2019-12-03T16:52:12.270Z,1575391932.270 [Supervisor](DEBUG): Initializing supervisor.
2019-12-03T16:52:12.273Z,1575391932.273 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-12-03T16:52:12.273Z,1575391932.273 [SyncHandler](INFO): Protected caller Thread ID is 6511
2019-12-03T16:52:12.274Z,1575391932.274 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-12-03T16:52:12.275Z,1575391932.275 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-12-03T16:52:12.275Z,1575391932.275 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 6512
2019-12-03T16:52:12.278Z,1575391932.278 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-12-03T16:52:12.290Z,1575391932.290 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-12-03T16:52:12.291Z,1575391932.291 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-12-03T16:52:12.291Z,1575391932.291 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 6513
2019-12-03T16:52:12.292Z,1575391932.292 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-12-03T16:52:12.293Z,1575391932.293 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-12-03T16:52:12.294Z,1575391932.294 [logger ThreadHandler](INFO): Protected caller Thread ID is 6514
2019-12-03T16:52:12.295Z,1575391932.295 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-12-03T16:52:12.296Z,1575391932.296 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-12-03T16:52:12.298Z,1575391932.298 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-12-03T16:52:12.862Z,1575391932.862 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-12-03T16:52:12.863Z,1575391932.863 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-12-03T16:52:12.960Z,1575391932.960 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-12-03T16:52:12.961Z,1575391932.961 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-12-03T16:52:13.262Z,1575391933.262 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-12-03T16:52:13.263Z,1575391933.263 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-12-03T16:52:13.401Z,1575391933.401 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-12-03T16:52:13.402Z,1575391933.402 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-12-03T16:52:13.588Z,1575391933.588 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-12-03T16:52:13.588Z,1575391933.588 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-12-03T16:52:14.021Z,1575391934.021 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-12-03T16:52:14.021Z,1575391934.021 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-12-03T16:52:14.221Z,1575391934.221 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-12-03T16:52:14.222Z,1575391934.222 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-12-03T16:52:14.361Z,1575391934.361 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-12-03T16:52:14.362Z,1575391934.362 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-12-03T16:52:14.543Z,1575391934.543 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-12-03T16:52:14.543Z,1575391934.543 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-12-03T16:52:14.637Z,1575391934.637 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-12-03T16:52:14.638Z,1575391934.638 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-12-03T16:52:14.931Z,1575391934.931 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-12-03T16:52:14.931Z,1575391934.931 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-12-03T16:52:15.014Z,1575391935.014 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-12-03T16:52:15.115Z,1575391935.115 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-12-03T16:52:15.115Z,1575391935.115 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-12-03T16:52:15.751Z,1575391935.751 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-12-03T16:52:15.752Z,1575391935.752 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-12-03T16:52:16.158Z,1575391936.158 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-12-03T16:52:16.160Z,1575391936.160 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2019-12-03T16:52:16.161Z,1575391936.161 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2019-12-03T16:52:17.003Z,1575391937.003 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2019-12-03T16:52:17.101Z,1575391937.101 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2019-12-03T16:52:17.197Z,1575391937.197 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2019-12-03T16:52:17.424Z,1575391937.424 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-12-03T16:52:17.424Z,1575391937.424 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2019-12-03T16:52:17.507Z,1575391937.507 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2019-12-03T16:52:17.598Z,1575391937.598 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2019-12-03T16:52:17.693Z,1575391937.693 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2019-12-03T16:52:17.774Z,1575391937.774 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2019-12-03T16:52:17.918Z,1575391937.918 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2019-12-03T16:52:18.098Z,1575391938.098 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2019-12-03T16:52:18.223Z,1575391938.223 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-12-03T16:52:18.240Z,1575391938.240 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-12-03T16:52:18.665Z,1575391938.665 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_orientation
2019-12-03T16:52:18.670Z,1575391938.670 [AHRS_M2](INFO): created writer for : platform_orientation
2019-12-03T16:52:18.673Z,1575391938.673 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_magnetic_orientation
2019-12-03T16:52:18.678Z,1575391938.678 [AHRS_M2](INFO): created writer for : platform_magnetic_orientation
2019-12-03T16:52:18.679Z,1575391938.679 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_pitch_angle
2019-12-03T16:52:18.684Z,1575391938.684 [AHRS_M2](INFO): created writer for : platform_pitch_angle
2019-12-03T16:52:18.684Z,1575391938.684 [AHRS_M2](DEBUG): LcmSlateWriter::add(): platform_roll_angle
2019-12-03T16:52:18.690Z,1575391938.690 [AHRS_M2](INFO): created writer for : platform_roll_angle
2019-12-03T16:52:18.761Z,1575391938.761 [AHRS_M2] Loaded
2019-12-03T16:52:18.761Z,1575391938.761 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2019-12-03T16:52:18.870Z,1575391938.870 [DataOverHttps] Loaded
2019-12-03T16:52:18.870Z,1575391938.870 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-12-03T16:52:18.871Z,1575391938.871 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4076A4E0
2019-12-03T16:52:18.871Z,1575391938.871 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 6595
2019-12-03T16:52:18.895Z,1575391938.895 [DDM] Loaded
2019-12-03T16:52:18.895Z,1575391938.895 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2019-12-03T16:52:18.908Z,1575391938.908 [Depth_Keller] Loaded
2019-12-03T16:52:18.908Z,1575391938.908 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-12-03T16:52:18.913Z,1575391938.913 [DropWeight] Loaded
2019-12-03T16:52:18.914Z,1575391938.914 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2019-12-03T16:52:18.975Z,1575391938.975 [DUSBL_Hydroid] Loaded
2019-12-03T16:52:18.975Z,1575391938.975 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2019-12-03T16:52:19.021Z,1575391939.021 [Micromodem] Loaded
2019-12-03T16:52:19.021Z,1575391939.021 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2019-12-03T16:52:19.117Z,1575391939.117 [NAL9602] Loaded
2019-12-03T16:52:19.118Z,1575391939.118 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-12-03T16:52:19.136Z,1575391939.136 [Onboard] Loaded
2019-12-03T16:52:19.136Z,1575391939.136 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-12-03T16:52:19.142Z,1575391939.142 [PowerOnly] Loaded
2019-12-03T16:52:19.142Z,1575391939.142 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2019-12-03T16:52:19.149Z,1575391939.149 [Radio_Surface] Loaded
2019-12-03T16:52:19.149Z,1575391939.149 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-12-03T16:52:19.150Z,1575391939.150 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4079A4E0
2019-12-03T16:52:19.150Z,1575391939.150 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 6596
2019-12-03T16:52:19.193Z,1575391939.193 [RDI_Pathfinder] Loaded
2019-12-03T16:52:19.193Z,1575391939.193 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2019-12-03T16:52:20.676Z,1575391940.676 [BPC1] Loaded
2019-12-03T16:52:20.677Z,1575391940.677 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-12-03T16:52:20.677Z,1575391940.677 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-12-03T16:52:20.678Z,1575391940.678 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-12-03T16:52:20.692Z,1575391940.692 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-12-03T16:52:20.692Z,1575391940.692 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-12-03T16:52:20.797Z,1575391940.797 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-12-03T16:52:20.797Z,1575391940.797 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-12-03T16:52:20.817Z,1575391940.817 [NavChart] Loaded
2019-12-03T16:52:20.817Z,1575391940.817 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-12-03T16:52:20.821Z,1575391940.821 [UniversalFixResidualReporter] Loaded
2019-12-03T16:52:20.822Z,1575391940.822 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-12-03T16:52:20.822Z,1575391940.822 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-12-03T16:52:20.823Z,1575391940.823 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-12-03T16:52:20.930Z,1575391940.930 [BuoyancyServo] Loaded
2019-12-03T16:52:20.931Z,1575391940.931 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-12-03T16:52:20.946Z,1575391940.946 [ElevatorServo] Loaded
2019-12-03T16:52:20.946Z,1575391940.946 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-12-03T16:52:20.961Z,1575391940.961 [MassServo] Loaded
2019-12-03T16:52:20.961Z,1575391940.961 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-12-03T16:52:20.976Z,1575391940.976 [RudderServo] Loaded
2019-12-03T16:52:20.976Z,1575391940.976 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-12-03T16:52:20.990Z,1575391940.990 [ThrusterServo] Loaded
2019-12-03T16:52:20.990Z,1575391940.990 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-12-03T16:52:20.991Z,1575391940.991 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-12-03T16:52:20.991Z,1575391940.991 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-12-03T16:52:21.255Z,1575391941.255 [CTD_NeilBrown] Loaded
2019-12-03T16:52:21.255Z,1575391941.255 [ComponentRegistry](DEBUG): Component "CTD_NeilBrown" handled in its own thread.
2019-12-03T16:52:21.256Z,1575391941.256 [CTD_NeilBrown ThreadHandler](DEBUG): Created PCaller Thread at 408E54E0
2019-12-03T16:52:21.257Z,1575391941.257 [CTD_NeilBrown ThreadHandler](INFO): Protected caller Thread ID is 6597
2019-12-03T16:52:21.271Z,1575391941.271 [PAR_Licor] Loaded
2019-12-03T16:52:21.271Z,1575391941.271 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-12-03T16:52:21.314Z,1575391941.314 [WetLabsSeaOWL_UV_A] Loaded
2019-12-03T16:52:21.314Z,1575391941.314 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2019-12-03T16:52:21.315Z,1575391941.315 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409154E0
2019-12-03T16:52:21.316Z,1575391941.316 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 6598
2019-12-03T16:52:21.316Z,1575391941.316 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-12-03T16:52:21.317Z,1575391941.317 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-12-03T16:52:22.076Z,1575391942.076 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-12-03T16:52:22.076Z,1575391942.076 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-12-03T16:52:22.121Z,1575391942.121 [DepthRateCalculator] Loaded
2019-12-03T16:52:22.121Z,1575391942.121 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-12-03T16:52:22.126Z,1575391942.126 [PitchRateCalculator] Loaded
2019-12-03T16:52:22.127Z,1575391942.127 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-12-03T16:52:22.139Z,1575391942.139 [SpeedCalculator] Loaded
2019-12-03T16:52:22.139Z,1575391942.139 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-12-03T16:52:22.159Z,1575391942.159 [TempGradientCalculator] Loaded
2019-12-03T16:52:22.160Z,1575391942.160 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-12-03T16:52:22.165Z,1575391942.165 [YawRateCalculator] Loaded
2019-12-03T16:52:22.165Z,1575391942.165 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-12-03T16:52:22.205Z,1575391942.205 [ElevatorOffsetCalculator] Loaded
2019-12-03T16:52:22.205Z,1575391942.205 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-12-03T16:52:22.205Z,1575391942.205 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-12-03T16:52:22.206Z,1575391942.206 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-12-03T16:52:22.346Z,1575391942.346 [SBIT](DEBUG): Construct Startup Built In Test.
2019-12-03T16:52:22.368Z,1575391942.368 [SBIT] Loaded
2019-12-03T16:52:22.368Z,1575391942.368 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-12-03T16:52:22.369Z,1575391942.369 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-12-03T16:52:22.381Z,1575391942.381 [IBIT] Loaded
2019-12-03T16:52:22.381Z,1575391942.381 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-12-03T16:52:22.384Z,1575391942.384 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-12-03T16:52:22.518Z,1575391942.518 [CBIT] Loaded
2019-12-03T16:52:22.519Z,1575391942.519 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-12-03T16:52:22.519Z,1575391942.519 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-12-03T16:52:22.520Z,1575391942.520 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-12-03T16:52:22.607Z,1575391942.607 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-12-03T16:52:22.607Z,1575391942.607 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-12-03T16:52:22.713Z,1575391942.713 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-12-03T16:52:22.714Z,1575391942.714 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-12-03T16:52:22.763Z,1575391942.763 [VerticalControl](DEBUG): Construct VerticalControl.
2019-12-03T16:52:22.845Z,1575391942.845 [VerticalControl] Loaded
2019-12-03T16:52:22.845Z,1575391942.845 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-12-03T16:52:22.846Z,1575391942.846 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-12-03T16:52:22.914Z,1575391942.914 [HorizontalControl] Loaded
2019-12-03T16:52:22.915Z,1575391942.915 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-12-03T16:52:22.915Z,1575391942.915 [SpeedControl](DEBUG): Construct SpeedControl.
2019-12-03T16:52:22.917Z,1575391942.917 [SpeedControl] Loaded
2019-12-03T16:52:22.917Z,1575391942.917 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-12-03T16:52:22.918Z,1575391942.918 [LoopControl](DEBUG): Construct LoopControl.
2019-12-03T16:52:22.918Z,1575391942.918 [LoopControl] Loaded
2019-12-03T16:52:22.919Z,1575391942.919 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-12-03T16:52:22.919Z,1575391942.919 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-12-03T16:52:22.919Z,1575391942.919 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-12-03T16:52:22.953Z,1575391942.953 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-12-03T16:52:22.957Z,1575391942.957 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-12-03T16:52:22.958Z,1575391942.958 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-12-03T16:52:22.964Z,1575391942.964 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-12-03T16:52:22.965Z,1575391942.965 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF44E0
2019-12-03T16:52:22.966Z,1575391942.966 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 6599
2019-12-03T16:52:22.970Z,1575391942.970 [Supervisor](INFO): Main Thread ID is 6510
2019-12-03T16:52:22.971Z,1575391942.971 [Supervisor](DEBUG): Running supervisor.
2019-12-03T16:52:22.971Z,1575391942.971 [CommandLine ThreadHandler](INFO): Handler Thread ID is 6600
2019-12-03T16:52:22.974Z,1575391942.974 [controlThread ThreadHandler](INFO): Handler Thread ID is 6601
2019-12-03T16:52:22.974Z,1575391942.974 [controlThread](DEBUG): Initializing ControlThread
2019-12-03T16:52:22.979Z,1575391942.979 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-12-03T16:52:22.980Z,1575391942.980 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-12-03T16:52:22.985Z,1575391942.985 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-12-03T16:52:22.985Z,1575391942.985 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-12-03T16:52:22.985Z,1575391942.985 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-12-03T16:52:22.985Z,1575391942.985 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-12-03T16:52:22.986Z,1575391942.986 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-12-03T16:52:22.986Z,1575391942.986 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-12-03T16:52:22.987Z,1575391942.987 [SBIT](INFO): Initialize SBIT Component.
2019-12-03T16:52:22.987Z,1575391942.987 [SBIT](IMPORTANT): git: 2019-12-03
2019-12-03T16:52:22.987Z,1575391942.987 [SBIT](INFO): git hash: f57823ca67b45673dbd0e3b50d7cdc59e2dd7a6b
2019-12-03T16:52:22.988Z,1575391942.988 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-12-03T16:52:22.989Z,1575391942.989 [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
2019-12-03T16:52:22.990Z,1575391942.990 [SBIT](INFO): Beginning SBIT in 35.000000 seconds.
2019-12-03T16:52:22.991Z,1575391942.991 [IBIT](INFO): Initialize IBIT Component.
2019-12-03T16:52:22.991Z,1575391942.991 [CBIT](DEBUG): Initialize CBIT Component.
2019-12-03T16:52:22.993Z,1575391942.993 [logger ThreadHandler](INFO): Handler Thread ID is 6602
2019-12-03T16:52:23.004Z,1575391943.004 [CBIT](DEBUG): Initialized mux pins.
2019-12-03T16:52:23.004Z,1575391943.004 [CBIT](DEBUG): Initializing the watchdog timer.
2019-12-03T16:52:23.013Z,1575391943.013 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 6603
2019-12-03T16:52:23.014Z,1575391943.014 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-12-03T16:52:23.027Z,1575391943.027 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 6604
2019-12-03T16:52:23.028Z,1575391943.028 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-12-03T16:52:23.028Z,1575391943.028 [CBIT](DEBUG): Initializing heartbeat.
2019-12-03T16:52:23.037Z,1575391943.037 [CTD_NeilBrown ThreadHandler](INFO): Handler Thread ID is 6605
2019-12-03T16:52:23.038Z,1575391943.038 [CTD_NeilBrown](INFO): Powering down
2019-12-03T16:52:23.065Z,1575391943.065 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 6606
2019-12-03T16:52:23.066Z,1575391943.066 [WetLabsSeaOWL_UV_A](INFO): Powering down
2019-12-03T16:52:23.093Z,1575391943.093 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 6607
2019-12-03T16:52:23.100Z,1575391943.100 [CBIT](DEBUG): Deactivating GF circuits.
2019-12-03T16:52:23.100Z,1575391943.100 [CBIT](DEBUG): Deactivating emergency mode.
2019-12-03T16:52:23.101Z,1575391943.101 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-12-03T16:52:23.101Z,1575391943.101 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-12-03T16:52:23.101Z,1575391943.101 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-12-03T16:52:23.101Z,1575391943.101 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-12-03T16:52:23.101Z,1575391943.101 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-12-03T16:52:23.102Z,1575391943.102 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-12-03T16:52:23.102Z,1575391943.102 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-12-03T16:52:23.102Z,1575391943.102 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-12-03T16:52:23.102Z,1575391943.102 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-12-03T16:52:23.102Z,1575391943.102 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-12-03T16:52:23.102Z,1575391943.102 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-12-03T16:52:23.103Z,1575391943.103 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-12-03T16:52:23.103Z,1575391943.103 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-12-03T16:52:23.103Z,1575391943.103 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-12-03T16:52:23.103Z,1575391943.103 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-12-03T16:52:23.103Z,1575391943.103 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-12-03T16:52:23.136Z,1575391943.136 [CBIT](DEBUG): Backplane powered.
2019-12-03T16:52:23.137Z,1575391943.137 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-12-03T16:52:23.138Z,1575391943.138 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-12-03T16:52:23.139Z,1575391943.139 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-12-03T16:52:23.139Z,1575391943.139 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-12-03T16:52:23.140Z,1575391943.140 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-12-03T16:52:23.165Z,1575391943.165 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T16:52:23.192Z,1575391943.192 [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>


