powering down
2019-11-21T04:57:14.296Z,1574312234.296 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T04:57:14.296Z,1574312234.296 [NAL9602] No Fault, FailCount= 2
2019-11-21T04:57:22.035Z,1574312242.035 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T04:57:37.318Z,1574312257.318 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T04:57:43.743Z,1574312263.743 [NAL9602](INFO): Powering up NAL9602
2019-11-21T04:57:54.651Z,1574312274.651 [NAL9602](INFO): NAL9602 initialized
2019-11-21T04:58:17.300Z,1574312297.300 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T04:58:43.626Z,1574312323.626 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T04:58:56.640Z,1574312336.640 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T04:59:23.621Z,1574312363.621 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T05:00:04.824Z,1574312404.824 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T05:00:33.881Z,1574312433.881 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T05:00:33.881Z,1574312433.881 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-11-21T05:01:55.466Z,1574312515.466 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T05:01:55.468Z,1574312515.468 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T05:02:11.628Z,1574312531.628 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T04:57:11.5Z
2019-11-21T05:02:11.628Z,1574312531.628 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T05:02:11.628Z,1574312531.628 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T05:02:19.428Z,1574312539.428 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0079.lzma
2019-11-21T05:02:21.434Z,1574312541.434 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0079.lzma.bak
2019-11-21T05:02:21.435Z,1574312541.435 [DataOverHttps](INFO): SBD MOMSN=12080788
2019-11-21T05:02:34.246Z,1574312554.246 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:02:34.247Z,1574312554.247 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:02:39.185Z,1574312559.185 [DataOverHttps](INFO): Sending 239 bytes from file Logs/20191121T002353/Express0080.lzma
2019-11-21T05:02:41.191Z,1574312561.191 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0080.lzma.bak
2019-11-21T05:02:41.191Z,1574312561.191 [DataOverHttps](INFO): SBD MOMSN=12080790
2019-11-21T05:02:43.147Z,1574312563.147 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T05:02:43.148Z,1574312563.148 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T05:02:43.148Z,1574312563.148 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T05:02:50.018Z,1574312570.018 [RDI_Pathfinder](ERROR): Failed to parse:
:B  +0.00,        +0.00,        +0.00,   0.00,10625.95
2019-11-21T05:02:58.059Z,1574312578.059 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T05:03:05.354Z,1574312585.354 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:03:05.354Z,1574312585.354 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:03:28.766Z,1574312608.766 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T05:05:45.350Z,1574312745.350 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:05:45.350Z,1574312745.350 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:05:54.258Z,1574312754.258 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T05:05:54.258Z,1574312754.258 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-11-21T05:06:48.810Z,1574312808.810 [RDI_Pathfinder](ERROR): Failed to parse:768,-32768,-32768,V
2019-11-21T05:07:43.735Z,1574312863.735 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T05:07:43.735Z,1574312863.735 [Default:CheckIn:C.Wait] Stopped
2019-11-21T05:07:43.735Z,1574312863.735 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T05:07:43.736Z,1574312863.736 [Default:CheckIn:D] Running Loop=1
2019-11-21T05:07:44.155Z,1574312864.155 [Default:CheckIn:D] Stopped
2019-11-21T05:07:44.155Z,1574312864.155 [Default:CheckIn:E] Running Loop=1
2019-11-21T05:07:44.557Z,1574312864.557 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 259.122607 min 
2019-11-21T05:07:44.557Z,1574312864.557 [Default:CheckIn:E] Stopped
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn] Stopped
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn](INFO): Running loop #26
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn] Running Loop=26
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T05:07:44.558Z,1574312864.558 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T05:08:17.243Z,1574312897.243 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T05:08:17.325Z,1574312897.325 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T05:08:17.325Z,1574312897.325 [NAL9602] Data Fault, FailCount= 3
2019-11-21T05:08:17.325Z,1574312897.325 [NAL9602](ERROR): Data Fault
2019-11-21T05:08:17.368Z,1574312897.368 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T05:08:17.647Z,1574312897.647 [NAL9602](INFO): Powering down
2019-11-21T05:08:18.495Z,1574312898.495 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T05:08:18.496Z,1574312898.496 [NAL9602] No Fault, FailCount= 3
2019-11-21T05:08:47.947Z,1574312927.947 [NAL9602](INFO): Powering up NAL9602
2019-11-21T05:08:58.855Z,1574312938.855 [NAL9602](INFO): NAL9602 initialized
2019-11-21T05:08:59.668Z,1574312939.668 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T05:08:59.668Z,1574312939.668 [NAL9602] Data Fault, FailCount= 4
2019-11-21T05:08:59.668Z,1574312939.668 [NAL9602](ERROR): Data Fault
2019-11-21T05:08:59.701Z,1574312939.701 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T05:09:00.063Z,1574312940.063 [NAL9602](INFO): Powering down
2019-11-21T05:09:00.938Z,1574312940.938 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T05:09:00.938Z,1574312940.938 [NAL9602] No Fault, FailCount= 4
2019-11-21T05:09:30.387Z,1574312970.387 [NAL9602](INFO): Powering up NAL9602
2019-11-21T05:09:41.295Z,1574312981.295 [NAL9602](INFO): NAL9602 initialized
2019-11-21T05:12:27.814Z,1574313147.814 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T05:12:27.814Z,1574313147.814 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2019-11-21T05:12:44.767Z,1574313164.767 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T05:07:44.6Z
2019-11-21T05:12:44.767Z,1574313164.767 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T05:12:44.768Z,1574313164.768 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T05:12:48.795Z,1574313168.795 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T05:12:52.861Z,1574313172.861 [DataOverHttps](INFO): Sending 274 bytes from file Logs/20191121T002353/Express0083.lzma
2019-11-21T05:12:54.867Z,1574313174.867 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0083.lzma.bak
2019-11-21T05:12:54.867Z,1574313174.867 [DataOverHttps](INFO): SBD MOMSN=12080810
2019-11-21T05:12:56.910Z,1574313176.910 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T05:12:56.910Z,1574313176.910 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T05:12:56.911Z,1574313176.911 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T05:13:19.471Z,1574313199.471 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T05:15:14.236Z,1574313314.236 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:15:14.237Z,1574313314.237 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112022261815,35.0, 0.0,1448.9,  0
2019-11-21T05:17:45.344Z,1574313465.344 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:17:45.345Z,1574313465.345 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:17:57.507Z,1574313477.507 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T05:17:57.507Z,1574313477.507 [Default:CheckIn:C.Wait] Stopped
2019-11-21T05:17:57.507Z,1574313477.507 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T05:17:57.508Z,1574313477.508 [Default:CheckIn:D] Running Loop=1
2019-11-21T05:17:57.932Z,1574313477.932 [Default:CheckIn:D] Stopped
2019-11-21T05:17:57.932Z,1574313477.932 [Default:CheckIn:E] Running Loop=1
2019-11-21T05:17:58.301Z,1574313478.301 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 269.352230 min 
2019-11-21T05:17:58.301Z,1574313478.301 [Default:CheckIn:E] Stopped
2019-11-21T05:17:58.301Z,1574313478.301 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T05:17:58.301Z,1574313478.301 [Default:CheckIn] Stopped
2019-11-21T05:17:58.302Z,1574313478.302 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T05:17:58.302Z,1574313478.302 [Default:CheckIn](INFO): Running loop #27
2019-11-21T05:17:58.302Z,1574313478.302 [Default:CheckIn] Running Loop=27
2019-11-21T05:17:58.302Z,1574313478.302 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T05:17:58.302Z,1574313478.302 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T05:18:27.807Z,1574313507.807 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T05:18:27.807Z,1574313507.807 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2019-11-21T05:22:58.495Z,1574313778.495 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T05:17:58.3Z
2019-11-21T05:22:58.495Z,1574313778.495 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T05:22:58.496Z,1574313778.496 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T05:23:02.884Z,1574313782.884 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T05:23:06.557Z,1574313786.557 [DataOverHttps](INFO): Sending 215 bytes from file Logs/20191121T002353/Express0086.lzma
2019-11-21T05:23:09.323Z,1574313789.323 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0086.lzma.bak
2019-11-21T05:23:09.323Z,1574313789.323 [DataOverHttps](INFO): SBD MOMSN=12080822
2019-11-21T05:23:10.620Z,1574313790.620 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T05:23:10.620Z,1574313790.620 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T05:23:10.620Z,1574313790.620 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T05:23:33.581Z,1574313813.581 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T05:26:30.149Z,1574313990.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:26:30.149Z,1574313990.149 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112022373415,35.   0.0,1448.9,  0
2019-11-21T05:27:31.157Z,1574314051.157 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:27:31.157Z,1574314051.157 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112022383515,35.0, -0.1,  8.9,  0
2019-11-21T05:27:46.529Z,1574314066.529 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:27:46.529Z,1574314066.529 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:28:11.152Z,1574314091.152 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:28:11.153Z,1574314091.153 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112022391515,35.0, -0.1,448.9,  0
2019-11-21T05:28:11.197Z,1574314091.197 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T05:28:11.197Z,1574314091.197 [Default:CheckIn:C.Wait] Stopped
2019-11-21T05:28:11.197Z,1574314091.197 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T05:28:11.198Z,1574314091.198 [Default:CheckIn:D] Running Loop=1
2019-11-21T05:28:11.580Z,1574314091.580 [Default:CheckIn:D] Stopped
2019-11-21T05:28:11.580Z,1574314091.580 [Default:CheckIn:E] Running Loop=1
2019-11-21T05:28:12.017Z,1574314092.017 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 279.579687 min 
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn:E] Stopped
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn] Stopped
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn](INFO): Running loop #28
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn] Running Loop=28
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T05:28:12.018Z,1574314092.018 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T05:28:13.559Z,1574314093.559 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T05:28:13.559Z,1574314093.559 [NAL9602] Data Fault, FailCount= 5
2019-11-21T05:28:13.559Z,1574314093.559 [NAL9602](ERROR): Data Fault
2019-11-21T05:28:13.633Z,1574314093.633 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T05:28:13.634Z,1574314093.634 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T05:28:13.963Z,1574314093.963 [NAL9602](INFO): Powering down
2019-11-21T05:28:14.057Z,1574314094.057 [CBIT](INFO): Critical error at 20191121T052813
2019-11-21T05:30:13.586Z,1574314213.586 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T05:30:13.586Z,1574314213.586 [NAL9602] No Fault, FailCount= 5
2019-11-21T05:30:13.955Z,1574314213.955 [NAL9602](INFO): Powering up NAL9602
2019-11-21T05:30:24.863Z,1574314224.863 [NAL9602](INFO): NAL9602 initialized
2019-11-21T05:30:26.511Z,1574314226.511 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:30:26.511Z,1574314226.511 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112022410, -0.1,   0.0,1448.9,  0
2019-11-21T05:32:07.510Z,1574314327.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:32:07.510Z,1574314327.510 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112022431115,35.0, -0.1,448.9,  0
2019-11-21T05:33:12.160Z,1574314392.160 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T05:28:12.0Z
2019-11-21T05:33:12.160Z,1574314392.160 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T05:33:12.161Z,1574314392.161 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T05:33:19.820Z,1574314399.820 [DataOverHttps](INFO): Sending 69 bytes from file Logs/20191121T002353/Courier0088.lzma
2019-11-21T05:33:21.827Z,1574314401.827 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0088.lzma.bak
2019-11-21T05:33:21.828Z,1574314401.828 [DataOverHttps](INFO): SBD MOMSN=12080838
2019-11-21T05:33:39.397Z,1574314419.397 [DataOverHttps](INFO): Sending 231 bytes from file Logs/20191121T002353/Express0089.lzma
2019-11-21T05:33:41.403Z,1574314421.403 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0089.lzma.bak
2019-11-21T05:33:41.403Z,1574314421.403 [DataOverHttps](INFO): SBD MOMSN=12080841
2019-11-21T05:33:43.265Z,1574314423.265 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T05:33:43.265Z,1574314423.265 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T05:33:43.265Z,1574314423.265 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T05:33:52.126Z,1574314432.126 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T05:33:52.126Z,1574314432.126 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191120225.0, -0.1,   0.0,1448.9,  0
2019-11-21T05:34:53.160Z,1574314493.160 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T05:35:28.277Z,1574314528.277 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T05:35:58.980Z,1574314558.980 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T05:38:43.865Z,1574314723.865 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T05:38:43.865Z,1574314723.865 [Default:CheckIn:C.Wait] Stopped
2019-11-21T05:38:43.865Z,1574314723.865 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T05:38:43.865Z,1574314723.865 [Default:CheckIn:D] Running Loop=1
2019-11-21T05:38:44.241Z,1574314724.241 [Default:CheckIn:D] Stopped
2019-11-21T05:38:44.241Z,1574314724.241 [Default:CheckIn:E] Running Loop=1
2019-11-21T05:38:44.647Z,1574314724.647 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 290.124023 min 
2019-11-21T05:38:44.647Z,1574314724.647 [Default:CheckIn:E] Stopped
2019-11-21T05:38:44.647Z,1574314724.647 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T05:38:44.647Z,1574314724.647 [Default:CheckIn] Stopped
2019-11-21T05:38:44.647Z,1574314724.647 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T05:38:44.648Z,1574314724.648 [Default:CheckIn](INFO): Running loop #29
2019-11-21T05:38:44.648Z,1574314724.648 [Default:CheckIn] Running Loop=29
2019-11-21T05:38:44.648Z,1574314724.648 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T05:38:44.648Z,1574314724.648 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T05:39:17.793Z,1574314757.793 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:39:17.794Z,1574314757.794 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:42:59.159Z,1574314979.159 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T05:43:44.826Z,1574315024.826 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T05:38:44.6Z
2019-11-21T05:43:44.826Z,1574315024.826 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T05:43:44.826Z,1574315024.826 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T05:43:48.434Z,1574315028.434 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T05:43:52.545Z,1574315032.545 [DataOverHttps](INFO): Sending 215 bytes from file Logs/20191121T002353/Express0092.lzma
2019-11-21T05:43:54.551Z,1574315034.551 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0092.lzma.bak
2019-11-21T05:43:54.551Z,1574315034.551 [DataOverHttps](INFO): SBD MOMSN=12080857
2019-11-21T05:43:56.533Z,1574315036.533 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T05:43:56.533Z,1574315036.533 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T05:43:56.533Z,1574315036.533 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T05:44:19.129Z,1574315059.129 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T05:44:58.778Z,1574315098.778 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T05:45:23.844Z,1574315123.844 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:45:23.857Z,1574315123.857 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32BE,-32768,-32768,-32768,V
2019-11-21T05:46:03.842Z,1574315163.842 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:46:03.843Z,1574315163.843 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:46:36.168Z,1574315196.168 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T05:48:57.188Z,1574315337.188 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T05:48:57.188Z,1574315337.188 [Default:CheckIn:C.Wait] Stopped
2019-11-21T05:48:57.189Z,1574315337.189 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T05:48:57.189Z,1574315337.189 [Default:CheckIn:D] Running Loop=1
2019-11-21T05:48:57.550Z,1574315337.550 [Default:CheckIn:D] Stopped
2019-11-21T05:48:57.550Z,1574315337.550 [Default:CheckIn:E] Running Loop=1
2019-11-21T05:48:57.966Z,1574315337.966 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 300.345866 min 
2019-11-21T05:48:57.966Z,1574315337.966 [Default:CheckIn:E] Stopped
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn] Stopped
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn](INFO): Running loop #30
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn] Running Loop=30
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T05:48:57.967Z,1574315337.967 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T05:48:59.543Z,1574315339.543 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T05:48:59.543Z,1574315339.543 [NAL9602] Data Fault, FailCount= 1
2019-11-21T05:48:59.543Z,1574315339.543 [NAL9602](ERROR): Data Fault
2019-11-21T05:48:59.595Z,1574315339.595 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T05:48:59.947Z,1574315339.947 [NAL9602](INFO): Powering down
2019-11-21T05:49:00.833Z,1574315340.833 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T05:49:00.833Z,1574315340.833 [NAL9602] No Fault, FailCount= 1
2019-11-21T05:49:30.247Z,1574315370.247 [NAL9602](INFO): Powering up NAL9602
2019-11-21T05:49:39.156Z,1574315379.156 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T05:49:41.168Z,1574315381.168 [NAL9602](INFO): NAL9602 initialized
2019-11-21T05:51:19.857Z,1574315479.857 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T05:51:19.857Z,1574315479.857 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T05:51:19.857Z,1574315479.857 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T05:51:19.858Z,1574315479.858 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T05:51:19.897Z,1574315479.897 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T05:51:20.221Z,1574315480.221 [RDI_Pathfinder](INFO): Powering down