2019-12-03T16:52:23.193Z,1575391943.193 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-12-03T16:52:23.274Z,1575391943.274 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-12-03T16:52:23.275Z,1575391943.275 [Default:A.Wait](DEBUG): Construct Wait.
2019-12-03T16:52:23.277Z,1575391943.277 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T16:52:23.300Z,1575391943.300 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-12-03T16:52:23.321Z,1575391943.321 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-12-03T16:52:23.350Z,1575391943.350 [Default:E.Execute](DEBUG): Construct Execute.
2019-12-03T16:52:23.354Z,1575391943.354 [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>


2019-12-03T16:52:23.365Z,1575391943.365 [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,
2019-12-03T16:52:23.373Z,1575391943.373 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2019-12-03T16:52:23.428Z,1575391943.428 [Radio_Surface](INFO): Powering up
2019-12-03T16:52:23.475Z,1575391943.475 [DDM](INFO): Powering up
2019-12-03T16:52:23.475Z,1575391943.475 [DDM](DEBUG): Initializing DDM.
2019-12-03T16:52:23.641Z,1575391943.641 [DUSBL_Hydroid](INFO): Powering up
2019-12-03T16:52:23.641Z,1575391943.641 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-12-03T16:52:23.773Z,1575391943.773 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-12-03T16:52:23.781Z,1575391943.781 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-12-03T16:52:23.782Z,1575391943.782 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-12-03T16:52:23.789Z,1575391943.789 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-12-03T16:52:23.789Z,1575391943.789 [MassServo](DEBUG): Initializing EZServoServo.
2019-12-03T16:52:23.797Z,1575391943.797 [MassServo](DEBUG): Initializing MassServo.
2019-12-03T16:52:23.797Z,1575391943.797 [RudderServo](DEBUG): Initializing EZServoServo.
2019-12-03T16:52:23.805Z,1575391943.805 [RudderServo](DEBUG): Initializing RudderServo.
2019-12-03T16:52:23.805Z,1575391943.805 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-12-03T16:52:23.813Z,1575391943.813 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-12-03T16:52:23.876Z,1575391943.876 [Micromodem](INFO): Powering up
2019-12-03T16:52:23.876Z,1575391943.876 [Micromodem](DEBUG): Initializing Micromodem.
2019-12-03T16:52:28.772Z,1575391948.772 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2019-12-03T16:52:29.179Z,1575391949.179 [Micromodem](INFO): Nmea in: $CATMG,2019-12-03T16:52:35.551670Z,RTC,RTC*5C

2019-12-03T16:52:29.179Z,1575391949.179 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2019-12-03T16:52:35.551670Z,RTC,RTC*5C

2019-12-03T16:52:29.618Z,1575391949.618 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2019-12-03T16:52:29.619Z,1575391949.619 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2019-12-03T16:52:30.018Z,1575391950.018 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2019-12-03T16:52:30.019Z,1575391950.019 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2019-12-03T16:52:30.427Z,1575391950.427 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2019-12-03T16:52:30.427Z,1575391950.427 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2019-12-03T16:52:30.831Z,1575391950.831 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2019-12-03T16:52:30.831Z,1575391950.831 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2019-12-03T16:52:31.234Z,1575391951.234 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2019-12-03T16:52:31.235Z,1575391951.235 [Micromodem](INFO): Nmea out: $CCCFG,FC0,10000*46

2019-12-03T16:52:31.635Z,1575391951.635 [Micromodem](INFO): Nmea in: $CACFG,FC0,10000*44

2019-12-03T16:52:31.635Z,1575391951.635 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2019-12-03T16:52:32.554Z,1575391952.554 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2019-12-03T16:52:32.555Z,1575391952.555 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2019-12-03T16:52:32.807Z,1575391952.807 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2019-12-03T16:52:32.807Z,1575391952.807 [Micromodem](INFO): Nmea out: $CCCLK,2019,12,03,16,52,33*4E

2019-12-03T16:52:33.171Z,1575391953.171 [Micromodem](INFO): Nmea in: $CACLK,2019,12,3,16,52,33*7C

2019-12-03T16:52:33.586Z,1575391953.586 [Micromodem](INFO): Nmea in: $CATMS,0,2019-12-03T16:52:34Z*7B

2019-12-03T16:52:33.589Z,1575391953.589 [Micromodem](INFO): Nmea in: $CATMG,2019-12-03T16:52:34.028210Z,USER_CMD,RTC*15

2019-12-03T16:52:33.985Z,1575391953.985 [DDM](INFO): Dynamic Docking Module:¤
2019-12-03T16:52:34.796Z,1575391954.796 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T16:52:35.210Z,1575391955.210 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T16:52:35.604Z,1575391955.604 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T16:52:36.013Z,1575391956.013 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T16:52:36.419Z,1575391956.419 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T16:52:36.829Z,1575391956.829 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T16:52:37.220Z,1575391957.220 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T16:52:37.276Z,1575391957.276 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-12-03T16:52:38.494Z,1575391958.494 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005148
2019-12-03T16:52:41.312Z,1575391961.312 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T16:52:41.312Z,1575391961.312 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120310045488,35.0, -0.1,   0.0,144

2019-12-03T16:52:41.694Z,1575391961.694 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-12-03T16:52:49.347Z,1575391969.347 [NAL9602](INFO): Powering up NAL9602
2019-12-03T16:52:58.753Z,1575391978.753 [SBIT](IMPORTANT): Beginning Startup BIT
2019-12-03T16:52:58.758Z,1575391978.758 [CBIT](IMPORTANT): Beginning ground fault scan
2019-12-03T16:52:58.916Z,1575391978.916 [CommandLine](IMPORTANT): got command show variable stopdepth
2019-12-03T16:52:59.161Z,1575391979.161 [CommandLine](IMPORTANT): VerticalControl.stopDepthExcursion (meter)
2019-12-03T16:52:59.164Z,1575391979.164 [CommandLine](IMPORTANT): CBIT.stopDepth (meter)
2019-12-03T16:53:00.267Z,1575391980.267 [NAL9602](INFO): NAL9602 initialized
2019-12-03T16:53:03.802Z,1575391983.802 [CommandLine](IMPORTANT): got command get CBIT.stopDepth
2019-12-03T16:53:03.803Z,1575391983.803 [CommandLine](IMPORTANT): CBIT.stopDepth 215.000000 m
2019-12-03T16:53:07.293Z,1575391987.293 [CommandLine](IMPORTANT): got command get CBIT.abortDepth
2019-12-03T16:53:07.294Z,1575391987.294 [CommandLine](IMPORTANT): CBIT.abortDepth 255.000000 m
2019-12-03T16:53:09.868Z,1575391989.868 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.024897
CHAN A1 (24V): -0.028660
CHAN A2 (12V): -0.007165
CHAN A3 (5V): -0.002346
CHAN B0 (3.3V): 0.000296
CHAN B1 (3.15aV): -0.000173
CHAN B2 (3.15bV): 0.000148
CHAN B3 (GND): 0.002021
OPEN: 0.004988
Full Scale Calc: 4.765 mA, -1.589 mA
2019-12-03T16:53:11.863Z,1575391991.863 [SBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.971430
2019-12-03T16:53:11.993Z,1575391991.993 [CommandLine](IMPORTANT): got command show variable buoyancyNeutral
2019-12-03T16:53:12.016Z,1575391992.016 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral (cubic_centimeter)
2019-12-03T16:53:12.032Z,1575391992.032 [CommandLine](IMPORTANT): Config/Simulator.buoyancyNeutralOffset (cubic_centimeter)
2019-12-03T16:53:18.526Z,1575391998.526 [CommandLine](IMPORTANT): got command get VerticalControl.buoyancyNeutral
2019-12-03T16:53:18.527Z,1575391998.527 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral 254.999985 cc
2019-12-03T16:53:52.098Z,1575392032.098 [SBIT](FAULT): Rudder: EXPECTED:0.000000 ACTUAL:0.015396
2019-12-03T16:53:52.098Z,1575392032.098 [SBIT](FAULT): Control surface position failure.
2019-12-03T16:53:52.473Z,1575392032.473 [SBIT](CRITICAL): SBIT FAILED
2019-12-03T16:53:52.490Z,1575392032.490 [CommandLine](FAULT): Scheduling is paused
2019-12-03T16:53:52.490Z,1575392032.490 [CBIT](INFO): Critical error at 20191203T165352
2019-12-03T16:53:52.490Z,1575392032.490 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2019-12-03T16:53:52.533Z,1575392032.533 [CommandLine](IMPORTANT): got command configSet list
2019-12-03T16:53:52.533Z,1575392032.533 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-12-03T16:53:52.534Z,1575392032.534 [CommandLine](IMPORTANT): DDM.loadAtStartup=1 bool;

2019-12-03T16:53:52.534Z,1575392032.534 [CommandLine](IMPORTANT): DDM.verbosity=3 count;

2019-12-03T16:53:52.534Z,1575392032.534 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold=75 count;

2019-12-03T16:53:52.534Z,1575392032.534 [CommandLine](IMPORTANT): DUSBL_Hydroid.transmitLockout=40 millisecond;

2019-12-03T16:53:52.534Z,1575392032.534 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.acoustic_contact_range 1.000000 meter;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): Express linearApproximation DUSBL_Hydroid.xAngle 2.000000 degree;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): Express linearApproximation RDI_Pathfinder.height_above_sea_floor 2.000000 meter;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): Express linearApproximation platform_orientation 5.000000 degree;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): Express linearApproximation platform_x_velocity_wrt_ground 0.100000 meter_per_second;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): Express linearApproximation platform_y_velocity_wrt_ground 0.100000 meter_per_second;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): HorizontalControl.kiHeading=0.002 reciprocal_second;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): HorizontalControl.kpHeading=0.8 none;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): HorizontalControl.rudDeadband=0.05 degree;

2019-12-03T16:53:52.535Z,1575392032.535 [CommandLine](IMPORTANT): PowerOnly.sampleTime=90 second;

2019-12-03T16:53:52.536Z,1575392032.536 [CommandLine](IMPORTANT): RDI_Pathfinder.loadAtStartup=1 bool;

2019-12-03T16:53:52.536Z,1575392032.536 [CommandLine](IMPORTANT): RudderServo.deviationAngle=0.0001 degree;

2019-12-03T16:53:52.536Z,1575392032.536 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=255 cubic_centimeter;

2019-12-03T16:53:52.536Z,1575392032.536 [CommandLine](IMPORTANT): VerticalControl.massDefault=3.8 millimeter;