2019-11-21T05:51:20.989Z,1574315480.989 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T05:51:20.989Z,1574315480.989 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T05:51:34.308Z,1574315494.308 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T05:52:01.798Z,1574315521.798 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:52:01.798Z,1574315521.798 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:52:02.665Z,1574315522.665 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T05:52:02.665Z,1574315522.665 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T05:52:02.665Z,1574315522.665 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T05:52:02.665Z,1574315522.665 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T05:52:02.711Z,1574315522.711 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T05:52:03.065Z,1574315523.065 [RDI_Pathfinder](INFO): Powering down
2019-11-21T05:52:03.811Z,1574315523.811 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T05:52:03.811Z,1574315523.811 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T05:52:17.126Z,1574315537.126 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T05:53:12.480Z,1574315592.480 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:53:12.481Z,1574315592.481 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:53:47.240Z,1574315627.240 [RDI_Pathfinder](ERROR): Failed to parse:
:   +0.00,        +0.00,        +0.00,   0.00, 89.00
2019-11-21T05:53:50.064Z,1574315630.064 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:53:50.064Z,1574315630.064 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T05:53:52.091Z,1574315632.091 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T05:53:52.091Z,1574315632.091 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2019-11-21T05:53:58.149Z,1574315638.149 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T05:48:57.0Z
2019-11-21T05:53:58.149Z,1574315638.149 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T05:53:58.150Z,1574315638.150 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T05:54:06.932Z,1574315646.932 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0095.lzma
2019-11-21T05:54:08.939Z,1574315648.939 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0095.lzma.bak
2019-11-21T05:54:08.939Z,1574315648.939 [DataOverHttps](INFO): SBD MOMSN=12080873
2019-11-21T05:54:10.659Z,1574315650.659 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T05:54:10.659Z,1574315650.659 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T05:54:10.659Z,1574315650.659 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T05:54:44.553Z,1574315684.553 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T05:55:15.259Z,1574315715.259 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T05:55:52.088Z,1574315752.088 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T05:55:52.088Z,1574315752.088 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-11-21T05:59:06.801Z,1574315946.801 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T05:59:06.801Z,1574315946.801 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-11-21T05:59:11.258Z,1574315951.258 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T05:59:11.259Z,1574315951.259 [Default:CheckIn:C.Wait] Stopped
2019-11-21T05:59:11.259Z,1574315951.259 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T05:59:11.259Z,1574315951.259 [Default:CheckIn:D] Running Loop=1
2019-11-21T05:59:11.655Z,1574315951.655 [Default:CheckIn:D] Stopped
2019-11-21T05:59:11.655Z,1574315951.655 [Default:CheckIn:E] Running Loop=1
2019-11-21T05:59:12.085Z,1574315952.085 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 310.580924 min 
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn:E] Stopped
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn] Stopped
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn](INFO): Running loop #31
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn] Running Loop=31
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T05:59:12.086Z,1574315952.086 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T05:59:44.765Z,1574315984.765 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T05:59:44.845Z,1574315984.845 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T05:59:44.845Z,1574315984.845 [NAL9602] Data Fault, FailCount= 2
2019-11-21T05:59:44.845Z,1574315984.845 [NAL9602](ERROR): Data Fault
2019-11-21T05:59:44.929Z,1574315984.929 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T05:59:45.166Z,1574315985.166 [NAL9602](INFO): Powering down
2019-11-21T05:59:46.011Z,1574315986.011 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T05:59:46.012Z,1574315986.012 [NAL9602] No Fault, FailCount= 2
2019-11-21T05:59:50.441Z,1574315990.441 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T05:59:50.441Z,1574315990.441 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T06:00:15.467Z,1574316015.467 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:00:26.416Z,1574316026.416 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:00:27.195Z,1574316027.195 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T06:00:27.195Z,1574316027.195 [NAL9602] Data Fault, FailCount= 3
2019-11-21T06:00:27.195Z,1574316027.195 [NAL9602](ERROR): Data Fault
2019-11-21T06:00:27.269Z,1574316027.269 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:00:27.599Z,1574316027.599 [NAL9602](INFO): Powering down
2019-11-21T06:00:28.450Z,1574316028.450 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:00:28.450Z,1574316028.450 [NAL9602] No Fault, FailCount= 3
2019-11-21T06:00:32.459Z,1574316032.459 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:00:32.459Z,1574316032.459 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023113645,35.0, -0.1,   0.0, 0
2019-11-21T06:00:57.893Z,1574316057.893 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:01:08.802Z,1574316068.802 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:01:50.443Z,1574316110.443 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T06:01:50.443Z,1574316110.443 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T06:02:05.804Z,1574316125.804 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:02:05.805Z,1574316125.805 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023130945,0,1448.9,  0
2019-11-21T06:03:03.196Z,1574316183.196 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T06:03:16.153Z,1574316196.153 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T06:03:50.067Z,1574316230.067 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:03:50.067Z,1574316230.067 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3268,-32768,V
2019-11-21T06:04:11.143Z,1574316251.143 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T06:04:12.258Z,1574316252.258 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T05:59:12.1Z
2019-11-21T06:04:12.258Z,1574316252.258 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T06:04:12.258Z,1574316252.258 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T06:04:15.855Z,1574316255.855 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T06:04:20.473Z,1574316260.473 [DataOverHttps](INFO): Sending 279 bytes from file Logs/20191121T002353/Express0098.lzma
2019-11-21T06:04:22.479Z,1574316262.479 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0098.lzma.bak
2019-11-21T06:04:22.479Z,1574316262.479 [DataOverHttps](INFO): SBD MOMSN=12080889
2019-11-21T06:04:24.385Z,1574316264.385 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T06:04:24.385Z,1574316264.385 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T06:04:24.385Z,1574316264.385 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T06:04:30.423Z,1574316270.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:04:30.424Z,1574316270.424 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023153445,35.0, -.0,1448.9,  0
2019-11-21T06:04:46.556Z,1574316286.556 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T06:05:25.425Z,1574316325.425 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T06:05:25.426Z,1574316325.426 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00 +0.00,        +0.00,   0.00,787.97
2019-11-21T06:06:26.513Z,1574316386.513 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T06:08:13.933Z,1574316493.933 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T06:09:24.986Z,1574316564.986 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T06:09:24.986Z,1574316564.986 [Default:CheckIn:C.Wait] Stopped
2019-11-21T06:09:24.987Z,1574316564.987 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T06:09:24.987Z,1574316564.987 [Default:CheckIn:D] Running Loop=1
2019-11-21T06:09:25.416Z,1574316565.416 [Default:CheckIn:D] Stopped
2019-11-21T06:09:25.416Z,1574316565.416 [Default:CheckIn:E] Running Loop=1
2019-11-21T06:09:25.817Z,1574316565.817 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 320.810286 min 
2019-11-21T06:09:25.817Z,1574316565.817 [Default:CheckIn:E] Stopped
2019-11-21T06:09:25.817Z,1574316565.817 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T06:09:25.817Z,1574316565.817 [Default:CheckIn] Stopped
2019-11-21T06:09:25.818Z,1574316565.818 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T06:09:25.818Z,1574316565.818 [Default:CheckIn](INFO): Running loop #32
2019-11-21T06:09:25.818Z,1574316565.818 [Default:CheckIn] Running Loop=32
2019-11-21T06:09:25.818Z,1574316565.818 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T06:09:25.818Z,1574316565.818 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T06:09:29.419Z,1574316569.419 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:09:29.419Z,1574316569.419 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023203345,35.0, -0.1,  8.9,  0
2019-11-21T06:09:34.350Z,1574316574.350 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T06:09:46.809Z,1574316586.809 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T06:09:46.811Z,1574316586.811 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T06:09:58.483Z,1574316598.483 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T06:09:58.561Z,1574316598.561 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T06:09:58.561Z,1574316598.561 [NAL9602] Data Fault, FailCount= 4
2019-11-21T06:09:58.561Z,1574316598.561 [NAL9602](ERROR): Data Fault
2019-11-21T06:09:58.609Z,1574316598.609 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:09:58.887Z,1574316598.887 [NAL9602](INFO): Powering down
2019-11-21T06:09:59.781Z,1574316599.781 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:09:59.781Z,1574316599.781 [NAL9602] No Fault, FailCount= 4
2019-11-21T06:10:29.191Z,1574316629.191 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:10:40.093Z,1574316640.093 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:10:49.422Z,1574316649.422 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:10:49.422Z,1574316649.422 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023215345,35.0, -0.1,   0.0,144

2019-11-21T06:12:11.442Z,1574316731.442 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T06:12:11.442Z,1574316731.442 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T06:14:25.969Z,1574316865.969 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T06:09:25.8Z
2019-11-21T06:14:25.969Z,1574316865.969 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T06:14:25.970Z,1574316865.970 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T06:14:29.567Z,1574316869.567 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T06:14:33.560Z,1574316873.560 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0100.lzma
2019-11-21T06:14:35.567Z,1574316875.567 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0100.lzma.bak
2019-11-21T06:14:35.567Z,1574316875.567 [DataOverHttps](INFO): SBD MOMSN=12080905
2019-11-21T06:14:54.142Z,1574316894.142 [DataOverHttps](INFO): Sending 254 bytes from file Logs/20191121T002353/Express0101.lzma
2019-11-21T06:14:55.959Z,1574316895.959 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0101.lzma.bak
2019-11-21T06:14:55.959Z,1574316895.959 [DataOverHttps](INFO): SBD MOMSN=12080907
2019-11-21T06:14:57.894Z,1574316897.894 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T06:14:57.894Z,1574316897.894 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T06:14:57.894Z,1574316897.894 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T06:15:00.279Z,1574316900.279 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T06:18:57.445Z,1574317137.445 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T06:18:57.446Z,1574317137.446 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2019-11-21T06:19:58.468Z,1574317198.468 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T06:19:58.468Z,1574317198.468 [Default:CheckIn:C.Wait] Stopped
2019-11-21T06:19:58.468Z,1574317198.468 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T06:19:58.468Z,1574317198.468 [Default:CheckIn:D] Running Loop=1
2019-11-21T06:19:58.878Z,1574317198.878 [Default:CheckIn:D] Stopped
2019-11-21T06:19:58.878Z,1574317198.878 [Default:CheckIn:E] Running Loop=1
2019-11-21T06:19:59.276Z,1574317199.276 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 331.368001 min 
2019-11-21T06:19:59.276Z,1574317199.276 [Default:CheckIn:E] Stopped
2019-11-21T06:19:59.276Z,1574317199.276 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T06:19:59.277Z,1574317199.277 [Default:CheckIn] Stopped
2019-11-21T06:19:59.277Z,1574317199.277 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T06:19:59.277Z,1574317199.277 [Default:CheckIn](INFO): Running loop #33
2019-11-21T06:19:59.277Z,1574317199.277 [Default:CheckIn] Running Loop=33
2019-11-21T06:19:59.277Z,1574317199.277 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T06:19:59.277Z,1574317199.277 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T06:20:00.863Z,1574317200.863 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T06:20:00.863Z,1574317200.863 [NAL9602] Data Fault, FailCount= 5
2019-11-21T06:20:00.863Z,1574317200.863 [NAL9602](ERROR): Data Fault
2019-11-21T06:20:00.925Z,1574317200.925 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:20:00.926Z,1574317200.926 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T06:20:01.263Z,1574317201.263 [NAL9602](INFO): Powering down
2019-11-21T06:20:01.316Z,1574317201.316 [CBIT](INFO): Critical error at 20191121T062000
2019-11-21T06:20:54.235Z,1574317254.235 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:20:54.236Z,1574317254.236 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2019-11-21T06:21:43.502Z,1574317303.502 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T06:21:43.502Z,1574317303.502 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T06:22:00.880Z,1574317320.880 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:22:00.880Z,1574317320.880 [NAL9602] No Fault, FailCount= 5
2019-11-21T06:22:01.245Z,1574317321.245 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:22:12.163Z,1574317332.163 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:22:57.439Z,1574317377.439 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:22:57.439Z,1574317377.439 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023340145,.1,   0.0,1448.9,  0
2019-11-21T06:23:34.595Z,1574317414.595 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:23:34.595Z,1574317414.595 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023343845,35.0, -0.1,   0.0,1448.RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T06:24:20.279Z,1574317460.279 [RDI_Pathfinder](ERROR): Failed to parse:
    +0.00,        +0.00,        +0.00,   0.00,1921.85
2019-11-21T06:24:49.758Z,1574317489.758 [CBIT](IMPORTANT): Beginning ground fault scan
2019-11-21T06:24:54.586Z,1574317494.586 [RDI_Pathfinder](ERROR): Failed to parse:
00,   0.00,   0.00,   0.00,   0.00
2019-11-21T06:24:59.473Z,1574317499.473 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T06:19:59.3Z
2019-11-21T06:24:59.473Z,1574317499.473 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T06:24:59.474Z,1574317499.474 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T06:25:01.012Z,1574317501.012 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): 0.002503
CHAN A1 (24V): -0.028049
CHAN A2 (12V): -0.007510
CHAN A3 (5V): -0.002375
CHAN B0 (3.3V): 0.000226
CHAN B1 (3.15aV): -0.000139
CHAN B2 (3.15bV): -0.000269
CHAN B3 (GND): 0.002269
OPEN: 0.005126
Full Scale Calc: 4.765 mA, -1.589 mA
2019-11-21T06:25:09.740Z,1574317509.740 [DataOverHttps](INFO): Sending 69 bytes from file Logs/20191121T002353/Courier0103.lzma
2019-11-21T06:25:11.747Z,1574317511.747 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0103.lzma.bak
2019-11-21T06:25:11.747Z,1574317511.747 [DataOverHttps](INFO): SBD MOMSN=12080920
2019-11-21T06:25:14.592Z,1574317514.592 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:25:14.593Z,1574317514.593 [RDI_Pathfinder](ERROR): Failed to parse:
:TS3361845,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T06:25:29.625Z,1574317529.625 [DataOverHttps](INFO): Sending 259 bytes from file Logs/20191121T002353/Express0104.lzma
2019-11-21T06:25:31.631Z,1574317531.631 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0104.lzma.bak
2019-11-21T06:25:31.631Z,1574317531.631 [DataOverHttps](INFO): SBD MOMSN=12080923
2019-11-21T06:25:33.203Z,1574317533.203 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T06:25:33.203Z,1574317533.203 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00 +0.00,   0.00,1995.84
2019-11-21T06:25:33.597Z,1574317533.597 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T06:25:33.597Z,1574317533.597 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T06:25:33.597Z,1574317533.597 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T06:26:37.446Z,1574317597.446 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:26:37.446Z,1574317597.446 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023374, -0.1,   0.0,1448.9,  0
2019-11-21T06:27:15.782Z,1574317635.782 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T06:27:46.491Z,1574317666.491 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T06:29:15.415Z,1574317755.415 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T06:29:15.415Z,1574317755.415 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,     ,        +0.00,        +0.00,   0.00,2217.79
2019-11-21T06:29:38.417Z,1574317778.417 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:29:38.417Z,1574317778.417 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191120234.0, -0.1,   0.0,1448.9,  0
2019-11-21T06:29:55.469Z,1574317795.469 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T06:29:55.469Z,1574317795.469 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T06:29:55.469Z,1574317795.469 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T06:29:55.469Z,1574317795.469 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T06:29:55.493Z,1574317795.493 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T06:29:55.849Z,1574317795.849 [RDI_Pathfinder](INFO): Powering down
2019-11-21T06:29:56.614Z,1574317796.614 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T06:29:56.614Z,1574317796.614 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T06:30:09.936Z,1574317809.936 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T06:30:34.189Z,1574317834.189 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T06:30:34.189Z,1574317834.189 [Default:CheckIn:C.Wait] Stopped
2019-11-21T06:30:34.189Z,1574317834.189 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T06:30:34.189Z,1574317834.189 [Default:CheckIn:D] Running Loop=1
2019-11-21T06:30:34.582Z,1574317834.582 [Default:CheckIn:D] Stopped
2019-11-21T06:30:34.582Z,1574317834.582 [Default:CheckIn:E] Running Loop=1
2019-11-21T06:30:35.005Z,1574317835.005 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 341.963053 min 
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn:E] Stopped
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn] Stopped
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn](INFO): Running loop #34
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn] Running Loop=34
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T06:30:35.006Z,1574317835.006 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T06:31:07.675Z,1574317867.675 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T06:31:07.749Z,1574317867.749 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T06:31:07.749Z,1574317867.749 [NAL9602] Data Fault, FailCount= 1
2019-11-21T06:31:07.749Z,1574317867.749 [NAL9602](ERROR): Data Fault