2019-12-03T16:53:52.815Z,1575392032.815 [MissionManager](IMPORTANT): Started mission Startup
2019-12-03T16:53:52.815Z,1575392032.815 [Startup] Running Loop=1
2019-12-03T16:53:52.815Z,1575392032.815 [Startup](DEBUG): Aggregate::initialize Startup
2019-12-03T16:53:52.816Z,1575392032.816 [Startup:A.GoToSurface] Running Loop=1
2019-12-03T16:53:52.816Z,1575392032.816 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T16:53:52.816Z,1575392032.816 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T16:53:52.817Z,1575392032.817 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T16:53:52.817Z,1575392032.817 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T16:53:52.818Z,1575392032.818 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T16:53:52.818Z,1575392032.818 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T16:53:52.819Z,1575392032.819 [Startup:StartupSatComms] Running Loop=1
2019-12-03T16:53:52.819Z,1575392032.819 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-12-03T16:53:52.819Z,1575392032.819 [Startup:StartupSatComms:A] Running Loop=1
2019-12-03T16:53:53.228Z,1575392033.228 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-12-03T16:54:53.079Z,1575392093.079 [Startup:StartupSatComms:A](INFO): Timed out from 2019-12-03T16:53:52.8Z
2019-12-03T16:54:53.079Z,1575392093.079 [Startup:StartupSatComms:A] Stopped
2019-12-03T16:54:53.079Z,1575392093.079 [Startup:StartupSatComms:B] Running Loop=1
2019-12-03T16:54:53.458Z,1575392093.458 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-12-03T16:55:01.935Z,1575392101.935 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20191203T165212/Courier0000.lzma
2019-12-03T16:55:03.934Z,1575392103.934 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Courier0000.lzma.bak
2019-12-03T16:55:03.934Z,1575392103.934 [DataOverHttps](INFO): SBD MOMSN=12113687
2019-12-03T16:55:22.080Z,1575392122.080 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20191126T185625/Express0079.lzma
2019-12-03T16:55:23.317Z,1575392123.317 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-12-03T16:55:23.317Z,1575392123.317 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T16:55:23.327Z,1575392123.327 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T16:55:23.717Z,1575392123.717 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T16:55:23.717Z,1575392123.717 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-12-03T16:55:24.089Z,1575392124.089 [DataOverHttps](INFO): Moved sent file to Logs/20191126T185625/Express0079.lzma.bak
2019-12-03T16:55:24.090Z,1575392124.090 [DataOverHttps](INFO): SBD MOMSN=12113691
2019-12-03T16:55:25.042Z,1575392125.042 [CommandLine](IMPORTANT): got command failComponent
2019-12-03T16:55:25.042Z,1575392125.042 [CommandLine](IMPORTANT): Failed components:
2019-12-03T16:55:25.042Z,1575392125.042 [CommandLine](IMPORTANT): No failed Components.
2019-12-03T16:55:27.333Z,1575392127.333 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T16:55:27.334Z,1575392127.334 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T16:55:41.222Z,1575392141.222 [DataOverHttps](INFO): Sending 1348 bytes from file Logs/20191203T165212/Express0001.lzma
2019-12-03T16:55:43.226Z,1575392143.226 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0001.lzma.bak
2019-12-03T16:55:43.226Z,1575392143.226 [DataOverHttps](INFO): SBD MOMSN=12113695
2019-12-03T16:55:45.126Z,1575392145.126 [Startup:StartupSatComms:B] Stopped
2019-12-03T16:55:45.126Z,1575392145.126 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-12-03T16:55:45.126Z,1575392145.126 [Startup:StartupSatComms] Stopped
2019-12-03T16:55:45.127Z,1575392145.127 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-12-03T16:55:45.127Z,1575392145.127 [Startup](INFO): Completed Startup
2019-12-03T16:55:45.127Z,1575392145.127 [MissionManager](INFO): Startup is completed.
2019-12-03T16:55:45.128Z,1575392145.128 [MissionManager](INFO): Uninitializing Mission Startup
2019-12-03T16:55:45.128Z,1575392145.128 [Startup] Stopped
2019-12-03T16:55:45.128Z,1575392145.128 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-12-03T16:55:45.128Z,1575392145.128 [Startup:A.GoToSurface] Stopped
2019-12-03T16:55:45.128Z,1575392145.128 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T16:55:45.526Z,1575392145.526 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T16:55:45.527Z,1575392145.527 [Default] Running Loop=1
2019-12-03T16:55:45.527Z,1575392145.527 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T16:55:45.527Z,1575392145.527 [Default:B.GoToSurface] Running Loop=1
2019-12-03T16:55:45.527Z,1575392145.527 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T16:55:45.527Z,1575392145.527 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T16:55:45.527Z,1575392145.527 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T16:55:45.528Z,1575392145.528 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T16:55:45.540Z,1575392145.540 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T16:55:45.541Z,1575392145.541 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T16:55:45.541Z,1575392145.541 [Default:A.Wait] Running Loop=1
2019-12-03T16:55:45.541Z,1575392145.541 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T16:55:58.853Z,1575392158.853 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T16:55:58.853Z,1575392158.853 [Default:A.Wait] Stopped
2019-12-03T16:55:58.853Z,1575392158.853 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T16:55:59.280Z,1575392159.280 [Default:CheckIn] Running Loop=1
2019-12-03T16:55:59.280Z,1575392159.280 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T16:55:59.280Z,1575392159.280 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T16:55:59.724Z,1575392159.724 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T16:56:04.137Z,1575392164.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T16:56:04.137Z,1575392164.137 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0.00,     ,   0.00,207.00
2019-12-03T16:57:35.954Z,1575392255.954 [CommandLine](IMPORTANT): got command show variable detectionThresh
2019-12-03T16:57:36.055Z,1575392256.055 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold (count)
2019-12-03T16:57:41.204Z,1575392261.204 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.detectionThreshold
2019-12-03T16:57:41.204Z,1575392261.204 [CommandLine](IMPORTANT): DUSBL_Hydroid.detectionThreshold 75 count
2019-12-03T16:57:47.553Z,1575392267.553 [BPC1](ERROR): BPC1B: No match for serial number FFFF in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2019-12-03T16:58:03.662Z,1575392283.662 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T16:58:24.323Z,1575392304.323 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-12-03T16:58:24.323Z,1575392304.323 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T16:58:24.344Z,1575392304.344 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T16:58:24.707Z,1575392304.707 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T16:58:24.707Z,1575392304.707 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-12-03T16:59:26.949Z,1575392366.949 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T16:59:26.949Z,1575392366.949 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T16:59:33.375Z,1575392373.375 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T16:59:33.375Z,1575392373.375 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T16:59:35.057Z,1575392375.057 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-12-03T16:59:48.745Z,1575392388.745 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-12-03T16:59:48.747Z,1575392388.747 [BPC1](INFO): Received data from all battery sticks.
2019-12-03T17:00:59.446Z,1575392459.446 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T16:55:59.3Z
2019-12-03T17:00:59.447Z,1575392459.447 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:00:59.447Z,1575392459.447 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:00:59.858Z,1575392459.858 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-12-03T17:01:06.468Z,1575392466.468 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20191203T165212/Courier0004.lzma
2019-12-03T17:01:08.474Z,1575392468.474 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Courier0004.lzma.bak
2019-12-03T17:01:08.474Z,1575392468.474 [DataOverHttps](INFO): SBD MOMSN=12113740
2019-12-03T17:01:25.374Z,1575392485.374 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-12-03T17:01:25.374Z,1575392485.374 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:01:25.404Z,1575392485.404 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:01:25.488Z,1575392485.488 [DataOverHttps](INFO): Sending 335 bytes from file Logs/20191203T165212/Express0005.lzma
2019-12-03T17:01:25.806Z,1575392485.806 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:01:25.806Z,1575392485.806 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-12-03T17:01:27.494Z,1575392487.494 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0005.lzma.bak
2019-12-03T17:01:27.494Z,1575392487.494 [DataOverHttps](INFO): SBD MOMSN=12113742
2019-12-03T17:01:29.826Z,1575392489.826 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T17:01:29.826Z,1575392489.826 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T17:01:29.826Z,1575392489.826 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T17:03:01.496Z,1575392581.496 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T17:03:01.496Z,1575392581.496 [NAL9602] Data Fault, FailCount= 1
2019-12-03T17:03:01.496Z,1575392581.496 [NAL9602](ERROR): Data Fault
2019-12-03T17:03:01.531Z,1575392581.531 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T17:03:01.895Z,1575392581.895 [NAL9602](INFO): Powering down
2019-12-03T17:03:02.738Z,1575392582.738 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T17:03:02.738Z,1575392582.738 [NAL9602] No Fault, FailCount= 1
2019-12-03T17:03:32.200Z,1575392612.200 [NAL9602](INFO): Powering up NAL9602
2019-12-03T17:03:43.106Z,1575392623.106 [NAL9602](INFO): NAL9602 initialized
2019-12-03T17:04:26.377Z,1575392666.377 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-12-03T17:04:26.377Z,1575392666.377 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:04:26.387Z,1575392666.387 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:04:26.794Z,1575392666.794 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:04:26.794Z,1575392666.794 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-12-03T17:05:00.294Z,1575392700.294 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:05:00.294Z,1575392700.294 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120310171388,35.0  0.0,1448.9,  0
2019-12-03T17:05:36.650Z,1575392736.650 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:05:36.650Z,1575392736.650 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120310174988,35.0, 0.0,1448.9,  0
2019-12-03T17:06:30.402Z,1575392790.402 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T17:06:30.402Z,1575392790.402 [Default:CheckIn:C.Wait] Stopped
2019-12-03T17:06:30.402Z,1575392790.402 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T17:06:30.402Z,1575392790.402 [Default:CheckIn:D] Running Loop=1
2019-12-03T17:06:30.810Z,1575392790.810 [Default:CheckIn:D] Stopped
2019-12-03T17:06:30.810Z,1575392790.810 [Default:CheckIn:E] Running Loop=1
2019-12-03T17:06:31.215Z,1575392791.215 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.754726 min 
2019-12-03T17:06:31.215Z,1575392791.215 [Default:CheckIn:E] Stopped
2019-12-03T17:06:31.215Z,1575392791.215 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T17:06:31.215Z,1575392791.215 [Default:CheckIn] Stopped
2019-12-03T17:06:31.215Z,1575392791.215 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T17:06:31.215Z,1575392791.215 [Default:CheckIn](INFO): Running loop #2
2019-12-03T17:06:31.216Z,1575392791.216 [Default:CheckIn] Running Loop=2
2019-12-03T17:06:31.216Z,1575392791.216 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T17:06:31.216Z,1575392791.216 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T17:07:27.352Z,1575392847.352 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-12-03T17:07:27.352Z,1575392847.352 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:07:27.362Z,1575392847.362 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:07:27.782Z,1575392847.782 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:07:27.782Z,1575392847.782 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-12-03T17:10:28.365Z,1575393028.365 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-12-03T17:10:28.365Z,1575393028.365 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:10:28.376Z,1575393028.376 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:10:28.785Z,1575393028.785 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:10:28.785Z,1575393028.785 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-12-03T17:10:46.948Z,1575393046.948 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T17:10:46.949Z,1575393046.949 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     ,        +0.00,   0.00,1089.95
2019-12-03T17:11:26.947Z,1575393086.947 [RDI_Pathfinder](ERROR): Failed to parse:
:8,-32768,-32768,V
2019-12-03T17:11:31.378Z,1575393091.378 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T17:06:31.2Z
2019-12-03T17:11:31.378Z,1575393091.378 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:11:31.378Z,1575393091.378 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:11:39.833Z,1575393099.833 [DataOverHttps](INFO): Sending 191 bytes from file Logs/20191203T165212/Express0008.lzma
2019-12-03T17:11:41.838Z,1575393101.838 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0008.lzma.bak
2019-12-03T17:11:41.838Z,1575393101.838 [DataOverHttps](INFO): SBD MOMSN=12113753
2019-12-03T17:11:44.336Z,1575393104.336 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T17:11:44.336Z,1575393104.336 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T17:11:44.336Z,1575393104.336 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T17:12:16.619Z,1575393136.619 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T17:13:29.337Z,1575393209.337 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-12-03T17:13:29.337Z,1575393209.337 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:13:29.355Z,1575393209.355 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:13:29.766Z,1575393209.766 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:13:29.766Z,1575393209.766 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-12-03T17:13:44.254Z,1575393224.254 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T17:13:44.254Z,1575393224.254 [NAL9602] Data Fault, FailCount= 2
2019-12-03T17:13:44.254Z,1575393224.254 [NAL9602](ERROR): Data Fault
2019-12-03T17:13:44.356Z,1575393224.356 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T17:13:44.667Z,1575393224.667 [NAL9602](INFO): Powering down
2019-12-03T17:13:45.556Z,1575393225.556 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T17:13:45.556Z,1575393225.556 [NAL9602] No Fault, FailCount= 2
2019-12-03T17:14:07.311Z,1575393247.311 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:14:07.311Z,1575393247.311 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120310262088,35.0, 0.0,1448.9,  0
2019-12-03T17:14:14.966Z,1575393254.966 [NAL9602](INFO): Powering up NAL9602
2019-12-03T17:14:25.871Z,1575393265.871 [NAL9602](INFO): NAL9602 initialized
2019-12-03T17:15:33.367Z,1575393333.367 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-12-03T17:15:33.367Z,1575393333.367 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-12-03T17:16:30.341Z,1575393390.341 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-12-03T17:16:30.341Z,1575393390.341 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:16:30.375Z,1575393390.375 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:16:30.746Z,1575393390.746 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:16:30.746Z,1575393390.746 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-12-03T17:16:44.901Z,1575393404.901 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T17:16:44.901Z,1575393404.901 [Default:CheckIn:C.Wait] Stopped
2019-12-03T17:16:44.901Z,1575393404.901 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T17:16:44.902Z,1575393404.902 [Default:CheckIn:D] Running Loop=1
2019-12-03T17:16:45.329Z,1575393405.329 [Default:CheckIn:D] Stopped
2019-12-03T17:16:45.329Z,1575393405.329 [Default:CheckIn:E] Running Loop=1
2019-12-03T17:16:45.690Z,1575393405.690 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 20.996698 min 
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn:E] Stopped
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn] Stopped
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn](INFO): Running loop #3
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn] Running Loop=3
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T17:16:45.691Z,1575393405.691 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T17:18:09.304Z,1575393489.304 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T17:18:09.304Z,1575393489.304 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T17:19:24.465Z,1575393564.465 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:19:24.465Z,1575393564.465 [RDI_Pathfinder](ERROR): Failed to parse:
:TS0313788,35.0, -0.1,   0.0,1448.9,  0
2019-12-03T17:19:31.364Z,1575393571.364 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-12-03T17:19:31.365Z,1575393571.365 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:19:31.374Z,1575393571.374 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:19:31.743Z,1575393571.743 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:19:31.743Z,1575393571.743 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-12-03T17:21:45.859Z,1575393705.859 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T17:16:45.7Z
2019-12-03T17:21:45.859Z,1575393705.859 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:21:45.859Z,1575393705.859 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:21:53.456Z,1575393713.456 [DataOverHttps](INFO): Sending 165 bytes from file Logs/20191203T165212/Express0011.lzma
2019-12-03T17:21:55.462Z,1575393715.462 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0011.lzma.bak
2019-12-03T17:21:55.462Z,1575393715.462 [DataOverHttps](INFO): SBD MOMSN=12113757
2019-12-03T17:21:57.619Z,1575393717.619 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T17:21:57.619Z,1575393717.619 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T17:21:57.619Z,1575393717.619 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T17:22:12.137Z,1575393732.137 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-12-03T17:22:32.337Z,1575393752.337 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-12-03T17:22:32.337Z,1575393752.337 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:22:32.346Z,1575393752.346 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:22:32.745Z,1575393752.745 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:22:32.745Z,1575393752.745 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-12-03T17:23:48.301Z,1575393828.301 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:23:48.301Z,1575393828.301 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191203105,   0.0,1448.9,  0
2019-12-03T17:23:50.300Z,1575393830.300 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T17:23:50.300Z,1575393830.300 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T17:23:53.122Z,1575393833.122 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2019-12-03T17:23:53.123Z,1575393833.123 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768-32768,V
2019-12-03T17:24:27.439Z,1575393867.439 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T17:24:27.439Z,1575393867.439 [NAL9602] Data Fault, FailCount= 3
2019-12-03T17:24:27.439Z,1575393867.439 [NAL9602](ERROR): Data Fault
2019-12-03T17:24:27.510Z,1575393867.510 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T17:24:27.846Z,1575393867.846 [NAL9602](INFO): Powering down
2019-12-03T17:24:28.683Z,1575393868.683 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T17:24:28.683Z,1575393868.683 [NAL9602] No Fault, FailCount= 3
2019-12-03T17:24:58.140Z,1575393898.140 [NAL9602](INFO): Powering up NAL9602
2019-12-03T17:25:09.046Z,1575393909.046 [NAL9602](INFO): NAL9602 initialized
2019-12-03T17:25:10.303Z,1575393910.303 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T17:25:10.303Z,1575393910.303 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-12-03T17:25:33.334Z,1575393933.334 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-12-03T17:25:33.334Z,1575393933.334 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:25:33.356Z,1575393933.356 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:25:33.727Z,1575393933.727 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:25:33.728Z,1575393933.728 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-12-03T17:26:58.178Z,1575394018.178 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T17:26:58.178Z,1575394018.178 [Default:CheckIn:C.Wait] Stopped
2019-12-03T17:26:58.178Z,1575394018.178 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T17:26:58.178Z,1575394018.178 [Default:CheckIn:D] Running Loop=1
2019-12-03T17:26:58.569Z,1575394018.569 [Default:CheckIn:D] Stopped
2019-12-03T17:26:58.569Z,1575394018.569 [Default:CheckIn:E] Running Loop=1
2019-12-03T17:26:58.983Z,1575394018.983 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 31.217375 min 
2019-12-03T17:26:58.983Z,1575394018.983 [Default:CheckIn:E] Stopped
2019-12-03T17:26:58.983Z,1575394018.983 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T17:26:58.984Z,1575394018.984 [Default:CheckIn] Stopped
2019-12-03T17:26:58.984Z,1575394018.984 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T17:26:58.984Z,1575394018.984 [Default:CheckIn](INFO): Running loop #4
2019-12-03T17:26:58.984Z,1575394018.984 [Default:CheckIn] Running Loop=4
2019-12-03T17:26:58.988Z,1575394018.988 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T17:26:58.988Z,1575394018.988 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T17:27:50.271Z,1575394070.271 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T17:28:34.362Z,1575394114.362 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-12-03T17:28:34.362Z,1575394114.362 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:28:34.371Z,1575394114.371 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:28:34.737Z,1575394114.737 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:28:34.737Z,1575394114.737 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-12-03T17:31:35.319Z,1575394295.319 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-12-03T17:31:35.319Z,1575394295.319 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:31:35.329Z,1575394295.329 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:31:35.727Z,1575394295.727 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:31:35.727Z,1575394295.727 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-12-03T17:31:59.157Z,1575394319.157 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T17:26:58.0Z
2019-12-03T17:31:59.157Z,1575394319.157 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:31:59.157Z,1575394319.157 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:32:07.152Z,1575394327.152 [DataOverHttps](INFO): Sending 176 bytes from file Logs/20191203T165212/Express0014.lzma
2019-12-03T17:32:09.158Z,1575394329.158 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0014.lzma.bak
2019-12-03T17:32:09.158Z,1575394329.158 [DataOverHttps](INFO): SBD MOMSN=12113761
2019-12-03T17:32:11.278Z,1575394331.278 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T17:32:11.278Z,1575394331.278 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T17:32:11.278Z,1575394331.278 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T17:33:04.206Z,1575394384.206 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-12-03T17:34:36.327Z,1575394476.327 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2019-12-03T17:34:36.327Z,1575394476.327 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:34:36.345Z,1575394476.345 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:34:36.710Z,1575394476.710 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:34:36.710Z,1575394476.710 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2019-12-03T17:34:57.306Z,1575394497.306 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:34:57.306Z,1575394497.306 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120310471088,35.0, 0.0,1448.9,  0
2019-12-03T17:35:12.227Z,1575394512.227 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T17:35:12.227Z,1575394512.227 [NAL9602] Data Fault, FailCount= 4
2019-12-03T17:35:12.227Z,1575394512.227 [NAL9602](ERROR): Data Fault
2019-12-03T17:35:12.295Z,1575394512.295 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T17:35:12.630Z,1575394512.630 [NAL9602](INFO): Powering down
2019-12-03T17:35:13.474Z,1575394513.474 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T17:35:13.474Z,1575394513.474 [NAL9602] No Fault, FailCount= 4
2019-12-03T17:35:42.947Z,1575394542.947 [NAL9602](INFO): Powering up NAL9602
2019-12-03T17:35:53.844Z,1575394553.844 [NAL9602](INFO): NAL9602 initialized
2019-12-03T17:36:22.976Z,1575394582.976 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:36:22.976Z,1575394582.976 [RDI_Pathfinder](ERROR): Failed to parse:
:TS0483688,35.0, -0.1,   0.0,1448.9,  0
2019-12-03T17:37:11.857Z,1575394631.857 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T17:37:11.857Z,1575394631.857 [Default:CheckIn:C.Wait] Stopped
2019-12-03T17:37:11.858Z,1575394631.858 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T17:37:11.858Z,1575394631.858 [Default:CheckIn:D] Running Loop=1
2019-12-03T17:37:12.248Z,1575394632.248 [Default:CheckIn:D] Stopped
2019-12-03T17:37:12.248Z,1575394632.248 [Default:CheckIn:E] Running Loop=1
2019-12-03T17:37:12.658Z,1575394632.658 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 41.445353 min 
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn:E] Stopped
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn] Stopped
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn](INFO): Running loop #5
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn] Running Loop=5
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T17:37:12.659Z,1575394632.659 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T17:37:37.307Z,1575394657.307 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2019-12-03T17:37:37.307Z,1575394657.307 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:37:37.318Z,1575394657.318 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:37:37.709Z,1575394657.709 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:37:37.709Z,1575394657.709 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2019-12-03T17:40:38.294Z,1575394838.294 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2019-12-03T17:40:38.294Z,1575394838.294 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:40:38.304Z,1575394838.304 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:40:38.701Z,1575394838.701 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:40:38.701Z,1575394838.701 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2019-12-03T17:41:19.917Z,1575394879.917 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T17:41:19.918Z,1575394879.918 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-12-03T17:42:12.827Z,1575394932.827 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T17:37:12.7Z
2019-12-03T17:42:12.827Z,1575394932.827 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:42:12.827Z,1575394932.827 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:42:20.204Z,1575394940.204 [DataOverHttps](INFO): Sending 174 bytes from file Logs/20191203T165212/Express0017.lzma
2019-12-03T17:42:22.210Z,1575394942.210 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0017.lzma.bak
2019-12-03T17:42:22.210Z,1575394942.210 [DataOverHttps](INFO): SBD MOMSN=12113765
2019-12-03T17:42:24.148Z,1575394944.148 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T17:42:24.148Z,1575394944.148 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T17:42:24.148Z,1575394944.148 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T17:42:37.949Z,1575394957.949 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T17:42:37.950Z,1575394957.950 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-12-03T17:42:41.927Z,1575394961.927 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T17:42:41.928Z,1575394961.928 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3278,V
2019-12-03T17:43:38.066Z,1575395018.066 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T17:43:38.066Z,1575395018.066 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3276,-32768,V
2019-12-03T17:43:39.353Z,1575395019.353 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2019-12-03T17:43:39.353Z,1575395019.353 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:43:39.395Z,1575395019.395 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:43:39.761Z,1575395019.761 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:43:39.761Z,1575395019.761 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2019-12-03T17:44:15.641Z,1575395055.641 [RDI_Pathfinder](ERROR): Failed to parse:
:B,-32768,-32768,V
2019-12-03T17:44:19.287Z,1575395059.287 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:44:19.287Z,1575395059.287 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120310563288,35.0, -0.,1448.9,  0
2019-12-03T17:44:36.274Z,1575395076.274 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T17:44:36.275Z,1575395076.275 [RDI_Pathfinder](ERROR): Failed to parse:
:BD +0.00,        +0.00,        +0.00,   0.00,3118.57
2019-12-03T17:45:57.421Z,1575395157.421 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T17:45:57.421Z,1575395157.421 [NAL9602] Data Fault, FailCount= 5
2019-12-03T17:45:57.421Z,1575395157.421 [NAL9602](ERROR): Data Fault
2019-12-03T17:45:57.453Z,1575395157.453 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T17:45:57.454Z,1575395157.454 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-12-03T17:45:57.823Z,1575395157.823 [NAL9602](INFO): Powering down
2019-12-03T17:45:57.901Z,1575395157.901 [CBIT](INFO): Critical error at 20191203T174557
2019-12-03T17:45:58.241Z,1575395158.241 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T17:46:40.282Z,1575395200.282 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2019-12-03T17:46:40.282Z,1575395200.282 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:46:40.292Z,1575395200.292 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:46:40.679Z,1575395200.679 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:46:40.679Z,1575395200.679 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2019-12-03T17:47:24.717Z,1575395244.717 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T17:47:24.717Z,1575395244.717 [Default:CheckIn:C.Wait] Stopped
2019-12-03T17:47:24.717Z,1575395244.717 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T17:47:24.718Z,1575395244.718 [Default:CheckIn:D] Running Loop=1
2019-12-03T17:47:25.117Z,1575395245.117 [Default:CheckIn:D] Stopped
2019-12-03T17:47:25.118Z,1575395245.118 [Default:CheckIn:E] Running Loop=1
2019-12-03T17:47:25.526Z,1575395245.526 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 51.659847 min 
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn:E] Stopped
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn] Stopped
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn](INFO): Running loop #6
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn] Running Loop=6
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T17:47:25.527Z,1575395245.527 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T17:47:57.448Z,1575395277.448 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T17:47:57.448Z,1575395277.448 [NAL9602] No Fault, FailCount= 5
2019-12-03T17:47:57.807Z,1575395277.807 [NAL9602](INFO): Powering up NAL9602
2019-12-03T17:48:08.735Z,1575395288.735 [NAL9602](INFO): NAL9602 initialized
2019-12-03T17:49:41.281Z,1575395381.281 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2019-12-03T17:49:41.281Z,1575395381.281 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:49:41.291Z,1575395381.291 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:49:41.695Z,1575395381.695 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:49:41.695Z,1575395381.695 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2019-12-03T17:51:56.618Z,1575395516.618 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T17:52:25.700Z,1575395545.700 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T17:47:25.5Z
2019-12-03T17:52:25.700Z,1575395545.700 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:52:25.700Z,1575395545.700 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:52:32.970Z,1575395552.970 [DataOverHttps](INFO): Sending 93 bytes from file Logs/20191203T165212/Courier0019.lzma
2019-12-03T17:52:34.974Z,1575395554.974 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Courier0019.lzma.bak
2019-12-03T17:52:34.974Z,1575395554.974 [DataOverHttps](INFO): SBD MOMSN=12113769
2019-12-03T17:52:42.285Z,1575395562.285 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2019-12-03T17:52:42.285Z,1575395562.285 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:52:42.295Z,1575395562.295 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:52:42.690Z,1575395562.690 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:52:42.690Z,1575395562.690 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 20
2019-12-03T17:52:52.128Z,1575395572.128 [DataOverHttps](INFO): Sending 159 bytes from file Logs/20191203T165212/Express0020.lzma
2019-12-03T17:52:54.134Z,1575395574.134 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0020.lzma.bak
2019-12-03T17:52:54.134Z,1575395574.134 [DataOverHttps](INFO): SBD MOMSN=12113772
2019-12-03T17:52:56.415Z,1575395576.415 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T17:52:56.415Z,1575395576.415 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T17:52:56.415Z,1575395576.415 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T17:54:36.625Z,1575395676.625 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T17:54:36.626Z,1575395676.626 [RDI_Pathfinder](ERROR): Failed to parse:
:TS1064988,35.0, -0.1,   0.0,1448.9,  0
2019-12-03T17:55:43.272Z,1575395743.272 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 21
2019-12-03T17:55:43.272Z,1575395743.272 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:55:43.298Z,1575395743.298 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:55:43.678Z,1575395743.678 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:55:43.678Z,1575395743.678 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 21
2019-12-03T17:57:56.999Z,1575395876.999 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T17:57:56.999Z,1575395876.999 [Default:CheckIn:C.Wait] Stopped
2019-12-03T17:57:56.999Z,1575395876.999 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T17:57:56.000Z,1575395877.000 [Default:CheckIn:D] Running Loop=1
2019-12-03T17:57:57.399Z,1575395877.399 [Default:CheckIn:D] Stopped
2019-12-03T17:57:57.399Z,1575395877.399 [Default:CheckIn:E] Running Loop=1
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 62.197872 min 
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn:E] Stopped
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn] Stopped
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn](INFO): Running loop #7
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn] Running Loop=7
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T17:57:57.795Z,1575395877.795 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T17:58:11.509Z,1575395891.509 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T17:58:11.509Z,1575395891.509 [NAL9602] Data Fault, FailCount= 1
2019-12-03T17:58:11.509Z,1575395891.509 [NAL9602](ERROR): Data Fault
2019-12-03T17:58:11.542Z,1575395891.542 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T17:58:11.925Z,1575395891.925 [NAL9602](INFO): Powering down
2019-12-03T17:58:12.773Z,1575395892.773 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T17:58:12.773Z,1575395892.773 [NAL9602] No Fault, FailCount= 1
2019-12-03T17:58:42.223Z,1575395922.223 [NAL9602](INFO): Powering up NAL9602
2019-12-03T17:58:44.283Z,1575395924.283 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 22