2019-11-21T06:31:07.822Z,1574317867.822 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:31:08.083Z,1574317868.083 [NAL9602](INFO): Powering down
2019-11-21T06:31:08.923Z,1574317868.923 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:31:08.923Z,1574317868.923 [NAL9602] No Fault, FailCount= 1
2019-11-21T06:31:38.379Z,1574317898.379 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:31:49.287Z,1574317909.287 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:35:29.923Z,1574318129.923 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T06:35:35.176Z,1574318135.176 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T06:30:35.0Z
2019-11-21T06:35:35.176Z,1574318135.176 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T06:35:35.176Z,1574318135.176 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T06:35:38.759Z,1574318138.759 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T06:35:43.501Z,1574318143.501 [DataOverHttps](INFO): Sending 419 bytes from file Logs/20191121T002353/Express0107.lzma
2019-11-21T06:35:45.503Z,1574318145.503 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0107.lzma.bak
2019-11-21T06:35:45.503Z,1574318145.503 [DataOverHttps](INFO): SBD MOMSN=12080942
2019-11-21T06:35:47.285Z,1574318147.285 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T06:35:47.285Z,1574318147.285 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T06:35:47.285Z,1574318147.285 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T06:36:09.468Z,1574318169.468 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T06:39:36.339Z,1574318376.339 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:39:36.340Z,1574318376.340 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023504030,35.0, -0.,1448.9,  0
2019-11-21T06:39:50.896Z,1574318390.896 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T06:40:47.857Z,1574318447.857 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T06:40:47.857Z,1574318447.857 [Default:CheckIn:C.Wait] Stopped
2019-11-21T06:40:47.857Z,1574318447.857 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T06:40:47.857Z,1574318447.857 [Default:CheckIn:D] Running Loop=1
2019-11-21T06:40:48.284Z,1574318448.284 [Default:CheckIn:D] Stopped
2019-11-21T06:40:48.284Z,1574318448.284 [Default:CheckIn:E] Running Loop=1
2019-11-21T06:40:48.655Z,1574318448.655 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 352.191406 min 
2019-11-21T06:40:48.655Z,1574318448.655 [Default:CheckIn:E] Stopped
2019-11-21T06:40:48.655Z,1574318448.655 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T06:40:48.656Z,1574318448.656 [Default:CheckIn] Stopped
2019-11-21T06:40:48.656Z,1574318448.656 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T06:40:48.656Z,1574318448.656 [Default:CheckIn](INFO): Running loop #35
2019-11-21T06:40:48.656Z,1574318448.656 [Default:CheckIn] Running Loop=35
2019-11-21T06:40:48.656Z,1574318448.656 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T06:40:48.656Z,1574318448.656 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T06:40:50.259Z,1574318450.259 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T06:40:50.259Z,1574318450.259 [NAL9602] Data Fault, FailCount= 2
2019-11-21T06:40:50.259Z,1574318450.259 [NAL9602](ERROR): Data Fault
2019-11-21T06:40:50.324Z,1574318450.324 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:40:50.653Z,1574318450.653 [NAL9602](INFO): Powering down
2019-11-21T06:40:51.511Z,1574318451.511 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:40:51.511Z,1574318451.511 [NAL9602] No Fault, FailCount= 2
2019-11-21T06:40:56.319Z,1574318456.319 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:40:56.319Z,1574318456.319 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023520030,35.0, -0.1,   0.0,10
2019-11-21T06:41:20.955Z,1574318480.955 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:41:27.436Z,1574318487.436 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:41:27.436Z,1574318487.436 [RDI_Pathfinder](ERROR): Failed to parse:
:TS3523130,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T06:41:31.878Z,1574318491.878 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:41:36.316Z,1574318496.316 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:41:36.316Z,1574318496.316 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023524030,35.0, -0.1,   0.0,144

2019-11-21T06:43:36.315Z,1574318616.315 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:43:36.315Z,1574318616.315 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112023544030,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T06:45:48.835Z,1574318748.835 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T06:40:48.7Z
2019-11-21T06:45:48.835Z,1574318748.835 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T06:45:48.836Z,1574318748.836 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T06:45:50.973Z,1574318750.973 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T06:45:50.973Z,1574318750.973 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T06:45:50.973Z,1574318750.973 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T06:45:50.973Z,1574318750.973 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T06:45:51.021Z,1574318751.021 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T06:45:51.361Z,1574318751.361 [RDI_Pathfinder](INFO): Powering down
2019-11-21T06:45:52.137Z,1574318752.137 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T06:45:52.137Z,1574318752.137 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T06:45:55.876Z,1574318755.876 [DataOverHttps](INFO): Sending 234 bytes from file Logs/20191121T002353/Express0110.lzma
2019-11-21T06:45:57.887Z,1574318757.887 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0110.lzma.bak
2019-11-21T06:45:57.887Z,1574318757.887 [DataOverHttps](INFO): SBD MOMSN=12080959
2019-11-21T06:45:59.777Z,1574318759.777 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T06:45:59.777Z,1574318759.777 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T06:45:59.777Z,1574318759.777 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T06:46:05.435Z,1574318765.435 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T06:46:35.295Z,1574318795.295 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T06:47:05.999Z,1574318825.999 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T06:49:25.421Z,1574318965.421 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:49:25.421Z,1574318965.421 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-11-21T06:51:00.353Z,1574319060.353 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T06:51:00.354Z,1574319060.354 [Default:CheckIn:C.Wait] Stopped
2019-11-21T06:51:00.354Z,1574319060.354 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T06:51:00.355Z,1574319060.355 [Default:CheckIn:D] Running Loop=1
2019-11-21T06:51:00.773Z,1574319060.773 [Default:CheckIn:D] Stopped
2019-11-21T06:51:00.773Z,1574319060.773 [Default:CheckIn:E] Running Loop=1
2019-11-21T06:51:01.151Z,1574319061.151 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 362.399512 min 
2019-11-21T06:51:01.151Z,1574319061.151 [Default:CheckIn:E] Stopped
2019-11-21T06:51:01.151Z,1574319061.151 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T06:51:01.151Z,1574319061.151 [Default:CheckIn] Stopped
2019-11-21T06:51:01.151Z,1574319061.151 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T06:51:01.152Z,1574319061.152 [Default:CheckIn](INFO): Running loop #36
2019-11-21T06:51:01.152Z,1574319061.152 [Default:CheckIn] Running Loop=36
2019-11-21T06:51:01.152Z,1574319061.152 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T06:51:01.152Z,1574319061.152 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T06:51:33.855Z,1574319093.855 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T06:51:33.937Z,1574319093.937 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T06:51:33.937Z,1574319093.937 [NAL9602] Data Fault, FailCount= 3
2019-11-21T06:51:33.937Z,1574319093.937 [NAL9602](ERROR): Data Fault
2019-11-21T06:51:33.992Z,1574319093.992 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:51:34.259Z,1574319094.259 [NAL9602](INFO): Powering down
2019-11-21T06:51:35.138Z,1574319095.138 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:51:35.138Z,1574319095.138 [NAL9602] No Fault, FailCount= 3
2019-11-21T06:52:04.555Z,1574319124.555 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:52:11.468Z,1574319131.468 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:52:11.468Z,1574319131.468 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3768,-32768,V
2019-11-21T06:52:15.458Z,1574319135.458 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:52:16.271Z,1574319136.271 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T06:52:16.271Z,1574319136.271 [NAL9602] Data Fault, FailCount= 4
2019-11-21T06:52:16.271Z,1574319136.271 [NAL9602](ERROR): Data Fault
2019-11-21T06:52:16.324Z,1574319136.324 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T06:52:16.672Z,1574319136.672 [NAL9602](INFO): Powering down
2019-11-21T06:52:17.530Z,1574319137.530 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T06:52:17.530Z,1574319137.530 [NAL9602] No Fault, FailCount= 4
2019-11-21T06:52:42.568Z,1574319162.568 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:52:42.568Z,1574319162.568 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-2768,V
2019-11-21T06:52:46.971Z,1574319166.971 [NAL9602](INFO): Powering up NAL9602
2019-11-21T06:52:57.883Z,1574319177.883 [NAL9602](INFO): NAL9602 initialized
2019-11-21T06:53:31.462Z,1574319211.462 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:53:31.462Z,1574319211.462 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-11-21T06:53:47.603Z,1574319227.603 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T06:53:47.603Z,1574319227.603 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3270.99
2019-11-21T06:56:01.325Z,1574319361.325 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T06:51:01.2Z
2019-11-21T06:56:01.325Z,1574319361.325 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T06:56:01.325Z,1574319361.325 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T06:56:05.335Z,1574319365.335 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T06:56:09.109Z,1574319369.109 [DataOverHttps](INFO): Sending 273 bytes from file Logs/20191121T002353/Express0113.lzma
2019-11-21T06:56:11.115Z,1574319371.115 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0113.lzma.bak
2019-11-21T06:56:11.115Z,1574319371.115 [DataOverHttps](INFO): SBD MOMSN=12080975
2019-11-21T06:56:13.058Z,1574319373.058 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T06:56:13.058Z,1574319373.058 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T06:56:13.058Z,1574319373.058 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T06:56:36.039Z,1574319396.039 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T06:58:02.937Z,1574319482.937 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T06:58:02.937Z,1574319482.937 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100090681,35.0, -0.1,   0.0,1448.RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T06:58:43.753Z,1574319523.753 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T06:58:43.753Z,1574319523.753 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2019-11-21T07:00:08.613Z,1574319608.613 [RDI_Pathfinder](ERROR): Failed to parse:
:B  +0.00,        +0.00,        +0.00,   0.00,841.97
2019-11-21T07:00:30.425Z,1574319630.425 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:00:30.426Z,1574319630.426 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0    +0.00,        +0.00,   0.00,864.97
2019-11-21T07:01:13.647Z,1574319673.647 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T07:01:13.647Z,1574319673.647 [Default:CheckIn:C.Wait] Stopped
2019-11-21T07:01:13.647Z,1574319673.647 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T07:01:13.647Z,1574319673.647 [Default:CheckIn:D] Running Loop=1
2019-11-21T07:01:14.048Z,1574319674.048 [Default:CheckIn:D] Stopped
2019-11-21T07:01:14.048Z,1574319674.048 [Default:CheckIn:E] Running Loop=1
2019-11-21T07:01:14.449Z,1574319674.449 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 372.620833 min 
2019-11-21T07:01:14.449Z,1574319674.449 [Default:CheckIn:E] Stopped
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn] Stopped
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn](INFO): Running loop #37
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn] Running Loop=37
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T07:01:14.450Z,1574319674.450 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T07:01:47.139Z,1574319707.139 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T07:01:47.217Z,1574319707.217 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T07:01:47.217Z,1574319707.217 [NAL9602] Data Fault, FailCount= 5
2019-11-21T07:01:47.217Z,1574319707.217 [NAL9602](ERROR): Data Fault
2019-11-21T07:01:47.257Z,1574319707.257 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T07:01:47.258Z,1574319707.258 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T07:01:47.539Z,1574319707.539 [NAL9602](INFO): Powering down
2019-11-21T07:01:47.600Z,1574319707.600 [CBIT](INFO): Critical error at 20191121T070147
2019-11-21T07:02:42.923Z,1574319762.923 [RDI_Pathfinder](ERROR): Failed to parse:
:0,   0.00,   0.00,   0.00,   0.00
2019-11-21T07:02:45.770Z,1574319765.770 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00,   0.00
2019-11-21T07:03:47.605Z,1574319827.605 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T07:03:47.605Z,1574319827.605 [NAL9602] No Fault, FailCount= 5
2019-11-21T07:03:47.960Z,1574319827.960 [NAL9602](INFO): Powering up NAL9602
2019-11-21T07:03:58.863Z,1574319838.863 [NAL9602](INFO): NAL9602 initialized
2019-11-21T07:03:59.667Z,1574319839.667 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T07:03:59.667Z,1574319839.667 [NAL9602] Data Fault, FailCount= 1
2019-11-21T07:03:59.667Z,1574319839.667 [NAL9602](ERROR): Data Fault
2019-11-21T07:03:59.742Z,1574319839.742 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T07:04:00.075Z,1574319840.075 [NAL9602](INFO): Powering down
2019-11-21T07:04:00.934Z,1574319840.934 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T07:04:00.934Z,1574319840.934 [NAL9602] No Fault, FailCount= 1
2019-11-21T07:04:07.390Z,1574319847.390 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2019-11-21T07:04:30.386Z,1574319870.386 [NAL9602](INFO): Powering up NAL9602
2019-11-21T07:04:41.278Z,1574319881.278 [NAL9602](INFO): NAL9602 initialized
2019-11-21T07:06:14.658Z,1574319974.658 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T07:01:14.5Z
2019-11-21T07:06:14.658Z,1574319974.658 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T07:06:14.658Z,1574319974.658 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T07:06:18.655Z,1574319978.655 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T07:06:22.032Z,1574319982.032 [DataOverHttps](INFO): Sending 69 bytes from file Logs/20191121T002353/Courier0115.lzma
2019-11-21T07:06:24.039Z,1574319984.039 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0115.lzma.bak
2019-11-21T07:06:24.039Z,1574319984.039 [DataOverHttps](INFO): SBD MOMSN=12080992
2019-11-21T07:06:42.393Z,1574320002.393 [DataOverHttps](INFO): Sending 279 bytes from file Logs/20191121T002353/Express0116.lzma
2019-11-21T07:06:44.399Z,1574320004.399 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0116.lzma.bak
2019-11-21T07:06:44.399Z,1574320004.399 [DataOverHttps](INFO): SBD MOMSN=12080995
2019-11-21T07:06:46.169Z,1574320006.169 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T07:06:46.169Z,1574320006.169 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T07:06:46.169Z,1574320006.169 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T07:06:49.411Z,1574320009.411 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T07:07:06.758Z,1574320026.758 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:07:06.758Z,1574320026.758 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100181081,35.0, -0.1,   0.0,1448.RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T07:08:07.765Z,1574320087.765 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:09:06.734Z,1574320146.734 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:09:06.734Z,1574320146.734 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100201081,35.   0.0,1448.9,  0
2019-11-21T07:09:10.410Z,1574320150.410 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:09:29.394Z,1574320169.394 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:09:29.394Z,1574320169.394 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,1403.91
2019-11-21T07:10:28.774Z,1574320228.774 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:10:28.774Z,1574320228.774 [RDI_Pathfinder](ERROR): Failed to parse:
:TS0213281,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T07:10:44.114Z,1574320244.114 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:10:44.114Z,1574320244.114 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100214781,35.0, -0.1,   0.0,1448.RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T07:10:49.387Z,1574320249.387 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,        +0.00,   0.00,1483.90
2019-11-21T07:11:07.626Z,1574320267.626 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:11:46.746Z,1574320306.746 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T07:11:46.746Z,1574320306.746 [Default:CheckIn:C.Wait] Stopped
2019-11-21T07:11:46.746Z,1574320306.746 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T07:11:46.746Z,1574320306.746 [Default:CheckIn:D] Running Loop=1
2019-11-21T07:11:47.144Z,1574320307.144 [Default:CheckIn:D] Stopped
2019-11-21T07:11:47.144Z,1574320307.144 [Default:CheckIn:E] Running Loop=1
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 383.172428 min 
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn:E] Stopped
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn] Stopped
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn](INFO): Running loop #38
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn] Running Loop=38
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T07:11:47.562Z,1574320307.562 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T07:12:01.330Z,1574320321.330 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:12:14.265Z,1574320334.265 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:12:20.243Z,1574320340.243 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T07:12:20.317Z,1574320340.317 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T07:12:20.317Z,1574320340.317 [NAL9602] Data Fault, FailCount= 2
2019-11-21T07:12:20.317Z,1574320340.317 [NAL9602](ERROR): Data Fault
2019-11-21T07:12:20.418Z,1574320340.418 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T07:12:20.643Z,1574320340.643 [NAL9602](INFO): Powering down
2019-11-21T07:12:21.522Z,1574320341.522 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T07:12:21.522Z,1574320341.522 [NAL9602] No Fault, FailCount= 2
2019-11-21T07:12:50.939Z,1574320370.939 [NAL9602](INFO): Powering up NAL9602
2019-11-21T07:13:01.859Z,1574320381.859 [NAL9602](INFO): NAL9602 initialized
2019-11-21T07:13:08.427Z,1574320388.427 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:13:21.846Z,1574320401.846 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:13:24.117Z,1574320404.117 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:13:24.117Z,1574320404.117 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:13:34.658Z,1574320414.658 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:13:47.634Z,1574320427.634 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:14:41.756Z,1574320481.756 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:14:49.754Z,1574320489.754 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:16:47.744Z,1574320607.744 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T07:11:47.6Z
2019-11-21T07:16:47.744Z,1574320607.744 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T07:16:47.744Z,1574320607.744 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T07:16:51.743Z,1574320611.743 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T07:16:55.681Z,1574320615.681 [DataOverHttps](INFO): Sending 261 bytes from file Logs/20191121T002353/Express0119.lzma
2019-11-21T07:16:57.687Z,1574320617.687 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0119.lzma.bak
2019-11-21T07:16:57.687Z,1574320617.687 [DataOverHttps](INFO): SBD MOMSN=12081008
2019-11-21T07:16:59.472Z,1574320619.472 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T07:16:59.472Z,1574320619.472 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T07:16:59.472Z,1574320619.472 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T07:17:08.736Z,1574320628.736 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:17:08.737Z,1574320628.737 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100281281,35.0, 0.0,1448.9,  0
2019-11-21T07:17:16.054Z,1574320636.054 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:17:22.442Z,1574320642.442 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T07:17:52.846Z,1574320672.846 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:18:11.788Z,1574320691.788 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T07:18:18.231Z,1574320698.231 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T07:18:18.233Z,1574320698.233 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T07:20:28.755Z,1574320828.755 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:20:28.755Z,1574320828.755 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:22:00.053Z,1574320920.053 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T07:22:00.053Z,1574320920.053 [Default:CheckIn:C.Wait] Stopped
2019-11-21T07:22:00.053Z,1574320920.053 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T07:22:00.054Z,1574320920.054 [Default:CheckIn:D] Running Loop=1
2019-11-21T07:22:00.470Z,1574320920.470 [Default:CheckIn:D] Stopped
2019-11-21T07:22:00.470Z,1574320920.470 [Default:CheckIn:E] Running Loop=1
2019-11-21T07:22:00.865Z,1574320920.865 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 393.394531 min 
2019-11-21T07:22:00.865Z,1574320920.865 [Default:CheckIn:E] Stopped
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn] Stopped
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn](INFO): Running loop #39
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn] Running Loop=39
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T07:22:00.866Z,1574320920.866 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T07:22:02.448Z,1574320922.448 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T07:22:02.448Z,1574320922.448 [NAL9602] Data Fault, FailCount= 3
2019-11-21T07:22:02.448Z,1574320922.448 [NAL9602](ERROR): Data Fault
2019-11-21T07:22:02.480Z,1574320922.480 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T07:22:02.856Z,1574320922.856 [NAL9602](INFO): Powering down
2019-11-21T07:22:03.740Z,1574320923.740 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T07:22:03.740Z,1574320923.740 [NAL9602] No Fault, FailCount= 3
2019-11-21T07:22:33.147Z,1574320953.147 [NAL9602](INFO): Powering up NAL9602
2019-11-21T07:22:44.053Z,1574320964.053 [NAL9602](INFO): NAL9602 initialized
2019-11-21T07:26:09.724Z,1574321169.724 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T07:26:09.724Z,1574321169.724 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2019-11-21T07:27:01.048Z,1574321221.048 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T07:22:00.9Z
2019-11-21T07:27:01.048Z,1574321221.048 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T07:27:01.049Z,1574321221.049 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T07:27:08.768Z,1574321228.768 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0121.lzma
2019-11-21T07:27:10.775Z,1574321230.775 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0121.lzma.bak
2019-11-21T07:27:10.775Z,1574321230.775 [DataOverHttps](INFO): SBD MOMSN=12081024
2019-11-21T07:27:28.473Z,1574321248.473 [DataOverHttps](INFO): Sending 235 bytes from file Logs/20191121T002353/Express0122.lzma
2019-11-21T07:27:30.479Z,1574321250.479 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0122.lzma.bak
2019-11-21T07:27:30.479Z,1574321250.479 [DataOverHttps](INFO): SBD MOMSN=12081026
2019-11-21T07:27:32.151Z,1574321252.151 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T07:27:32.151Z,1574321252.151 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T07:27:32.151Z,1574321252.151 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T07:27:47.460Z,1574321267.460 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T07:28:15.387Z,1574321295.387 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T07:28:15.387Z,1574321295.387 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3268,V
2019-11-21T07:28:18.162Z,1574321298.162 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T07:30:52.913Z,1574321452.913 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:30:52.913Z,1574321452.913 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100415681,35.0, 0.0,1448.9,  0
2019-11-21T07:31:01.809Z,1574321461.809 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:31:01.809Z,1574321461.809 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100420581,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T07:31:32.913Z,1574321492.913 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:31:32.913Z,1574321492.913 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,

2019-11-21T07:31:56.760Z,1574321516.760 [RDI_Pathfinder](ERROR): Failed to parse:
:8,-32768,-32768,V
2019-11-21T07:32:12.918Z,1574321532.918 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:32:12.918Z,1574321532.918 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:32:32.739Z,1574321552.739 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T07:32:32.739Z,1574321552.739 [Default:CheckIn:C.Wait] Stopped
2019-11-21T07:32:32.740Z,1574321552.740 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T07:32:32.740Z,1574321552.740 [Default:CheckIn:D] Running Loop=1
2019-11-21T07:32:33.111Z,1574321553.111 [Default:CheckIn:D] Stopped
2019-11-21T07:32:33.111Z,1574321553.111 [Default:CheckIn:E] Running Loop=1
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 403.938542 min 
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn:E] Stopped
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn] Stopped
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn](INFO): Running loop #40
2019-11-21T07:32:33.523Z,1574321553.523 [Default:CheckIn] Running Loop=40
2019-11-21T07:32:33.524Z,1574321553.524 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T07:32:33.524Z,1574321553.524 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T07:32:36.745Z,1574321556.745 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:32:36.746Z,1574321556.746 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100434, -0.1,   0.0,1448.9,  0
2019-11-21T07:32:57.381Z,1574321577.381 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:33:32.918Z,1574321612.918 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:33:32.918Z,1574321612.918 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191121005.0, -0.1,   0.0,1448.9,  0
2019-11-21T07:34:13.732Z,1574321653.732 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:34:57.751Z,1574321697.751 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T07:34:57.751Z,1574321697.751 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3268,V
2019-11-21T07:35:18.368Z,1574321718.368 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:35:18.368Z,1574321718.368 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.0   0.00,2952.61
2019-11-21T07:37:18.369Z,1574321838.369 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:37:33.738Z,1574321853.738 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T07:32:33.5Z
2019-11-21T07:37:33.738Z,1574321853.738 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T07:37:33.738Z,1574321853.738 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T07:37:37.703Z,1574321857.703 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T07:37:41.264Z,1574321861.264 [DataOverHttps](INFO): Sending 216 bytes from file Logs/20191121T002353/Express0125.lzma
2019-11-21T07:37:44.284Z,1574321864.284 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0125.lzma.bak
2019-11-21T07:37:44.284Z,1574321864.284 [DataOverHttps](INFO): SBD MOMSN=12081042
2019-11-21T07:37:45.022Z,1574321865.022 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T07:37:45.022Z,1574321865.022 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T07:37:45.022Z,1574321865.022 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T07:38:08.411Z,1574321888.411 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T07:38:14.082Z,1574321894.082 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:38:14.082Z,1574321894.082 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   -32768,-32768,V
2019-11-21T07:38:53.719Z,1574321933.719 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T07:38:53.719Z,1574321933.719 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2019-11-21T07:39:39.735Z,1574321979.735 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:39:39.735Z,1574321979.735 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112100504381,35.0, -0.1,   0.0,10
2019-11-21T07:42:45.598Z,1574322165.598 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T07:42:45.598Z,1574322165.598 [Default:CheckIn:C.Wait] Stopped
2019-11-21T07:42:45.598Z,1574322165.598 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T07:42:45.598Z,1574322165.598 [Default:CheckIn:D] Running Loop=1
2019-11-21T07:42:45.986Z,1574322165.986 [Default:CheckIn:D] Stopped
2019-11-21T07:42:45.986Z,1574322165.986 [Default:CheckIn:E] Running Loop=1
2019-11-21T07:42:46.410Z,1574322166.410 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 414.153125 min 
2019-11-21T07:42:46.410Z,1574322166.410 [Default:CheckIn:E] Stopped
2019-11-21T07:42:46.410Z,1574322166.410 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T07:42:46.410Z,1574322166.410 [Default:CheckIn] Stopped
2019-11-21T07:42:46.410Z,1574322166.410 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T07:42:46.411Z,1574322166.411 [Default:CheckIn](INFO): Running loop #41
2019-11-21T07:42:46.411Z,1574322166.411 [Default:CheckIn] Running Loop=41
2019-11-21T07:42:46.411Z,1574322166.411 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T07:42:46.411Z,1574322166.411 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T07:42:47.979Z,1574322167.979 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T07:42:47.979Z,1574322167.979 [NAL9602] Data Fault, FailCount= 4
2019-11-21T07:42:47.980Z,1574322167.980 [NAL9602](ERROR): Data Fault
2019-11-21T07:42:48.046Z,1574322168.046 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T07:42:48.383Z,1574322168.383 [NAL9602](INFO): Powering down
2019-11-21T07:42:49.250Z,1574322169.250 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T07:42:49.250Z,1574322169.250 [NAL9602] No Fault, FailCount= 4
2019-11-21T07:43:18.692Z,1574322198.692 [NAL9602](INFO): Powering up NAL9602
2019-11-21T07:43:29.590Z,1574322209.590 [NAL9602](INFO): NAL9602 initialized
2019-11-21T07:45:45.378Z,1574322345.378 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:45:45.378Z,1574322345.378 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:47:46.600Z,1574322466.600 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T07:42:46.4Z
2019-11-21T07:47:46.600Z,1574322466.600 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T07:47:46.600Z,1574322466.600 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T07:47:53.869Z,1574322473.869 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0128.lzma
2019-11-21T07:47:55.875Z,1574322475.875 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0128.lzma.bak
2019-11-21T07:47:55.875Z,1574322475.875 [DataOverHttps](INFO): SBD MOMSN=12081058
2019-11-21T07:47:57.929Z,1574322477.929 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T07:47:57.929Z,1574322477.929 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T07:47:57.929Z,1574322477.929 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T07:48:31.444Z,1574322511.444 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:48:31.444Z,1574322511.444 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,              +0.00,   0.42
2019-11-21T07:48:33.007Z,1574322513.007 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T07:49:03.721Z,1574322543.721 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T07:49:11.427Z,1574322551.427 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T07:49:11.427Z,1574322551.427 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,
2019-11-21T07:49:45.751Z,1574322585.751 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:49:45.751Z,1574322585.751 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:51:05.744Z,1574322665.744 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:51:05.745Z,1574322665.745 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101020981,35,   0.0,1448.9,  0
2019-11-21T07:51:12.623Z,1574322672.623 [RDI_Pathfinder](ERROR): Failed to parse:     +0.00,        +0.00,        +0.00,   0.00,3905.38
2019-11-21T07:52:58.512Z,1574322778.512 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T07:52:58.512Z,1574322778.512 [Default:CheckIn:C.Wait] Stopped
2019-11-21T07:52:58.512Z,1574322778.512 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T07:52:58.512Z,1574322778.512 [Default:CheckIn:D] Running Loop=1
2019-11-21T07:52:58.881Z,1574322778.881 [Default:CheckIn:D] Stopped
2019-11-21T07:52:58.881Z,1574322778.881 [Default:CheckIn:E] Running Loop=1
2019-11-21T07:52:59.285Z,1574322779.285 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 424.368034 min 
2019-11-21T07:52:59.285Z,1574322779.285 [Default:CheckIn:E] Stopped
2019-11-21T07:52:59.285Z,1574322779.285 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T07:52:59.286Z,1574322779.286 [Default:CheckIn] Stopped
2019-11-21T07:52:59.286Z,1574322779.286 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T07:52:59.286Z,1574322779.286 [Default:CheckIn](INFO): Running loop #42
2019-11-21T07:52:59.286Z,1574322779.286 [Default:CheckIn] Running Loop=42
2019-11-21T07:52:59.286Z,1574322779.286 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T07:52:59.286Z,1574322779.286 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T07:53:03.754Z,1574322783.754 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:53:03.754Z,1574322783.754 [RDI_Pathfinder](ERROR): Failed to parse:
:TS0.00,        +0.00,   0.00,4016.35
2019-11-21T07:53:42.531Z,1574322822.531 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T07:53:45.738Z,1574322825.738 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T07:53:45.738Z,1574322825.738 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101044981,35.0, -0.1, 48.9,  0
2019-11-21T07:55:03.752Z,1574322903.752 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T07:55:07.366Z,1574322907.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:55:07.366Z,1574322907.366 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,     ,        +0.00,        +0.00,   0.00,4141.31
2019-11-21T07:56:22.903Z,1574322982.903 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:56:22.903Z,1574322982.903 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:57:07.366Z,1574323027.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:57:07.366Z,1574323027.366 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00,4261.25
2019-11-21T07:57:28.363Z,1574323048.363 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T07:57:28.363Z,1574323048.363 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.   +0.00,   0.00,4282.24
2019-11-21T07:57:47.733Z,1574323067.733 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T07:57:47.733Z,1574323067.733 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-11-21T07:57:59.466Z,1574323079.466 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T07:52:59.3Z
2019-11-21T07:57:59.466Z,1574323079.466 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T07:57:59.466Z,1574323079.466 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T07:58:03.056Z,1574323083.056 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T07:58:07.260Z,1574323087.260 [DataOverHttps](INFO): Sending 216 bytes from file Logs/20191121T002353/Express0131.lzma
2019-11-21T07:58:08.356Z,1574323088.356 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T07:58:08.356Z,1574323088.356 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T07:58:09.267Z,1574323089.267 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0131.lzma.bak
2019-11-21T07:58:09.267Z,1574323089.267 [DataOverHttps](INFO): SBD MOMSN=12081074
2019-11-21T07:58:11.164Z,1574323091.164 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T07:58:11.164Z,1574323091.164 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T07:58:11.164Z,1574323091.164 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T07:58:27.739Z,1574323107.739 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-11-21T07:58:33.768Z,1574323113.768 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T07:59:04.094Z,1574323144.094 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00,   0.00
2019-11-21T08:00:11.584Z,1574323211.584 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T08:01:43.703Z,1574323303.703 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:01:43.703Z,1574323303.703 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191121011247 -0.1,   0.0,1448.9,  0
2019-11-21T08:03:09.730Z,1574323389.730 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:03:09.730Z,1574323389.730 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T08:03:11.776Z,1574323391.776 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T08:03:11.776Z,1574323391.776 [Default:CheckIn:C.Wait] Stopped
2019-11-21T08:03:11.776Z,1574323391.776 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T08:03:11.776Z,1574323391.776 [Default:CheckIn:D] Running Loop=1
2019-11-21T08:03:12.169Z,1574323392.169 [Default:CheckIn:D] Stopped
2019-11-21T08:03:12.169Z,1574323392.169 [Default:CheckIn:E] Running Loop=1
2019-11-21T08:03:12.591Z,1574323392.591 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 434.589518 min 
2019-11-21T08:03:12.591Z,1574323392.591 [Default:CheckIn:E] Stopped
2019-11-21T08:03:12.591Z,1574323392.591 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T08:03:12.591Z,1574323392.591 [Default:CheckIn] Stopped
2019-11-21T08:03:12.591Z,1574323392.592 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T08:03:12.592Z,1574323392.592 [Default:CheckIn](INFO): Running loop #43
2019-11-21T08:03:12.592Z,1574323392.592 [Default:CheckIn] Running Loop=43
2019-11-21T08:03:12.592Z,1574323392.592 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T08:03:12.592Z,1574323392.592 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T08:03:14.149Z,1574323394.149 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T08:03:14.149Z,1574323394.149 [NAL9602] Data Fault, FailCount= 5
2019-11-21T08:03:14.150Z,1574323394.150 [NAL9602](ERROR): Data Fault
2019-11-21T08:03:14.202Z,1574323394.202 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T08:03:14.202Z,1574323394.202 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T08:03:14.559Z,1574323394.559 [NAL9602](INFO): Powering down
2019-11-21T08:03:14.595Z,1574323394.595 [CBIT](INFO): Critical error at 20191121T080314
2019-11-21T08:03:30.735Z,1574323410.735 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:03:30.736Z,1574323410.736 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101143481,35.0, -0.1,   0.0  0
2019-11-21T08:05:14.187Z,1574323514.187 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T08:05:14.187Z,1574323514.187 [NAL9602] No Fault, FailCount= 5
2019-11-21T08:05:14.547Z,1574323514.547 [NAL9602](INFO): Powering up NAL9602
2019-11-21T08:05:25.447Z,1574323525.447 [NAL9602](INFO): NAL9602 initialized