2019-12-03T17:58:44.283Z,1575395924.283 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:58:44.293Z,1575395924.293 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:58:44.695Z,1575395924.695 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:58:44.695Z,1575395924.695 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 22
2019-12-03T17:58:53.131Z,1575395933.131 [NAL9602](INFO): NAL9602 initialized
2019-12-03T17:59:08.244Z,1575395948.244 [CommandLine](IMPORTANT): got command show variable range
2019-12-03T17:59:08.247Z,1575395948.247 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-12-03T17:59:08.333Z,1575395948.333 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2019-12-03T17:59:08.334Z,1575395948.334 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2019-12-03T17:59:08.364Z,1575395948.364 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-12-03T17:59:08.366Z,1575395948.366 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2019-12-03T17:59:08.366Z,1575395948.366 [CommandLine](IMPORTANT): Micromodem.range (meter)
2019-12-03T17:59:08.369Z,1575395948.369 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2019-12-03T17:59:08.369Z,1575395948.369 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2019-12-03T17:59:08.370Z,1575395948.370 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2019-12-03T17:59:08.370Z,1575395948.370 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2019-12-03T17:59:14.014Z,1575395954.014 [CommandLine](IMPORTANT): got command report touch acoustic_contact_range
2019-12-03T17:59:41.108Z,1575395981.108 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.799999 degree
2019-12-03T17:59:41.110Z,1575395981.110 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-12-03T17:59:41.111Z,1575395981.111 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.800003 degree
2019-12-03T17:59:41.112Z,1575395981.112 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-12-03T17:59:41.281Z,1575395981.281 [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,
2019-12-03T17:59:41.647Z,1575395981.647 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:41.647Z,1575395981.647 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 23
2019-12-03T17:59:41.648Z,1575395981.648 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:41.669Z,1575395981.669 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:42.091Z,1575395982.091 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:42.092Z,1575395982.092 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 23
2019-12-03T17:59:42.897Z,1575395982.897 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:42.897Z,1575395982.897 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 24
2019-12-03T17:59:42.897Z,1575395982.897 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:42.955Z,1575395982.955 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:43.348Z,1575395983.348 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:43.348Z,1575395983.348 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 24
2019-12-03T17:59:44.119Z,1575395984.119 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:44.119Z,1575395984.119 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 25
2019-12-03T17:59:44.119Z,1575395984.119 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:44.153Z,1575395984.153 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:44.503Z,1575395984.503 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:44.503Z,1575395984.503 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 25
2019-12-03T17:59:45.295Z,1575395985.295 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:45.296Z,1575395985.296 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 26
2019-12-03T17:59:45.296Z,1575395985.296 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:45.305Z,1575395985.305 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:45.714Z,1575395985.714 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:45.715Z,1575395985.715 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 26
2019-12-03T17:59:46.508Z,1575395986.508 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:46.524Z,1575395986.524 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 27
2019-12-03T17:59:46.524Z,1575395986.524 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:46.542Z,1575395986.542 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:46.927Z,1575395986.927 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:46.927Z,1575395986.927 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 27
2019-12-03T17:59:47.386Z,1575395987.386 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T175945
2019-12-03T17:59:47.694Z,1575395987.694 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:47.694Z,1575395987.694 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 28
2019-12-03T17:59:47.694Z,1575395987.694 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:47.716Z,1575395987.716 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:48.145Z,1575395988.145 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:48.145Z,1575395988.145 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 28
2019-12-03T17:59:48.947Z,1575395988.947 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:48.947Z,1575395988.947 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 29
2019-12-03T17:59:48.948Z,1575395988.948 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:48.957Z,1575395988.957 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:49.366Z,1575395989.366 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:49.367Z,1575395989.367 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 29
2019-12-03T17:59:50.135Z,1575395990.135 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:50.135Z,1575395990.135 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 30
2019-12-03T17:59:50.135Z,1575395990.135 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:50.145Z,1575395990.145 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:50.542Z,1575395990.542 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:50.543Z,1575395990.543 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 30
2019-12-03T17:59:51.342Z,1575395991.342 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:51.342Z,1575395991.342 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 31
2019-12-03T17:59:51.342Z,1575395991.342 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:51.364Z,1575395991.364 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:51.806Z,1575395991.806 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:51.806Z,1575395991.806 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 31
2019-12-03T17:59:52.561Z,1575395992.561 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-12-03T17:59:52.561Z,1575395992.561 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 32
2019-12-03T17:59:52.561Z,1575395992.561 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-12-03T17:59:52.620Z,1575395992.620 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:52.689Z,1575395992.689 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575395968.000000 second
2019-12-03T17:59:53.018Z,1575395993.018 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T17:59:53.018Z,1575395993.018 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T17:59:53.042Z,1575395993.042 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-12-03T17:59:53.042Z,1575395993.042 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 32
2019-12-03T17:59:55.274Z,1575395995.274 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20191203T165212/Courier0022.lzma
2019-12-03T17:59:55.277Z,1575395995.277 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" 1qhyv 1 5
2019-12-03T17:59:55.289Z,1575395995.289 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" 1qhyv 1 5.000000
2019-12-03T17:59:55.290Z,1575395995.290 [CommandLine](IMPORTANT): Scheduling command #1 of 5 with id=1qhyv
2019-12-03T17:59:55.291Z,1575395995.291 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 5 with id='1qhyv'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" ASAP
2019-12-03T17:59:56.803Z,1575395996.803 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Courier0022.lzma.bak
2019-12-03T17:59:56.803Z,1575395996.803 [DataOverHttps](IMPORTANT): SBD MOMSN=12113777, MTMSN=20191203T175955
2019-12-03T18:00:04.632Z,1575396004.632 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qhyv 2 5
2019-12-03T18:00:04.709Z,1575396004.709 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qhyv 2 5.000000
2019-12-03T18:00:04.710Z,1575396004.710 [CommandLine](IMPORTANT): Scheduling command #2 of 5 with id=1qhyv
2019-12-03T18:00:04.710Z,1575396004.710 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 5 with id='1qhyv'): "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" ASAP
2019-12-03T18:00:06.638Z,1575396006.638 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180004
2019-12-03T18:00:15.247Z,1575396015.247 [DataOverHttps](INFO): Sending 522 bytes from file Logs/20191203T165212/Express0023.lzma
2019-12-03T18:00:15.279Z,1575396015.279 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qhyv 3 5
2019-12-03T18:00:15.388Z,1575396015.388 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qhyv 3 5.000000
2019-12-03T18:00:15.389Z,1575396015.389 [CommandLine](IMPORTANT): Scheduling command #3 of 5 with id=1qhyv
2019-12-03T18:00:15.390Z,1575396015.390 [CommandLine](IMPORTANT): Scheduled #3 (#3 of 5 with id='1qhyv'): "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" ASAP
2019-12-03T18:00:17.231Z,1575396017.231 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0023.lzma.bak
2019-12-03T18:00:17.231Z,1575396017.231 [DataOverHttps](IMPORTANT): SBD MOMSN=12113781, MTMSN=20191203T180015
2019-12-03T18:00:23.938Z,1575396023.938 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:00:23.938Z,1575396023.938 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:00:23.938Z,1575396023.938 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-12-03T18:00:23.939Z,1575396023.939 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_Iridium
2019-12-03T18:00:24.510Z,1575396024.510 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:00:26.064Z,1575396026.064 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qhyv 4 5
2019-12-03T18:00:26.145Z,1575396026.145 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qhyv 4 5.000000
2019-12-03T18:00:26.146Z,1575396026.146 [CommandLine](IMPORTANT): Scheduling command #4 of 5 with id=1qhyv
2019-12-03T18:00:26.147Z,1575396026.147 [CommandLine](IMPORTANT): Scheduled #4 (#4 of 5 with id='1qhyv'): "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" ASAP
2019-12-03T18:00:28.070Z,1575396028.070 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180026
2019-12-03T18:00:35.760Z,1575396035.760 [DataOverHttps](INFO): Sending 413 bytes from file Logs/20191203T165212/Express0026.lzma
2019-12-03T18:00:35.763Z,1575396035.763 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qhyv 5 5
2019-12-03T18:00:35.775Z,1575396035.775 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qhyv 5 5.000000
2019-12-03T18:00:35.776Z,1575396035.776 [CommandLine](IMPORTANT): Scheduling command #5 of 5 with id=1qhyv
2019-12-03T18:00:35.777Z,1575396035.777 [CommandLine](IMPORTANT): Scheduled #5 (#5 of 5 with id='1qhyv'): "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP
2019-12-03T18:00:35.932Z,1575396035.932 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:00:35.932Z,1575396035.932 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:00:36.194Z,1575396036.194 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:00:36.197Z,1575396036.197 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:00:36.200Z,1575396036.200 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:00:36.203Z,1575396036.203 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:00:36.208Z,1575396036.208 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:00:36.279Z,1575396036.279 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:00:36.282Z,1575396036.282 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:00:36.296Z,1575396036.296 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:00:36.299Z,1575396036.299 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:00:36.326Z,1575396036.326 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-12-03T18:00:36.337Z,1575396036.337 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:00:36.340Z,1575396036.340 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:00:36.351Z,1575396036.351 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:00:36.362Z,1575396036.362 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:00:36.377Z,1575396036.377 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 8.000000 m
2019-12-03T18:00:36.380Z,1575396036.380 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:00:36.403Z,1575396036.403 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:00:36.410Z,1575396036.410 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:00:36.414Z,1575396036.414 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:00:36.419Z,1575396036.419 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:00:36.422Z,1575396036.422 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:00:36.433Z,1575396036.433 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:00:36.436Z,1575396036.436 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-12-03T18:00:36.439Z,1575396036.439 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:00:36.451Z,1575396036.451 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-12-03T18:00:36.455Z,1575396036.455 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:00:36.458Z,1575396036.458 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:00:36.466Z,1575396036.466 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:00:36.470Z,1575396036.470 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:00:36.475Z,1575396036.475 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:00:36.485Z,1575396036.485 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.001000 arcdeg
2019-12-03T18:00:36.487Z,1575396036.487 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:00:36.499Z,1575396036.499 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:00:36.502Z,1575396036.502 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:00:36.513Z,1575396036.513 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:00:36.516Z,1575396036.516 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:00:36.534Z,1575396036.534 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:00:36.538Z,1575396036.538 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:00:36.550Z,1575396036.550 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:00:36.557Z,1575396036.557 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:00:36.565Z,1575396036.565 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:00:36.568Z,1575396036.568 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:00:36.575Z,1575396036.575 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:00:36.584Z,1575396036.584 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:00:36.592Z,1575396036.592 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-12-03T18:00:36.673Z,1575396036.673 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-12-03T18:00:36.676Z,1575396036.676 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-12-03T18:00:36.687Z,1575396036.687 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-12-03T18:00:36.700Z,1575396036.700 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-12-03T18:00:36.716Z,1575396036.716 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-12-03T18:00:36.743Z,1575396036.743 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-12-03T18:00:36.815Z,1575396036.815 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-12-03T18:00:36.991Z,1575396036.991 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-12-03T18:00:36.994Z,1575396036.994 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-12-03T18:00:37.013Z,1575396037.013 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-12-03T18:00:37.042Z,1575396037.042 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-12-03T18:00:37.067Z,1575396037.067 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-12-03T18:00:37.086Z,1575396037.086 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-12-03T18:00:37.098Z,1575396037.098 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-12-03T18:00:37.116Z,1575396037.116 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T18:00:37.583Z,1575396037.583 [lineCaptureHoming:K.Mass](DEBUG): Construct.
2019-12-03T18:00:37.606Z,1575396037.606 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:00:37.614Z,1575396037.614 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-12-03T18:00:37.621Z,1575396037.621 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-12-03T18:00:37.651Z,1575396037.651 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:00:37.670Z,1575396037.670 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-12-03T18:00:37.683Z,1575396037.683 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-12-03T18:00:37.703Z,1575396037.703 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:00:37.707Z,1575396037.707 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:00:37.735Z,1575396037.735 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:00:37.745Z,1575396037.745 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:00:37.758Z,1575396037.758 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:00:37.766Z,1575396037.766 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0026.lzma.bak
2019-12-03T18:00:37.766Z,1575396037.766 [DataOverHttps](INFO): SBD MOMSN=12113803
2019-12-03T18:00:37.789Z,1575396037.789 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:00:37.890Z,1575396037.890 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](DEBUG): Construct.
2019-12-03T18:00:37.973Z,1575396037.973 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:00:38.017Z,1575396038.017 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:00:38.041Z,1575396038.041 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:00:38.056Z,1575396038.056 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:00:38.078Z,1575396038.078 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:00:38.153Z,1575396038.153 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>8.0</Value></DefineArg>