2019-11-21T08:06:06.710Z,1574323566.710 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:06:06.710Z,1574323566.710 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101171081,35.0, -0.1,   0.0,1448.9A,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T08:07:24.711Z,1574323644.711 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T08:07:24.711Z,1574323644.711 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,   0.00,4877.95
2019-11-21T08:08:12.774Z,1574323692.774 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T08:03:12.6Z
2019-11-21T08:08:12.774Z,1574323692.774 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T08:08:12.774Z,1574323692.774 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T08:08:20.472Z,1574323700.472 [DataOverHttps](INFO): Sending 69 bytes from file Logs/20191121T002353/Courier0133.lzma
2019-11-21T08:08:22.483Z,1574323702.483 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0133.lzma.bak
2019-11-21T08:08:22.487Z,1574323702.487 [DataOverHttps](INFO): SBD MOMSN=12081085
2019-11-21T08:08:39.949Z,1574323719.949 [DataOverHttps](INFO): Sending 234 bytes from file Logs/20191121T002353/Express0134.lzma
2019-11-21T08:08:41.955Z,1574323721.955 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0134.lzma.bak
2019-11-21T08:08:41.955Z,1574323721.955 [DataOverHttps](INFO): SBD MOMSN=12081088
2019-11-21T08:08:43.882Z,1574323723.882 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T08:08:43.882Z,1574323723.882 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T08:08:43.883Z,1574323723.883 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T08:08:45.067Z,1574323725.067 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:08:45.067Z,1574323725.067 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101190, -0.1,   0.0,1448.9,  0
2019-11-21T08:09:29.511Z,1574323769.511 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T08:10:28.875Z,1574323828.875 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T08:10:29.706Z,1574323829.706 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:10:29.707Z,1574323829.707 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101213381,35.0, -0.1,  8.9,  0
2019-11-21T08:10:59.577Z,1574323859.577 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T08:13:44.449Z,1574324024.449 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T08:13:44.449Z,1574324024.449 [Default:CheckIn:C.Wait] Stopped
2019-11-21T08:13:44.449Z,1574324024.449 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T08:13:44.449Z,1574324024.449 [Default:CheckIn:D] Running Loop=1
2019-11-21T08:13:44.863Z,1574324024.863 [Default:CheckIn:D] Stopped
2019-11-21T08:13:44.863Z,1574324024.863 [Default:CheckIn:E] Running Loop=1
2019-11-21T08:13:45.261Z,1574324025.261 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 445.134408 min 
2019-11-21T08:13:45.261Z,1574324025.261 [Default:CheckIn:E] Stopped
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn] Stopped
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn](INFO): Running loop #44
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn] Running Loop=44
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T08:13:45.262Z,1574324025.262 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T08:14:17.951Z,1574324057.951 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T08:14:18.025Z,1574324058.025 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T08:14:18.025Z,1574324058.025 [NAL9602] Data Fault, FailCount= 1
2019-11-21T08:14:18.025Z,1574324058.025 [NAL9602](ERROR): Data Fault
2019-11-21T08:14:18.098Z,1574324058.098 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T08:14:18.360Z,1574324058.360 [NAL9602](INFO): Powering down
2019-11-21T08:14:19.209Z,1574324059.209 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T08:14:19.209Z,1574324059.209 [NAL9602] No Fault, FailCount= 1
2019-11-21T08:14:48.655Z,1574324088.655 [NAL9602](INFO): Powering up NAL9602
2019-11-21T08:14:59.559Z,1574324099.559 [NAL9602](INFO): NAL9602 initialized
2019-11-21T08:18:16.417Z,1574324296.417 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T08:18:16.417Z,1574324296.417 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T08:18:16.417Z,1574324296.417 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T08:18:16.417Z,1574324296.417 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T08:18:16.461Z,1574324296.461 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T08:18:16.813Z,1574324296.813 [RDI_Pathfinder](INFO): Powering down
2019-11-21T08:18:17.577Z,1574324297.577 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T08:18:17.577Z,1574324297.577 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T08:18:30.892Z,1574324310.892 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T08:18:45.441Z,1574324325.441 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T08:13:45.3Z
2019-11-21T08:18:45.441Z,1574324325.441 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T08:18:45.442Z,1574324325.442 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T08:18:49.839Z,1574324329.839 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T08:18:53.168Z,1574324333.168 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20191121T002353/Express0137.lzma
2019-11-21T08:18:55.175Z,1574324335.175 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0137.lzma.bak
2019-11-21T08:18:55.175Z,1574324335.175 [DataOverHttps](INFO): SBD MOMSN=12081103
2019-11-21T08:18:57.149Z,1574324337.149 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T08:18:57.149Z,1574324337.149 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T08:18:57.149Z,1574324337.149 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T08:19:20.553Z,1574324360.553 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T08:19:20.572Z,1574324360.572 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:19:20.572Z,1574324360.572 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101302431,35.0, -0.1,   .9,  0
2019-11-21T08:19:24.203Z,1574324364.203 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:19:24.203Z,1574324364.203 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101302831,35,   0.0,1448.9,  0
2019-11-21T08:20:13.719Z,1574324413.719 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T08:22:58.788Z,1574324578.788 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T08:23:09.357Z,1574324589.357 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T08:23:57.729Z,1574324637.729 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T08:23:57.729Z,1574324637.729 [Default:CheckIn:C.Wait] Stopped
2019-11-21T08:23:57.729Z,1574324637.729 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T08:23:57.729Z,1574324637.729 [Default:CheckIn:D] Running Loop=1
2019-11-21T08:23:58.153Z,1574324638.153 [Default:CheckIn:D] Stopped
2019-11-21T08:23:58.153Z,1574324638.153 [Default:CheckIn:E] Running Loop=1
2019-11-21T08:23:58.533Z,1574324638.533 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 455.355924 min 
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn:E] Stopped
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn] Stopped
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn](INFO): Running loop #45
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn] Running Loop=45
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T08:23:58.534Z,1574324638.534 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T08:24:00.121Z,1574324640.121 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T08:24:00.121Z,1574324640.121 [NAL9602] Data Fault, FailCount= 2
2019-11-21T08:24:00.121Z,1574324640.121 [NAL9602](ERROR): Data Fault
2019-11-21T08:24:00.218Z,1574324640.218 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T08:24:00.513Z,1574324640.513 [NAL9602](INFO): Powering down
2019-11-21T08:24:01.360Z,1574324641.360 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T08:24:01.360Z,1574324641.360 [NAL9602] No Fault, FailCount= 2
2019-11-21T08:24:30.843Z,1574324670.843 [NAL9602](INFO): Powering up NAL9602
2019-11-21T08:24:36.946Z,1574324676.946 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T08:24:36.946Z,1574324676.946 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,        5.99
2019-11-21T08:24:41.731Z,1574324681.731 [NAL9602](INFO): NAL9602 initialized
2019-11-21T08:24:45.956Z,1574324685.956 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T08:25:00.541Z,1574324700.541 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T08:25:40.479Z,1574324740.479 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T08:25:53.737Z,1574324753.737 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T08:26:07.528Z,1574324767.528 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T08:26:34.892Z,1574324794.892 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T08:26:34.895Z,1574324794.895 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T08:28:58.713Z,1574324938.713 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T08:23:58.5Z
2019-11-21T08:28:58.714Z,1574324938.714 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T08:28:58.714Z,1574324938.714 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T08:29:06.448Z,1574324946.448 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0139.lzma
2019-11-21T08:29:08.455Z,1574324948.455 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0139.lzma.bak
2019-11-21T08:29:08.455Z,1574324948.455 [DataOverHttps](INFO): SBD MOMSN=12081119
2019-11-21T08:29:10.847Z,1574324950.847 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2019-11-21T08:29:26.057Z,1574324966.057 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0140.lzma
2019-11-21T08:29:28.063Z,1574324968.063 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0140.lzma.bak
2019-11-21T08:29:28.063Z,1574324968.063 [DataOverHttps](INFO): SBD MOMSN=12081121
2019-11-21T08:29:29.817Z,1574324969.817 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T08:29:29.817Z,1574324969.817 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T08:29:29.817Z,1574324969.817 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T08:29:45.135Z,1574324985.135 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T08:30:15.876Z,1574325015.876 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T08:31:11.224Z,1574325071.224 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:31:11.224Z,1574325071.224 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00, :BI,-32768,-32768,-32768,-32768,V
2019-11-21T08:31:56.902Z,1574325116.902 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-11-21T08:31:56.902Z,1574325116.902 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-11-21T08:32:11.851Z,1574325131.851 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T08:32:11.851Z,1574325131.851 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.0
2019-11-21T08:33:16.900Z,1574325196.900 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T08:33:16.900Z,1574325196.900 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3268,V
2019-11-21T08:34:30.416Z,1574325270.416 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T08:34:30.416Z,1574325270.416 [Default:CheckIn:C.Wait] Stopped
2019-11-21T08:34:30.416Z,1574325270.416 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T08:34:30.417Z,1574325270.417 [Default:CheckIn:D] Running Loop=1
2019-11-21T08:34:30.823Z,1574325270.823 [Default:CheckIn:D] Stopped
2019-11-21T08:34:30.823Z,1574325270.823 [Default:CheckIn:E] Running Loop=1
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 465.900391 min 
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn:E] Stopped
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn] Stopped
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn](INFO): Running loop #46
2019-11-21T08:34:31.219Z,1574325271.219 [Default:CheckIn] Running Loop=46
2019-11-21T08:34:31.220Z,1574325271.220 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T08:34:31.220Z,1574325271.220 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T08:35:03.919Z,1574325303.919 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T08:35:03.993Z,1574325303.993 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T08:35:03.993Z,1574325303.993 [NAL9602] Data Fault, FailCount= 3
2019-11-21T08:35:03.993Z,1574325303.993 [NAL9602](ERROR): Data Fault
2019-11-21T08:35:04.132Z,1574325304.132 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T08:35:04.315Z,1574325304.315 [NAL9602](INFO): Powering down
2019-11-21T08:35:05.172Z,1574325305.172 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T08:35:05.172Z,1574325305.172 [NAL9602] No Fault, FailCount= 3
2019-11-21T08:35:34.619Z,1574325334.619 [NAL9602](INFO): Powering up NAL9602
2019-11-21T08:35:45.532Z,1574325345.532 [NAL9602](INFO): NAL9602 initialized
2019-11-21T08:35:46.335Z,1574325346.335 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T08:35:46.335Z,1574325346.335 [NAL9602] Data Fault, FailCount= 4
2019-11-21T08:35:46.335Z,1574325346.335 [NAL9602](ERROR): Data Fault
2019-11-21T08:35:46.417Z,1574325346.417 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T08:35:46.735Z,1574325346.735 [NAL9602](INFO): Powering down
2019-11-21T08:35:47.579Z,1574325347.579 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T08:35:47.579Z,1574325347.579 [NAL9602] No Fault, FailCount= 4
2019-11-21T08:36:17.044Z,1574325377.044 [NAL9602](INFO): Powering up NAL9602
2019-11-21T08:36:27.951Z,1574325387.951 [NAL9602](INFO): NAL9602 initialized
2019-11-21T08:39:13.201Z,1574325553.201 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:39:13.201Z,1574325553.201 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,101731,35.0, -0.1,   0.0, 0
2019-11-21T08:39:31.384Z,1574325571.384 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T08:34:31.2Z
2019-11-21T08:39:31.384Z,1574325571.384 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T08:39:31.384Z,1574325571.384 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T08:39:34.995Z,1574325574.995 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T08:39:39.440Z,1574325579.440 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20191121T002353/Express0143.lzma
2019-11-21T08:39:41.447Z,1574325581.447 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0143.lzma.bak
2019-11-21T08:39:41.447Z,1574325581.447 [DataOverHttps](INFO): SBD MOMSN=12081137
2019-11-21T08:39:43.525Z,1574325583.525 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T08:39:43.525Z,1574325583.525 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T08:39:43.525Z,1574325583.525 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T08:39:53.209Z,1574325593.209 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T08:39:53.209Z,1574325593.209 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112101505731,35.0, -0.11448.9,  0
2019-11-21T08:40:05.723Z,1574325605.723 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T08:42:53.829Z,1574325773.829 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T08:44:44.162Z,1574325884.162 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T08:44:44.163Z,1574325884.163 [Default:CheckIn:C.Wait] Stopped
2019-11-21T08:44:44.163Z,1574325884.163 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T08:44:44.163Z,1574325884.163 [Default:CheckIn:D] Running Loop=1
2019-11-21T08:44:44.535Z,1574325884.535 [Default:CheckIn:D] Stopped
2019-11-21T08:44:44.535Z,1574325884.535 [Default:CheckIn:E] Running Loop=1
2019-11-21T08:44:44.943Z,1574325884.943 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 476.128939 min 
2019-11-21T08:44:44.943Z,1574325884.943 [Default:CheckIn:E] Stopped
2019-11-21T08:44:44.943Z,1574325884.943 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T08:44:44.943Z,1574325884.943 [Default:CheckIn] Stopped
2019-11-21T08:44:44.943Z,1574325884.943 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T08:44:44.944Z,1574325884.944 [Default:CheckIn](INFO): Running loop #47
2019-11-21T08:44:44.944Z,1574325884.944 [Default:CheckIn] Running Loop=47
2019-11-21T08:44:44.944Z,1574325884.944 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T08:44:44.944Z,1574325884.944 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T08:46:10.553Z,1574325970.553 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:46:10.553Z,1574325970.553 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T08:46:33.183Z,1574325993.183 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00
2019-11-21T08:47:10.369Z,1574326030.369 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T08:47:33.831Z,1574326053.831 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T08:47:33.831Z,1574326053.831 [RDI_Pathfinder](ERROR): Failed to parse:
:BD +0.00,        +0.00,        +0.00,   0.00,1742.87
2019-11-21T08:47:35.850Z,1574326055.850 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T08:47:35.850Z,1574326055.850 [RDI_Pathfinder](ERROR): Failed to parse:
:BD +0.00,        +0.00,        +0.00,   0.00,1744.87
2019-11-21T08:48:10.245Z,1574326090.245 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T08:48:10.245Z,1574326090.245 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T08:48:10.245Z,1574326090.245 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T08:48:10.245Z,1574326090.245 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T08:48:10.269Z,1574326090.269 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T08:48:10.637Z,1574326090.637 [RDI_Pathfinder](INFO): Powering down
2019-11-21T08:48:11.405Z,1574326091.405 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T08:48:11.405Z,1574326091.405 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T08:48:24.705Z,1574326104.705 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T08:48:58.666Z,1574326138.666 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:48:58.666Z,1574326138.666 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T08:49:45.125Z,1574326185.125 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T08:44:44.9Z
2019-11-21T08:49:45.125Z,1574326185.125 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T08:49:45.126Z,1574326185.126 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T08:49:49.535Z,1574326189.535 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T08:49:53.272Z,1574326193.272 [DataOverHttps](INFO): Sending 226 bytes from file Logs/20191121T002353/Express0146.lzma
2019-11-21T08:49:54.101Z,1574326194.101 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T08:49:54.101Z,1574326194.101 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T08:49:54.101Z,1574326194.101 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T08:49:54.101Z,1574326194.101 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T08:49:54.141Z,1574326194.141 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T08:49:54.461Z,1574326194.461 [RDI_Pathfinder](INFO): Powering down
2019-11-21T08:49:55.235Z,1574326195.235 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T08:49:55.235Z,1574326195.235 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T08:49:55.279Z,1574326195.279 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0146.lzma.bak
2019-11-21T08:49:55.279Z,1574326195.279 [DataOverHttps](INFO): SBD MOMSN=12081156
2019-11-21T08:49:58.076Z,1574326198.076 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T08:49:58.097Z,1574326198.097 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T08:49:58.097Z,1574326198.097 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T08:50:08.546Z,1574326208.546 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T08:50:20.234Z,1574326220.234 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T08:51:41.866Z,1574326301.866 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:51:41.867Z,1574326301.867 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,  BI,-32768,-32768,-32768,-32768,V
2019-11-21T08:52:21.490Z,1574326341.490 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:52:21.491Z,1574326341.491 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T08:53:22.870Z,1574326402.870 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T08:53:22.870Z,1574326402.870 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T08:54:58.643Z,1574326498.643 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T08:54:58.643Z,1574326498.643 [Default:CheckIn:C.Wait] Stopped