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

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

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

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

    <DefineArg Name="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.001</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>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></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 to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></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="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</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
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>


    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DoingComms"/></Assign>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="InitialDive"/></Assign>

    </Aggregate>


    <!-- Add track acoustic contact directive high in the stack. -->

    <Aggregate Id="TrackTransponder">

        <While>
            <Arg Name="HomingActive"/>
        </While>

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

    </Aggregate>

    <ReadData Strategy="MinError">
    	  <Parallel/>
        <Sensor:DDM.DDMMode/>
    </ReadData>
    
    <!-- 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="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>

                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>

                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DiveMode"/><Eq><Arg Name="DoingComms"/></Eq></Not>
            </While>

            <Call RefId="DiveCmd"/>
        </Aggregate>


        <Syslog Severity="Important">Initiating homing sequence.</Syslog>

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


        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>
        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Servo:RudderServo.deviationAngle/><Arg Name="RudderDeadband"/></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:LineCapture>
                <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:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

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

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Deactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

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

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


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


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

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

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                        <Setting><Guidance:Undock.undockRange/><Arg Name="BreakOffRange"/></Setting>
                        <Setting><Guidance:Undock.verbose/><Arg Name="Verbose"/></Setting>
                    </Guidance:Undock>

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

                </Aggregate>

            </Aggregate>

        </Aggregate>


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

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

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>
            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