2019-11-21T08:54:58.644Z,1574326498.644 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T08:54:58.644Z,1574326498.644 [Default:CheckIn:D] Running Loop=1
2019-11-21T08:54:59.041Z,1574326499.041 [Default:CheckIn:D] Stopped
2019-11-21T08:54:59.041Z,1574326499.041 [Default:CheckIn:E] Running Loop=1
2019-11-21T08:54:59.471Z,1574326499.471 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 486.370703 min 
2019-11-21T08:54:59.471Z,1574326499.471 [Default:CheckIn:E] Stopped
2019-11-21T08:54:59.472Z,1574326499.472 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T08:54:59.472Z,1574326499.472 [Default:CheckIn] Stopped
2019-11-21T08:54:59.472Z,1574326499.472 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T08:54:59.477Z,1574326499.477 [Default:CheckIn](INFO): Running loop #48
2019-11-21T08:54:59.477Z,1574326499.477 [Default:CheckIn] Running Loop=48
2019-11-21T08:54:59.478Z,1574326499.478 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T08:54:59.478Z,1574326499.478 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T08:55:01.015Z,1574326501.015 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T08:55:01.015Z,1574326501.015 [NAL9602] Data Fault, FailCount= 5
2019-11-21T08:55:01.015Z,1574326501.015 [NAL9602](ERROR): Data Fault
2019-11-21T08:55:01.097Z,1574326501.097 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T08:55:01.097Z,1574326501.097 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T08:55:01.419Z,1574326501.419 [NAL9602](INFO): Powering down
2019-11-21T08:55:01.521Z,1574326501.521 [CBIT](INFO): Critical error at 20191121T085501
2019-11-21T08:57:01.046Z,1574326621.046 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T08:57:01.046Z,1574326621.046 [NAL9602] No Fault, FailCount= 5
2019-11-21T08:57:01.411Z,1574326621.411 [NAL9602](INFO): Powering up NAL9602
2019-11-21T08:57:12.319Z,1574326632.319 [NAL9602](INFO): NAL9602 initialized
2019-11-21T08:59:59.611Z,1574326799.611 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T08:54:59.5Z
2019-11-21T08:59:59.611Z,1574326799.611 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T08:59:59.612Z,1574326799.612 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T09:00:07.661Z,1574326807.661 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0148.lzma
2019-11-21T09:00:09.667Z,1574326809.667 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0148.lzma.bak
2019-11-21T09:00:09.667Z,1574326809.667 [DataOverHttps](INFO): SBD MOMSN=12081167
2019-11-21T09:00:30.294Z,1574326830.294 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0149.lzma
2019-11-21T09:00:32.299Z,1574326832.299 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0149.lzma.bak
2019-11-21T09:00:32.299Z,1574326832.299 [DataOverHttps](INFO): SBD MOMSN=12081170
2019-11-21T09:00:34.395Z,1574326834.395 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T09:00:34.395Z,1574326834.395 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T09:00:34.396Z,1574326834.396 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T09:02:05.665Z,1574326925.665 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T09:02:05.665Z,1574326925.665 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,
2019-11-21T09:02:15.723Z,1574326935.723 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T09:02:46.427Z,1574326966.427 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T09:04:14.546Z,1574327054.546 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:04:14.547Z,1574327054.547 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112102151898,35.0, -0.1,   0.,  0
2019-11-21T09:05:34.973Z,1574327134.973 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T09:05:34.974Z,1574327134.974 [Default:CheckIn:C.Wait] Stopped
2019-11-21T09:05:34.974Z,1574327134.974 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T09:05:34.974Z,1574327134.974 [Default:CheckIn:D] Running Loop=1
2019-11-21T09:05:35.346Z,1574327135.346 [Default:CheckIn:D] Stopped
2019-11-21T09:05:35.346Z,1574327135.346 [Default:CheckIn:E] Running Loop=1
2019-11-21T09:05:35.755Z,1574327135.755 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 496.975781 min 
2019-11-21T09:05:35.755Z,1574327135.755 [Default:CheckIn:E] Stopped
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn] Stopped
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn](INFO): Running loop #49
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn] Running Loop=49
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T09:05:35.756Z,1574327135.756 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T09:06:08.427Z,1574327168.427 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T09:06:08.509Z,1574327168.509 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T09:06:08.509Z,1574327168.509 [NAL9602] Data Fault, FailCount= 1
2019-11-21T09:06:08.509Z,1574327168.509 [NAL9602](ERROR): Data Fault
2019-11-21T09:06:08.714Z,1574327168.714 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T09:06:08.831Z,1574327168.831 [NAL9602](INFO): Powering down
2019-11-21T09:06:09.714Z,1574327169.714 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T09:06:09.714Z,1574327169.714 [NAL9602] No Fault, FailCount= 1
2019-11-21T09:06:39.139Z,1574327199.139 [NAL9602](INFO): Powering up NAL9602
2019-11-21T09:06:50.043Z,1574327210.043 [NAL9602](INFO): NAL9602 initialized
2019-11-21T09:07:09.488Z,1574327229.488 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:07:09.488Z,1574327229.488 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:07:26.023Z,1574327246.023 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:07:26.023Z,1574327246.023 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112102182998,35.0, -0.1,  8.9,  0
2019-11-21T09:10:05.657Z,1574327405.657 [RDI_Pathfinder](ERROR): Failed to parse:
:0,   0.00,   0.00,   0.00,   0.00
2019-11-21T09:10:29.862Z,1574327429.862 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T09:10:29.863Z,1574327429.863 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2019-11-21T09:10:35.941Z,1574327435.941 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T09:05:35.8Z
2019-11-21T09:10:35.941Z,1574327435.941 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T09:10:35.941Z,1574327435.941 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T09:10:39.935Z,1574327439.935 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T09:10:44.105Z,1574327444.105 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20191121T002353/Express0152.lzma
2019-11-21T09:10:46.111Z,1574327446.111 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0152.lzma.bak
2019-11-21T09:10:46.111Z,1574327446.111 [DataOverHttps](INFO): SBD MOMSN=12081185
2019-11-21T09:10:48.072Z,1574327448.072 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T09:10:48.072Z,1574327448.072 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T09:10:48.072Z,1574327448.072 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T09:11:09.854Z,1574327469.854 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:11:09.854Z,1574327469.854 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:11:10.643Z,1574327470.643 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T09:13:27.220Z,1574327607.220 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T09:15:32.482Z,1574327732.482 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T09:15:32.482Z,1574327732.482 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3768,V
2019-11-21T09:15:48.218Z,1574327748.218 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:15:48.218Z,1574327748.218 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:15:48.630Z,1574327748.630 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T09:15:48.630Z,1574327748.630 [Default:CheckIn:C.Wait] Stopped
2019-11-21T09:15:48.630Z,1574327748.630 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T09:15:48.630Z,1574327748.630 [Default:CheckIn:D] Running Loop=1
2019-11-21T09:15:49.023Z,1574327749.023 [Default:CheckIn:D] Stopped
2019-11-21T09:15:49.023Z,1574327749.023 [Default:CheckIn:E] Running Loop=1
2019-11-21T09:15:49.427Z,1574327749.427 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 507.203743 min 
2019-11-21T09:15:49.427Z,1574327749.427 [Default:CheckIn:E] Stopped
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn] Stopped
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn](INFO): Running loop #50
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn] Running Loop=50
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T09:15:49.428Z,1574327749.428 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T09:15:51.019Z,1574327751.019 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T09:15:51.019Z,1574327751.019 [NAL9602] Data Fault, FailCount= 2
2019-11-21T09:15:51.019Z,1574327751.019 [NAL9602](ERROR): Data Fault
2019-11-21T09:15:51.051Z,1574327751.051 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T09:15:51.444Z,1574327751.444 [NAL9602](INFO): Powering down
2019-11-21T09:15:52.283Z,1574327752.283 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T09:15:52.283Z,1574327752.283 [NAL9602] No Fault, FailCount= 2
2019-11-21T09:16:21.728Z,1574327781.728 [NAL9602](INFO): Powering up NAL9602
2019-11-21T09:16:32.626Z,1574327792.626 [NAL9602](INFO): NAL9602 initialized
2019-11-21T09:16:34.682Z,1574327794.682 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T09:20:49.619Z,1574328049.619 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T09:15:49.4Z
2019-11-21T09:20:49.619Z,1574328049.619 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T09:20:49.620Z,1574328049.620 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T09:20:57.277Z,1574328057.277 [DataOverHttps](INFO): Sending 244 bytes from file Logs/20191121T002353/Express0155.lzma
2019-11-21T09:20:59.283Z,1574328059.283 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0155.lzma.bak
2019-11-21T09:20:59.283Z,1574328059.283 [DataOverHttps](INFO): SBD MOMSN=12081201
2019-11-21T09:21:01.329Z,1574328061.329 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T09:21:01.329Z,1574328061.329 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T09:21:01.329Z,1574328061.329 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T09:21:06.943Z,1574328066.943 [NAL9602](INFO): SBD MO Status=2, MOMSN=9953, MT Status=2, MTMSN=0
2019-11-21T09:21:06.943Z,1574328066.943 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-21T09:21:28.403Z,1574328088.403 [NAL9602](INFO): SBD MO Status=2, MOMSN=9953, MT Status=2, MTMSN=0
2019-11-21T09:21:28.405Z,1574328088.405 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-21T09:21:42.096Z,1574328102.096 [NAL9602](INFO): SBD MO Status=2, MOMSN=9953, MT Status=2, MTMSN=0
2019-11-21T09:21:42.096Z,1574328102.096 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-11-21T09:21:42.496Z,1574328102.496 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T09:22:13.203Z,1574328133.203 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T09:24:18.498Z,1574328258.498 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T09:24:55.670Z,1574328295.670 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T09:24:55.670Z,1574328295.670 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +     +0.00,   0.00,2086.82
2019-11-21T09:26:01.909Z,1574328361.909 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T09:26:01.909Z,1574328361.909 [Default:CheckIn:C.Wait] Stopped
2019-11-21T09:26:01.909Z,1574328361.909 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T09:26:01.910Z,1574328361.910 [Default:CheckIn:D] Running Loop=1
2019-11-21T09:26:02.300Z,1574328362.300 [Default:CheckIn:D] Stopped
2019-11-21T09:26:02.300Z,1574328362.300 [Default:CheckIn:E] Running Loop=1
2019-11-21T09:26:02.712Z,1574328362.712 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 517.425033 min 
2019-11-21T09:26:02.712Z,1574328362.712 [Default:CheckIn:E] Stopped
2019-11-21T09:26:02.712Z,1574328362.712 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T09:26:02.712Z,1574328362.712 [Default:CheckIn] Stopped
2019-11-21T09:26:02.712Z,1574328362.712 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T09:26:02.712Z,1574328362.712 [Default:CheckIn](INFO): Running loop #51
2019-11-21T09:26:02.713Z,1574328362.713 [Default:CheckIn] Running Loop=51
2019-11-21T09:26:02.713Z,1574328362.713 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T09:26:02.713Z,1574328362.713 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T09:26:40.680Z,1574328400.680 [RDI_Pathfinder](ERROR): Failed to parse:
:B.80
2019-11-21T09:28:18.857Z,1574328498.857 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:28:18.858Z,1574328498.858 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:28:24.542Z,1574328504.542 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:28:24.542Z,1574328504.542 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:28:40.672Z,1574328520.672 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T09:28:40.672Z,1574328520.672 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.0077
2019-11-21T09:28:56.978Z,1574328536.978 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:29:33.313Z,1574328573.313 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:29:41.294Z,1574328581.294 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T09:29:57.478Z,1574328597.478 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:29:59.846Z,1574328599.846 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:29:59.846Z,1574328599.846 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:30:17.259Z,1574328617.259 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:31:02.969Z,1574328662.969 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T09:26:02.7Z
2019-11-21T09:31:02.969Z,1574328662.969 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T09:31:02.970Z,1574328662.970 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T09:31:06.899Z,1574328666.899 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T09:31:11.069Z,1574328671.069 [DataOverHttps](INFO): Sending 221 bytes from file Logs/20191121T002353/Express0158.lzma
2019-11-21T09:31:11.853Z,1574328671.853 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:31:13.075Z,1574328673.075 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0158.lzma.bak
2019-11-21T09:31:13.075Z,1574328673.075 [DataOverHttps](INFO): SBD MOMSN=12081217
2019-11-21T09:31:15.017Z,1574328675.017 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T09:31:15.017Z,1574328675.017 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T09:31:15.017Z,1574328675.017 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T09:31:24.786Z,1574328684.786 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:31:37.601Z,1574328697.601 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T09:31:59.844Z,1574328719.844 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:31:59.844Z,1574328719.844 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112102430398,35.0, -0.1,   09,  0
2019-11-21T09:32:04.779Z,1574328724.779 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:32:31.499Z,1574328751.499 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:33:39.309Z,1574328819.309 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T09:33:44.905Z,1574328824.905 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:33:44.905Z,1574328824.905 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:34:15.648Z,1574328855.648 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T09:34:15.648Z,1574328855.648 [RDI_Pathfinder](ERROR): Failed to parse:
:BD +0.00,        +0.00,        +0.00,   0.00,2646.69
2019-11-21T09:34:56.010Z,1574328896.010 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:34:56.010Z,1574328896.010 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112102455998,35.0, -0.,1448.9,  0
2019-11-21T09:35:01.273Z,1574328901.273 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T09:35:01.275Z,1574328901.275 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T09:36:15.639Z,1574328975.639 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T09:36:15.639Z,1574328975.639 [Default:CheckIn:C.Wait] Stopped
2019-11-21T09:36:15.639Z,1574328975.639 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T09:36:15.640Z,1574328975.640 [Default:CheckIn:D] Running Loop=1
2019-11-21T09:36:16.002Z,1574328976.002 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:36:16.002Z,1574328976.002 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,1911210247199-0.1,   0.0,1448.9,  0
2019-11-21T09:36:16.012Z,1574328976.012 [Default:CheckIn:D] Stopped
2019-11-21T09:36:16.012Z,1574328976.012 [Default:CheckIn:E] Running Loop=1
2019-11-21T09:36:16.419Z,1574328976.419 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 527.653548 min 
2019-11-21T09:36:16.419Z,1574328976.419 [Default:CheckIn:E] Stopped
2019-11-21T09:36:16.419Z,1574328976.419 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T09:36:16.420Z,1574328976.420 [Default:CheckIn] Stopped
2019-11-21T09:36:16.420Z,1574328976.420 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T09:36:16.420Z,1574328976.420 [Default:CheckIn](INFO): Running loop #52
2019-11-21T09:36:16.420Z,1574328976.420 [Default:CheckIn] Running Loop=52
2019-11-21T09:36:16.420Z,1574328976.420 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T09:36:16.420Z,1574328976.420 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T09:36:18.003Z,1574328978.003 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T09:36:18.003Z,1574328978.003 [NAL9602] Data Fault, FailCount= 3
2019-11-21T09:36:18.003Z,1574328978.003 [NAL9602](ERROR): Data Fault
2019-11-21T09:36:18.067Z,1574328978.067 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T09:36:18.403Z,1574328978.403 [NAL9602](INFO): Powering down
2019-11-21T09:36:19.253Z,1574328979.253 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T09:36:19.253Z,1574328979.253 [NAL9602] No Fault, FailCount= 3
2019-11-21T09:36:48.706Z,1574329008.706 [NAL9602](INFO): Powering up NAL9602
2019-11-21T09:36:59.615Z,1574329019.615 [NAL9602](INFO): NAL9602 initialized
2019-11-21T09:37:19.471Z,1574329039.471 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:37:19.471Z,1574329039.471 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-3768,-32768,V
2019-11-21T09:37:21.480Z,1574329041.480 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T09:37:21.481Z,1574329041.481 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0    +0.00,        +0.00,   0.00,2832.64
2019-11-21T09:39:40.549Z,1574329180.549 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T09:39:40.549Z,1574329180.549 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T09:39:40.549Z,1574329180.549 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T09:39:40.549Z,1574329180.549 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T09:39:40.585Z,1574329180.585 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T09:39:40.909Z,1574329180.909 [RDI_Pathfinder](INFO): Powering down
2019-11-21T09:39:41.678Z,1574329181.678 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T09:39:41.678Z,1574329181.678 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T09:39:54.985Z,1574329194.985 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T09:40:27.306Z,1574329227.306 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:40:27.306Z,1574329227.306 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112102513145,35.0, -0.11448.9,  0
2019-11-21T09:41:03.286Z,1574329263.286 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:41:03.287Z,1574329263.287 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32BE,-32768,-32768,-32768,V
2019-11-21T09:41:16.599Z,1574329276.599 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T09:36:16.4Z
2019-11-21T09:41:16.599Z,1574329276.599 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T09:41:16.599Z,1574329276.599 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T09:41:23.912Z,1574329283.912 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0160.lzma
2019-11-21T09:41:25.926Z,1574329285.926 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0160.lzma.bak
2019-11-21T09:41:25.926Z,1574329285.926 [DataOverHttps](INFO): SBD MOMSN=12081232
2019-11-21T09:41:43.361Z,1574329303.361 [DataOverHttps](INFO): Sending 234 bytes from file Logs/20191121T002353/Express0161.lzma
2019-11-21T09:41:45.367Z,1574329305.367 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0161.lzma.bak
2019-11-21T09:41:45.367Z,1574329305.367 [DataOverHttps](INFO): SBD MOMSN=12081234
2019-11-21T09:41:47.325Z,1574329307.325 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T09:41:47.325Z,1574329307.325 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T09:41:47.325Z,1574329307.325 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T09:42:03.037Z,1574329323.037 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T09:42:09.960Z,1574329329.960 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T09:42:33.745Z,1574329353.745 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T09:43:03.290Z,1574329383.290 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:43:03.290Z,1574329383.290 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T09:43:07.304Z,1574329387.304 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-11-21T09:44:04.666Z,1574329444.666 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T09:44:04.666Z,1574329444.666 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-11-21T09:44:09.956Z,1574329449.956 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T09:44:09.956Z,1574329449.956 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2019-11-21T09:44:47.944Z,1574329487.944 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:44:47.947Z,1574329487.947 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112102555245,35.0, -0.11448.9,  0
2019-11-21T09:46:47.930Z,1574329607.930 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T09:46:47.930Z,1574329607.930 [Default:CheckIn:C.Wait] Stopped
2019-11-21T09:46:47.930Z,1574329607.930 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T09:46:47.931Z,1574329607.931 [Default:CheckIn:D] Running Loop=1
2019-11-21T09:46:48.310Z,1574329608.310 [Default:CheckIn:D] Stopped
2019-11-21T09:46:48.310Z,1574329608.310 [Default:CheckIn:E] Running Loop=1
2019-11-21T09:46:48.695Z,1574329608.695 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 538.191862 min 
2019-11-21T09:46:48.695Z,1574329608.695 [Default:CheckIn:E] Stopped
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn] Stopped
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn](INFO): Running loop #53
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn] Running Loop=53
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T09:46:48.696Z,1574329608.696 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T09:47:09.303Z,1574329629.303 [RDI_Pathfinder](ERROR): Failed to parse:
:R,   0.00,   0.00,   0.00,   0.00
2019-11-21T09:47:21.398Z,1574329641.398 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T09:47:21.477Z,1574329641.477 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T09:47:21.477Z,1574329641.477 [NAL9602] Data Fault, FailCount= 4
2019-11-21T09:47:21.477Z,1574329641.477 [NAL9602](ERROR): Data Fault
2019-11-21T09:47:21.550Z,1574329641.550 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T09:47:21.795Z,1574329641.795 [NAL9602](INFO): Powering down
2019-11-21T09:47:22.635Z,1574329642.635 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T09:47:22.635Z,1574329642.635 [NAL9602] No Fault, FailCount= 4
2019-11-21T09:47:52.106Z,1574329672.106 [NAL9602](INFO): Powering up NAL9602
2019-11-21T09:48:03.011Z,1574329683.011 [NAL9602](INFO): NAL9602 initialized
2019-11-21T09:48:03.826Z,1574329683.826 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T09:48:03.826Z,1574329683.826 [NAL9602] Data Fault, FailCount= 5
2019-11-21T09:48:03.826Z,1574329683.826 [NAL9602](ERROR): Data Fault
2019-11-21T09:48:03.859Z,1574329683.859 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T09:48:03.859Z,1574329683.859 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T09:48:04.222Z,1574329684.222 [NAL9602](INFO): Powering down
2019-11-21T09:48:04.306Z,1574329684.306 [CBIT](INFO): Critical error at 20191121T094803
2019-11-21T09:48:23.634Z,1574329703.634 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T09:49:09.287Z,1574329749.287 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:49:09.288Z,1574329749.288 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103001345,35.0, -0.1,   09,  0
2019-11-21T09:50:03.886Z,1574329803.886 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T09:50:03.886Z,1574329803.886 [NAL9602] No Fault, FailCount= 5
2019-11-21T09:50:04.204Z,1574329804.204 [NAL9602](INFO): Powering up NAL9602
2019-11-21T09:50:15.111Z,1574329815.111 [NAL9602](INFO): NAL9602 initialized
2019-11-21T09:51:48.867Z,1574329908.867 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T09:46:48.7Z
2019-11-21T09:51:48.867Z,1574329908.867 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T09:51:48.867Z,1574329908.867 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T09:51:52.907Z,1574329912.907 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T09:51:56.500Z,1574329916.500 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0163.lzma
2019-11-21T09:51:59.173Z,1574329919.173 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0163.lzma.bak
2019-11-21T09:51:59.173Z,1574329919.173 [DataOverHttps](INFO): SBD MOMSN=12081248
2019-11-21T09:52:04.648Z,1574329924.648 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:52:04.648Z,1574329924.648 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103030845,35.0, -0.1,448.9,  0
2019-11-21T09:52:08.286Z,1574329928.286 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T09:52:15.899Z,1574329935.899 [DataOverHttps](INFO): Sending 273 bytes from file Logs/20191121T002353/Express0164.lzma
2019-11-21T09:52:17.903Z,1574329937.903 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0164.lzma.bak
2019-11-21T09:52:17.903Z,1574329937.903 [DataOverHttps](INFO): SBD MOMSN=12081251
2019-11-21T09:52:19.601Z,1574329939.601 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T09:52:19.601Z,1574329939.601 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T09:52:19.601Z,1574329939.601 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T09:52:23.611Z,1574329943.611 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T09:53:09.290Z,1574329989.290 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T09:53:09.290Z,1574329989.290 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103041345,35.0  0.0,1448.9,  0
2019-11-21T09:57:20.192Z,1574330240.192 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T09:57:20.209Z,1574330240.209 [Default:CheckIn:C.Wait] Stopped
2019-11-21T09:57:20.209Z,1574330240.209 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T09:57:20.209Z,1574330240.209 [Default:CheckIn:D] Running Loop=1
2019-11-21T09:57:20.593Z,1574330240.593 [Default:CheckIn:D] Stopped
2019-11-21T09:57:20.593Z,1574330240.593 [Default:CheckIn:E] Running Loop=1
2019-11-21T09:57:21.019Z,1574330241.019 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 548.729883 min 
2019-11-21T09:57:21.019Z,1574330241.019 [Default:CheckIn:E] Stopped
2019-11-21T09:57:21.019Z,1574330241.019 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T09:57:21.019Z,1574330241.019 [Default:CheckIn] Stopped
2019-11-21T09:57:21.019Z,1574330241.019 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T09:57:21.020Z,1574330241.020 [Default:CheckIn](INFO): Running loop #54
2019-11-21T09:57:21.020Z,1574330241.020 [Default:CheckIn] Running Loop=54
2019-11-21T09:57:21.020Z,1574330241.020 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T09:57:21.020Z,1574330241.020 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:02:21.217Z,1574330541.217 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T09:57:21.0Z
2019-11-21T10:02:21.217Z,1574330541.217 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T10:02:21.218Z,1574330541.218 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T10:02:24.396Z,1574330544.396 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T10:02:28.984Z,1574330548.984 [DataOverHttps](INFO): Sending 218 bytes from file Logs/20191121T002353/Express0167.lzma
2019-11-21T10:02:30.991Z,1574330550.991 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0167.lzma.bak
2019-11-21T10:02:30.991Z,1574330550.991 [DataOverHttps](INFO): SBD MOMSN=12081265
2019-11-21T10:02:32.910Z,1574330552.910 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T10:02:32.910Z,1574330552.910 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T10:02:32.910Z,1574330552.910 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T10:02:55.103Z,1574330575.103 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T10:07:33.510Z,1574330853.510 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T10:07:33.510Z,1574330853.510 [Default:CheckIn:C.Wait] Stopped
2019-11-21T10:07:33.510Z,1574330853.510 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T10:07:33.511Z,1574330853.511 [Default:CheckIn:D] Running Loop=1
2019-11-21T10:07:33.897Z,1574330853.897 [Default:CheckIn:D] Stopped
2019-11-21T10:07:33.897Z,1574330853.897 [Default:CheckIn:E] Running Loop=1
2019-11-21T10:07:34.313Z,1574330854.313 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 558.951628 min 
2019-11-21T10:07:34.313Z,1574330854.313 [Default:CheckIn:E] Stopped
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn] Stopped
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn](INFO): Running loop #55
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn] Running Loop=55
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T10:07:34.314Z,1574330854.314 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:07:35.913Z,1574330855.913 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T10:07:35.913Z,1574330855.913 [NAL9602] Data Fault, FailCount= 1
2019-11-21T10:07:35.914Z,1574330855.914 [NAL9602](ERROR): Data Fault
2019-11-21T10:07:35.977Z,1574330855.977 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T10:07:36.291Z,1574330856.291 [NAL9602](INFO): Powering down
2019-11-21T10:07:37.165Z,1574330857.165 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T10:07:37.165Z,1574330857.165 [NAL9602] No Fault, FailCount= 1
2019-11-21T10:08:06.600Z,1574330886.600 [NAL9602](INFO): Powering up NAL9602
2019-11-21T10:08:17.503Z,1574330897.503 [NAL9602](INFO): NAL9602 initialized
2019-11-21T10:10:02.170Z,1574331002.170 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:10:02.170Z,1574331002.170 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103210645,35.0  0.0,1448.9,  0
2019-11-21T10:12:34.483Z,1574331154.483 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T10:07:34.3Z
2019-11-21T10:12:34.483Z,1574331154.483 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T10:12:34.484Z,1574331154.484 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T10:12:42.457Z,1574331162.457 [DataOverHttps](INFO): Sending 242 bytes from file Logs/20191121T002353/Express0170.lzma
2019-11-21T10:12:44.463Z,1574331164.463 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0170.lzma.bak
2019-11-21T10:12:44.463Z,1574331164.463 [DataOverHttps](INFO): SBD MOMSN=12081281
2019-11-21T10:12:46.204Z,1574331166.204 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T10:12:46.204Z,1574331166.204 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T10:12:46.204Z,1574331166.204 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T10:13:20.907Z,1574331200.907 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T10:13:51.615Z,1574331231.615 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T10:14:37.306Z,1574331277.306 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:14:37.306Z,1574331277.306 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T10:15:53.639Z,1574331353.639 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-11-21T10:17:00.311Z,1574331420.311 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:17:00.311Z,1574331420.311 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103280445,35.0, -.0,1448.9,  0
2019-11-21T10:17:18.902Z,1574331438.902 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:17:18.903Z,1574331438.903 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,  BI,-32768,-32768,-32768,-32768,V
2019-11-21T10:17:46.777Z,1574331466.777 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T10:17:46.777Z,1574331466.777 [Default:CheckIn:C.Wait] Stopped
2019-11-21T10:17:46.777Z,1574331466.777 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T10:17:46.777Z,1574331466.777 [Default:CheckIn:D] Running Loop=1
2019-11-21T10:17:47.183Z,1574331467.183 [Default:CheckIn:D] Stopped
2019-11-21T10:17:47.183Z,1574331467.183 [Default:CheckIn:E] Running Loop=1
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 569.173047 min 
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn:E] Stopped
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn] Stopped
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn](INFO): Running loop #56
2019-11-21T10:17:47.571Z,1574331467.571 [Default:CheckIn] Running Loop=56
2019-11-21T10:17:47.572Z,1574331467.572 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T10:17:47.572Z,1574331467.572 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:18:14.647Z,1574331494.647 [RDI_Pathfinder](ERROR): Failed to parse:768,-32768,-32768,V
2019-11-21T10:19:38.282Z,1574331578.282 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:19:38.283Z,1574331578.283 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103300, -0.1,   0.0,1448.9,  0
2019-11-21T10:22:47.763Z,1574331767.763 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T10:17:47.6Z
2019-11-21T10:22:47.763Z,1574331767.763 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T10:22:47.764Z,1574331767.764 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T10:22:51.775Z,1574331771.775 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T10:22:55.821Z,1574331775.821 [DataOverHttps](INFO): Sending 217 bytes from file Logs/20191121T002353/Express0173.lzma
2019-11-21T10:22:57.827Z,1574331777.827 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0173.lzma.bak
2019-11-21T10:22:57.827Z,1574331777.827 [DataOverHttps](INFO): SBD MOMSN=12081297
2019-11-21T10:22:59.936Z,1574331779.936 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T10:22:59.936Z,1574331779.936 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T10:22:59.936Z,1574331779.936 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T10:23:00.277Z,1574331780.277 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:23:00.278Z,1574331780.278 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T10:23:22.483Z,1574331802.483 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T10:28:00.469Z,1574332080.469 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T10:28:00.469Z,1574332080.469 [Default:CheckIn:C.Wait] Stopped
2019-11-21T10:28:00.469Z,1574332080.469 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T10:28:00.469Z,1574332080.469 [Default:CheckIn:D] Running Loop=1
2019-11-21T10:28:00.878Z,1574332080.878 [Default:CheckIn:D] Stopped
2019-11-21T10:28:00.878Z,1574332080.878 [Default:CheckIn:E] Running Loop=1
2019-11-21T10:28:01.280Z,1574332081.280 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 579.401302 min 
2019-11-21T10:28:01.280Z,1574332081.280 [Default:CheckIn:E] Stopped
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn] Stopped
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn](INFO): Running loop #57
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn] Running Loop=57
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T10:28:01.301Z,1574332081.301 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:28:02.855Z,1574332082.855 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T10:28:02.855Z,1574332082.855 [NAL9602] Data Fault, FailCount= 2
2019-11-21T10:28:02.855Z,1574332082.855 [NAL9602](ERROR): Data Fault
2019-11-21T10:28:02.887Z,1574332082.887 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T10:28:03.272Z,1574332083.272 [NAL9602](INFO): Powering down
2019-11-21T10:28:04.123Z,1574332084.123 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T10:28:04.123Z,1574332084.123 [NAL9602] No Fault, FailCount= 2
2019-11-21T10:28:33.565Z,1574332113.565 [NAL9602](INFO): Powering up NAL9602
2019-11-21T10:28:44.472Z,1574332124.472 [NAL9602](INFO): NAL9602 initialized
2019-11-21T10:28:52.183Z,1574332132.183 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T10:31:45.923Z,1574332305.923 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T10:31:45.923Z,1574332305.923 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,     ,        +0.00,        +0.00,   0.00,3110.57
2019-11-21T10:32:11.342Z,1574332331.342 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:32:11.342Z,1574332331.342 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T10:32:51.336Z,1574332371.336 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:32:51.336Z,1574332371.336 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103435545,35.0, -00,1448.9,  0
2019-11-21T10:33:01.454Z,1574332381.454 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T10:28:01.3Z
2019-11-21T10:33:01.454Z,1574332381.454 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T10:33:01.454Z,1574332381.454 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T10:33:09.397Z,1574332389.397 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20191121T002353/Express0176.lzma
2019-11-21T10:33:11.403Z,1574332391.403 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0176.lzma.bak
2019-11-21T10:33:11.403Z,1574332391.403 [DataOverHttps](INFO): SBD MOMSN=12081312
2019-11-21T10:33:13.177Z,1574332393.177 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T10:33:13.177Z,1574332393.177 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T10:33:13.177Z,1574332393.177 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T10:33:47.896Z,1574332427.896 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T10:34:18.584Z,1574332458.584 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T10:36:05.253Z,1574332565.253 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T10:37:11.190Z,1574332631.190 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:37:13.989Z,1574332633.989 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2019-11-21T10:37:49.914Z,1574332669.914 [RDI_Pathfinder](ERROR): Failed to parse:
:0,   0.00,   0.00,   0.00,   0.00
2019-11-21T10:38:13.741Z,1574332693.741 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T10:38:13.741Z,1574332693.741 [Default:CheckIn:C.Wait] Stopped
2019-11-21T10:38:13.741Z,1574332693.741 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T10:38:13.741Z,1574332693.741 [Default:CheckIn:D] Running Loop=1
2019-11-21T10:38:14.141Z,1574332694.141 [Default:CheckIn:D] Stopped
2019-11-21T10:38:14.141Z,1574332694.141 [Default:CheckIn:E] Running Loop=1
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 589.622396 min 
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn:E] Stopped
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn] Stopped
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn](INFO): Running loop #58
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn] Running Loop=58
2019-11-21T10:38:14.559Z,1574332694.559 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T10:38:14.560Z,1574332694.560 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:38:19.105Z,1574332699.105 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:38:45.703Z,1574332725.703 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:38:59.063Z,1574332739.063 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:39:39.840Z,1574332779.840 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:39:52.379Z,1574332792.379 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:40:46.936Z,1574332846.936 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-11-21T10:41:20.384Z,1574332880.384 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-11-21T10:41:20.386Z,1574332880.386 [BPC1](INFO): Received data from all battery sticks.
2019-11-21T10:42:46.900Z,1574332966.900 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:42:46.900Z,1574332966.900 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2019-11-21T10:43:06.259Z,1574332986.259 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T10:43:14.763Z,1574332994.763 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T10:38:14.6Z
2019-11-21T10:43:14.763Z,1574332994.763 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T10:43:14.763Z,1574332994.763 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T10:43:18.755Z,1574332998.755 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T10:43:22.773Z,1574333002.773 [DataOverHttps](INFO): Sending 45 bytes from file Logs/20191121T002353/Courier0178.lzma
2019-11-21T10:43:24.779Z,1574333004.779 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0178.lzma.bak
2019-11-21T10:43:24.779Z,1574333004.779 [DataOverHttps](INFO): SBD MOMSN=12081319
2019-11-21T10:43:41.369Z,1574333021.369 [DataOverHttps](INFO): Sending 215 bytes from file Logs/20191121T002353/Express0179.lzma
2019-11-21T10:43:43.376Z,1574333023.376 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0179.lzma.bak
2019-11-21T10:43:43.376Z,1574333023.376 [DataOverHttps](INFO): SBD MOMSN=12081329
2019-11-21T10:43:45.069Z,1574333025.069 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T10:43:45.069Z,1574333025.069 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T10:43:45.069Z,1574333025.069 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T10:43:49.463Z,1574333029.463 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T10:44:03.624Z,1574333043.624 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:44:03.624Z,1574333043.624 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103550745,35.0, -0.1,   0.,  0
2019-11-21T10:44:43.621Z,1574333083.621 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:44:43.621Z,1574333083.621 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112103550, -0.1,   0.0,1448.9,  0
2019-11-21T10:44:50.107Z,1574333090.107 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T10:45:23.626Z,1574333123.626 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:45:23.627Z,1574333123.627 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191121035.0, -0.1,   0.0,1448.9,  0
2019-11-21T10:46:07.256Z,1574333167.256 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T10:46:07.256Z,1574333167.256 [RDI_Pathfinder](ERROR): Failed to parse:
:TS3571145,35.0, -0.1,   0.0,1448.9,  0
2019-11-21T10:47:23.632Z,1574333243.632 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:47:23.637Z,1574333243.637 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2019-11-21T10:48:03.247Z,1574333283.247 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:48:03.247Z,1574333283.247 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2019-11-21T10:48:43.626Z,1574333323.626 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:48:43.626Z,1574333323.626 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T10:48:45.656Z,1574333325.656 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T10:48:45.656Z,1574333325.656 [Default:CheckIn:C.Wait] Stopped
2019-11-21T10:48:45.656Z,1574333325.656 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T10:48:45.656Z,1574333325.656 [Default:CheckIn:D] Running Loop=1
2019-11-21T10:48:46.077Z,1574333326.077 [Default:CheckIn:D] Stopped
2019-11-21T10:48:46.077Z,1574333326.077 [Default:CheckIn:E] Running Loop=1
2019-11-21T10:48:46.461Z,1574333326.461 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 600.154622 min 
2019-11-21T10:48:46.461Z,1574333326.461 [Default:CheckIn:E] Stopped
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn] Stopped
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn](INFO): Running loop #59
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn] Running Loop=59
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T10:48:46.462Z,1574333326.462 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:48:48.047Z,1574333328.047 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T10:48:48.047Z,1574333328.047 [NAL9602] Data Fault, FailCount= 3
2019-11-21T10:48:48.047Z,1574333328.047 [NAL9602](ERROR): Data Fault
2019-11-21T10:48:48.109Z,1574333328.109 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T10:48:48.447Z,1574333328.447 [NAL9602](INFO): Powering down
2019-11-21T10:48:49.307Z,1574333329.307 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T10:48:49.307Z,1574333329.307 [NAL9602] No Fault, FailCount= 3
2019-11-21T10:49:05.050Z,1574333345.050 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T10:49:07.894Z,1574333347.894 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:49:07.895Z,1574333347.895 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-11-21T10:49:18.765Z,1574333358.765 [NAL9602](INFO): Powering up NAL9602
2019-11-21T10:49:22.422Z,1574333362.422 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T10:49:29.679Z,1574333369.679 [NAL9602](INFO): NAL9602 initialized
2019-11-21T10:50:12.225Z,1574333412.225 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-11-21T10:50:12.225Z,1574333412.225 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-11-21T10:50:12.225Z,1574333412.225 [RDI_Pathfinder](ERROR): Communications Fault
2019-11-21T10:50:12.225Z,1574333412.225 [RDI_Pathfinder](ERROR): Failed to parse:
2019-11-21T10:50:12.250Z,1574333412.250 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-11-21T10:50:12.589Z,1574333412.589 [RDI_Pathfinder](INFO): Powering down
2019-11-21T10:50:13.381Z,1574333413.381 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-11-21T10:50:13.381Z,1574333413.381 [RDI_Pathfinder] No Fault, FailCount= 1
2019-11-21T10:50:26.667Z,1574333426.667 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-11-21T10:53:46.670Z,1574333626.670 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T10:48:46.5Z
2019-11-21T10:53:46.670Z,1574333626.670 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T10:53:46.671Z,1574333626.671 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T10:53:54.038Z,1574333634.038 [DataOverHttps](INFO): Sending 235 bytes from file Logs/20191121T002353/Express0182.lzma
2019-11-21T10:53:56.043Z,1574333636.043 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0182.lzma.bak
2019-11-21T10:53:56.043Z,1574333636.043 [DataOverHttps](INFO): SBD MOMSN=12081336
2019-11-21T10:53:57.973Z,1574333637.973 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T10:53:57.973Z,1574333637.973 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T10:53:57.973Z,1574333637.973 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T10:54:33.083Z,1574333673.083 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T10:55:03.803Z,1574333703.803 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T10:55:40.987Z,1574333740.987 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-11-21T10:55:40.987Z,1574333740.987 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-11-21T10:56:01.990Z,1574333761.990 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-11-21T10:56:01.990Z,1574333761.990 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-11-21T10:58:58.539Z,1574333938.539 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T10:58:58.539Z,1574333938.539 [Default:CheckIn:C.Wait] Stopped
2019-11-21T10:58:58.539Z,1574333938.539 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T10:58:58.540Z,1574333938.540 [Default:CheckIn:D] Running Loop=1
2019-11-21T10:58:58.963Z,1574333938.963 [Default:CheckIn:D] Stopped
2019-11-21T10:58:58.963Z,1574333938.963 [Default:CheckIn:E] Running Loop=1
2019-11-21T10:58:59.362Z,1574333939.362 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 610.369401 min 
2019-11-21T10:58:59.362Z,1574333939.362 [Default:CheckIn:E] Stopped
2019-11-21T10:58:59.362Z,1574333939.362 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T10:58:59.362Z,1574333939.362 [Default:CheckIn] Stopped
2019-11-21T10:58:59.362Z,1574333939.362 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T10:58:59.363Z,1574333939.363 [Default:CheckIn](INFO): Running loop #60
2019-11-21T10:58:59.363Z,1574333939.363 [Default:CheckIn] Running Loop=60
2019-11-21T10:58:59.363Z,1574333939.363 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T10:58:59.363Z,1574333939.363 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T10:59:32.051Z,1574333972.051 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T10:59:32.133Z,1574333972.133 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T10:59:32.133Z,1574333972.133 [NAL9602] Data Fault, FailCount= 4
2019-11-21T10:59:32.133Z,1574333972.133 [NAL9602](ERROR): Data Fault
2019-11-21T10:59:32.170Z,1574333972.170 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T10:59:32.455Z,1574333972.455 [NAL9602](INFO): Powering down
2019-11-21T10:59:33.311Z,1574333973.311 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T10:59:33.311Z,1574333973.311 [NAL9602] No Fault, FailCount= 4
2019-11-21T10:59:47.835Z,1574333987.835 [RDI_Pathfinder](ERROR): Failed to parse:
9.99
2019-11-21T11:00:02.755Z,1574334002.755 [NAL9602](INFO): Powering up NAL9602
2019-11-21T11:00:13.661Z,1574334013.661 [NAL9602](INFO): NAL9602 initialized
2019-11-21T11:00:14.475Z,1574334014.475 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-11-21T11:00:14.475Z,1574334014.475 [NAL9602] Data Fault, FailCount= 5
2019-11-21T11:00:14.475Z,1574334014.475 [NAL9602](ERROR): Data Fault
2019-11-21T11:00:14.537Z,1574334014.537 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T11:00:14.538Z,1574334014.538 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-11-21T11:00:14.872Z,1574334014.872 [NAL9602](INFO): Powering down
2019-11-21T11:00:14.943Z,1574334014.943 [CBIT](INFO): Critical error at 20191121T110014
2019-11-21T11:02:14.514Z,1574334134.514 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T11:02:14.514Z,1574334134.514 [NAL9602] No Fault, FailCount= 5
2019-11-21T11:02:14.864Z,1574334134.864 [NAL9602](INFO): Powering up NAL9602
2019-11-21T11:02:25.775Z,1574334145.775 [NAL9602](INFO): NAL9602 initialized
2019-11-21T11:03:52.693Z,1574334232.693 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T11:03:52.693Z,1574334232.693 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0    +0.00,        +0.00,   0.00,805.97
2019-11-21T11:03:59.533Z,1574334239.533 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T10:58:59.4Z
2019-11-21T11:03:59.533Z,1574334239.533 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T11:03:59.534Z,1574334239.534 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T11:04:03.135Z,1574334243.135 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T11:04:07.212Z,1574334247.212 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191121T002353/Courier0184.lzma
2019-11-21T11:04:09.219Z,1574334249.219 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Courier0184.lzma.bak
2019-11-21T11:04:09.219Z,1574334249.219 [DataOverHttps](INFO): SBD MOMSN=12081345
2019-11-21T11:04:26.612Z,1574334266.612 [DataOverHttps](INFO): Sending 273 bytes from file Logs/20191121T002353/Express0185.lzma
2019-11-21T11:04:28.611Z,1574334268.611 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0185.lzma.bak
2019-11-21T11:04:28.611Z,1574334268.611 [DataOverHttps](INFO): SBD MOMSN=12081350
2019-11-21T11:04:30.717Z,1574334270.717 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T11:04:30.718Z,1574334270.718 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T11:04:30.718Z,1574334270.718 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T11:04:33.843Z,1574334273.843 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T11:07:27.983Z,1574334447.983 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T11:07:27.984Z,1574334447.984 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112104183218,35.0, -0.1,   0.,  0
2019-11-21T11:07:53.050Z,1574334473.050 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T11:07:53.051Z,1574334473.051 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112104185718,35.0, 09A,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T11:09:31.218Z,1574334571.218 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T11:09:31.218Z,1574334571.218 [Default:CheckIn:C.Wait] Stopped
2019-11-21T11:09:31.218Z,1574334571.218 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-11-21T11:09:31.219Z,1574334571.219 [Default:CheckIn:D] Running Loop=1
2019-11-21T11:09:31.658Z,1574334571.658 [Default:CheckIn:D] Stopped
2019-11-21T11:09:31.658Z,1574334571.658 [Default:CheckIn:E] Running Loop=1
2019-11-21T11:09:32.030Z,1574334572.030 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 620.914323 min 
2019-11-21T11:09:32.030Z,1574334572.030 [Default:CheckIn:E] Stopped
2019-11-21T11:09:32.030Z,1574334572.030 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-11-21T11:09:32.031Z,1574334572.031 [Default:CheckIn] Stopped
2019-11-21T11:09:32.031Z,1574334572.031 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-11-21T11:09:32.031Z,1574334572.031 [Default:CheckIn](INFO): Running loop #61
2019-11-21T11:09:32.031Z,1574334572.031 [Default:CheckIn] Running Loop=61
2019-11-21T11:09:32.031Z,1574334572.031 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-11-21T11:09:32.031Z,1574334572.031 [Default:CheckIn:Read_GPS] Running Loop=1
2019-11-21T11:10:04.721Z,1574334604.721 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-11-21T11:10:04.793Z,1574334604.793 [NAL9602](FAULT): received: 
+CSQ:0

OK53, 2, 0, 0, 0

OK
2019-11-21T11:10:04.793Z,1574334604.793 [NAL9602] Data Fault, FailCount= 1
2019-11-21T11:10:04.793Z,1574334604.793 [NAL9602](ERROR): Data Fault
2019-11-21T11:10:04.900Z,1574334604.900 [CBIT](ERROR): Data Fault in component: NAL9602
2019-11-21T11:10:05.120Z,1574334605.120 [NAL9602](INFO): Powering down
2019-11-21T11:10:06.029Z,1574334606.029 [CBIT](INFO): Clearing failed state for component NAL9602
2019-11-21T11:10:06.029Z,1574334606.029 [NAL9602] No Fault, FailCount= 1
2019-11-21T11:10:09.614Z,1574334609.614 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-11-21T11:10:35.417Z,1574334635.417 [NAL9602](INFO): Powering up NAL9602
2019-11-21T11:10:46.331Z,1574334646.331 [NAL9602](INFO): NAL9602 initialized
2019-11-21T11:10:51.632Z,1574334651.632 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T11:10:51.641Z,1574334651.641 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,     ,   0.00,1224.93
2019-11-21T11:11:26.014Z,1574334686.014 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-11-21T11:11:26.014Z,1574334686.014 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,        +8.93
2019-11-21T11:13:05.339Z,1574334785.339 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-11-21T11:13:05.339Z,1574334785.339 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3768,V
2019-11-21T11:13:51.820Z,1574334831.820 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-11-21T11:14:11.998Z,1574334851.998 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T11:14:11.998Z,1574334851.998 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112104251618,35.0  0.0,1448.9,  0
2019-11-21T11:14:32.228Z,1574334872.228 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-11-21T11:09:32.0Z
2019-11-21T11:14:32.228Z,1574334872.228 [Default:CheckIn:Read_GPS] Stopped
2019-11-21T11:14:32.229Z,1574334872.229 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-11-21T11:14:35.807Z,1574334875.807 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-11-21T11:14:40.169Z,1574334880.169 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20191121T002353/Express0188.lzma
2019-11-21T11:14:42.175Z,1574334882.175 [DataOverHttps](INFO): Moved sent file to Logs/20191121T002353/Express0188.lzma.bak
2019-11-21T11:14:42.175Z,1574334882.175 [DataOverHttps](INFO): SBD MOMSN=12081365
2019-11-21T11:14:43.930Z,1574334883.930 [Default:CheckIn:Read_Iridium] Stopped
2019-11-21T11:14:43.931Z,1574334883.931 [Default:CheckIn:C.Wait] Running Loop=1
2019-11-21T11:14:43.931Z,1574334883.931 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-11-21T11:15:06.511Z,1574334906.511 [NAL9602](INFO): Not Powering down - fast GPS
2019-11-21T11:16:30.969Z,1574334990.969 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-11-21T11:16:30.969Z,1574334990.969 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19112104273518,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-11-21T11:19:44.526Z,1574335184.526 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-11-21T11:19:44.526Z,1574335184.526 [Default:CheckIn:C.Wait] Stopped
2019-11-21T11:19:44.527Z,1574335184.527 [Default:Check