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

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

        </Aggregate>

    </Aggregate>

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

</Mission>


2019-12-03T18:00:38.154Z,1575396038.154 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:00:38.265Z,1575396038.265 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:00:38.265Z,1575396038.265 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311125188,35.0, -0.1,  8.9,  0
2019-12-03T18:00:51.100Z,1575396051.100 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 40.000000 minute
2019-12-03T18:00:51.101Z,1575396051.101 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808540 degree
2019-12-03T18:00:51.102Z,1575396051.102 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823853 degree
2019-12-03T18:00:51.102Z,1575396051.102 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLat 36.810501 degree
2019-12-03T18:01:03.839Z,1575396063.839 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLon -121.827499 degree
2019-12-03T18:01:03.844Z,1575396063.844 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 500.000000 meter
2019-12-03T18:01:03.845Z,1575396063.845 [CommandLine](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1.000000 minute
2019-12-03T18:01:03.846Z,1575396063.846 [CommandLine](IMPORTANT): got command set lineCaptureHoming.BreakOffRange 6.000000 meter
2019-12-03T18:01:05.828Z,1575396065.828 [DataOverHttps](INFO): Sending 329 bytes from file Logs/20191203T165212/Express0029.lzma
2019-12-03T18:01:07.834Z,1575396067.834 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0029.lzma.bak
2019-12-03T18:01:07.834Z,1575396067.834 [DataOverHttps](INFO): SBD MOMSN=12113809
2019-12-03T18:01:19.027Z,1575396079.027 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutDistance 300.000000 meter
2019-12-03T18:01:19.027Z,1575396079.027 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTime 7.000000 minute
2019-12-03T18:01:19.032Z,1575396079.032 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 5.000000 meter
2019-12-03T18:01:19.033Z,1575396079.033 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 25.000000 minute
2019-12-03T18:01:19.034Z,1575396079.034 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 25.000000 meter
2019-12-03T18:01:29.981Z,1575396089.981 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-12-03T18:01:29.982Z,1575396089.982 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-12-03T18:01:29.983Z,1575396089.983 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KpHeadingFinal 1.800000 none
2019-12-03T18:01:29.984Z,1575396089.984 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KiHeadingFinal 0.006000 reciprocal_second
2019-12-03T18:01:30.001Z,1575396090.001 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:01:30.001Z,1575396090.001 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:01:30.001Z,1575396090.001 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface
2019-12-03T18:01:30.002Z,1575396090.002 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_Iridium
2019-12-03T18:01:35.580Z,1575396095.580 [DataOverHttps](INFO): Sending 318 bytes from file Logs/20191203T165212/Express0032.lzma
2019-12-03T18:01:37.586Z,1575396097.586 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0032.lzma.bak
2019-12-03T18:01:37.586Z,1575396097.586 [DataOverHttps](INFO): SBD MOMSN=12113815
2019-12-03T18:01:39.592Z,1575396099.592 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 3.500000 meter
2019-12-03T18:01:39.597Z,1575396099.597 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 45.000000 meter
2019-12-03T18:01:39.598Z,1575396099.598 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-12-03T18:01:39.598Z,1575396099.598 [CommandLine](IMPORTANT): got command run 
2019-12-03T18:01:39.605Z,1575396099.605 [CommandLine](IMPORTANT): Running 
2019-12-03T18:01:39.838Z,1575396099.838 [Default] Stopped
2019-12-03T18:01:39.838Z,1575396099.838 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:01:39.838Z,1575396099.838 [Default:B.GoToSurface] Stopped
2019-12-03T18:01:39.838Z,1575396099.838 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:01:39.838Z,1575396099.838 [Default:CheckIn] Stopped
2019-12-03T18:01:39.838Z,1575396099.838 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:01:39.838Z,1575396099.838 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T18:01:39.839Z,1575396099.839 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:01:39.839Z,1575396099.839 [lineCaptureHoming] Running Loop=1
2019-12-03T18:01:39.839Z,1575396099.839 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:01:39.843Z,1575396099.843 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:01:39.843Z,1575396099.843 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:01:39.843Z,1575396099.843 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:01:39.843Z,1575396099.843 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-12-03T18:01:39.843Z,1575396099.843 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:01:39.844Z,1575396099.844 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-12-03T18:01:39.844Z,1575396099.844 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:01:39.844Z,1575396099.844 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-12-03T18:01:39.844Z,1575396099.844 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:01:39.849Z,1575396099.849 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:01:39.849Z,1575396099.849 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:01:39.849Z,1575396099.849 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:01:39.850Z,1575396099.850 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:01:39.851Z,1575396099.851 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:01:39.851Z,1575396099.851 [lineCaptureHoming:K.Mass](DEBUG): Initialize.
2019-12-03T18:01:39.852Z,1575396099.852 [lineCaptureHoming:B] Running Loop=1
2019-12-03T18:01:39.878Z,1575396099.878 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:01:39.885Z,1575396099.885 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:01:39.890Z,1575396099.890 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2019-12-03T18:01:39.890Z,1575396099.890 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:01:39.890Z,1575396099.890 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:01:39.891Z,1575396099.891 [lineCaptureHoming:B] Stopped
2019-12-03T18:01:39.891Z,1575396099.891 [lineCaptureHoming:C] Running Loop=1
2019-12-03T18:01:39.891Z,1575396099.891 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:01:39.891Z,1575396099.891 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:01:39.892Z,1575396099.892 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:01:39.901Z,1575396099.901 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:01:40.290Z,1575396100.290 [lineCaptureHoming:C] Stopped
2019-12-03T18:01:40.291Z,1575396100.291 [lineCaptureHoming:D] Running Loop=1
2019-12-03T18:01:40.638Z,1575396100.638 [lineCaptureHoming:D] Stopped
2019-12-03T18:01:40.638Z,1575396100.638 [lineCaptureHoming:F] Running Loop=1
2019-12-03T18:01:41.142Z,1575396101.142 [lineCaptureHoming:F] Stopped
2019-12-03T18:01:41.142Z,1575396101.142 [lineCaptureHoming:G] Running Loop=1
2019-12-03T18:01:41.401Z,1575396101.401 [DDM](INFO): Closing Latch
2019-12-03T18:01:41.476Z,1575396101.476 [lineCaptureHoming:G] Stopped
2019-12-03T18:01:41.476Z,1575396101.476 [lineCaptureHoming:StartingMission] Running Loop=1
2019-12-03T18:01:41.477Z,1575396101.477 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-12-03T18:01:41.808Z,1575396101.808 [DDM](INFO): Closing Latch
2019-12-03T18:01:41.922Z,1575396101.922 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-12-03T18:01:41.922Z,1575396101.922 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-12-03T18:01:41.923Z,1575396101.923 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-12-03T18:01:41.923Z,1575396101.923 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-12-03T18:01:41.923Z,1575396101.923 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-12-03T18:01:41.923Z,1575396101.923 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:01:42.210Z,1575396102.210 [DDM](INFO): Closing Latch
2019-12-03T18:01:42.315Z,1575396102.315 [lineCaptureHoming:NeedComms] Running Loop=1
2019-12-03T18:01:42.315Z,1575396102.315 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-12-03T18:01:42.315Z,1575396102.315 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-12-03T18:01:42.315Z,1575396102.315 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:01:42.316Z,1575396102.316 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-12-03T18:01:42.316Z,1575396102.316 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-12-03T18:01:42.317Z,1575396102.317 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-12-03T18:01:42.317Z,1575396102.317 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:01:42.317Z,1575396102.317 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:01:42.318Z,1575396102.318 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-12-03T18:01:42.319Z,1575396102.319 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1575395968.000000 second since 1970/01/01T00:00:00Z 
2019-12-03T18:01:42.319Z,1575396102.319 [lineCaptureHoming:NeedComms:A] Stopped
2019-12-03T18:01:42.614Z,1575396102.614 [DDM](INFO): Closing Latch
2019-12-03T18:01:42.715Z,1575396102.715 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:01:42.720Z,1575396102.720 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-12-03T18:01:43.113Z,1575396103.113 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T18:01:43.473Z,1575396103.473 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:01:43.860Z,1575396103.860 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:01:45.042Z,1575396105.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180144.34*51

2019-12-03T18:01:45.531Z,1575396105.531 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:01:47.069Z,1575396107.069 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:01:48.304Z,1575396108.304 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:01:49.087Z,1575396109.087 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:01:49.492Z,1575396109.492 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:01:50.310Z,1575396110.310 [Micromodem](INFO): Nmea in: $SNTTA,0.000763,,,,180149.95*4B

2019-12-03T18:01:51.197Z,1575396111.197 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:01:52.721Z,1575396112.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:01:53.969Z,1575396113.969 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:01:54.743Z,1575396114.743 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:01:55.148Z,1575396115.148 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:01:55.967Z,1575396115.967 [Micromodem](INFO): Nmea in: $SNTTA,0.000824,,,,180155.61*41

2019-12-03T18:01:56.822Z,1575396116.822 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:01:58.377Z,1575396118.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:01:59.631Z,1575396119.631 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:00.413Z,1575396120.413 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:00.804Z,1575396120.804 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:01.631Z,1575396121.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180201.28*5E

2019-12-03T18:02:02.493Z,1575396122.493 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:04.040Z,1575396124.040 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:02:05.340Z,1575396125.340 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:06.052Z,1575396126.052 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:06.467Z,1575396126.467 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:07.269Z,1575396127.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180206.92*58

2019-12-03T18:02:08.152Z,1575396128.152 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:09.689Z,1575396129.689 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:02:10.939Z,1575396130.939 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:11.706Z,1575396131.706 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:12.111Z,1575396132.111 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:12.943Z,1575396132.943 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180212.57*54

2019-12-03T18:02:13.776Z,1575396133.776 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:15.345Z,1575396135.345 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:02:16.613Z,1575396136.613 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:17.363Z,1575396137.363 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:18.159Z,1575396138.159 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:18.900Z,1575396138.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180218.22*5C

2019-12-03T18:02:19.329Z,1575396139.329 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:20.897Z,1575396140.897 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:02:22.156Z,1575396142.156 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:22.970Z,1575396142.970 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:23.316Z,1575396143.316 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:23.434Z,1575396143.434 [DataOverHttps](INFO): Sending 451 bytes from file Logs/20191203T165212/Express0035.lzma
2019-12-03T18:02:23.811Z,1575396143.811 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:02:24.541Z,1575396144.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180223.83*5F

2019-12-03T18:02:25.438Z,1575396145.438 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0035.lzma.bak
2019-12-03T18:02:25.438Z,1575396145.438 [DataOverHttps](INFO): SBD MOMSN=12113821
2019-12-03T18:02:26.592Z,1575396146.592 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:27.359Z,1575396147.359 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:27.772Z,1575396147.772 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:28.254Z,1575396148.254 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:02:28.589Z,1575396148.589 [Micromodem](INFO): Nmea in: $SNTTA,,,0.408152,,180228.22*4B

2019-12-03T18:02:31.115Z,1575396151.115 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:31.803Z,1575396151.803 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:32.208Z,1575396152.208 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:32.684Z,1575396152.684 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:02:33.033Z,1575396153.033 [Micromodem](INFO): Nmea in: $SNTTA,0.440144,,,,180232.67*4A

2019-12-03T18:02:35.483Z,1575396155.483 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:36.257Z,1575396156.257 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:36.652Z,1575396156.652 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:37.141Z,1575396157.141 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:02:37.481Z,1575396157.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180237.12*52

2019-12-03T18:02:39.966Z,1575396159.966 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:40.691Z,1575396160.691 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:41.096Z,1575396161.096 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:41.552Z,1575396161.552 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:02:41.933Z,1575396161.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180241.55*50

2019-12-03T18:02:44.466Z,1575396164.466 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:45.147Z,1575396165.147 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:45.540Z,1575396165.540 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:45.999Z,1575396165.999 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:02:46.369Z,1575396166.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180246.01*56

2019-12-03T18:02:48.805Z,1575396168.805 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:49.579Z,1575396169.579 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:49.715Z,1575396169.715 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:02:49.715Z,1575396169.715 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:02:49.716Z,1575396169.716 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:02:49.716Z,1575396169.716 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:02:49.716Z,1575396169.716 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:02:49.717Z,1575396169.717 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:02:49.717Z,1575396169.717 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-12-03T18:02:49.717Z,1575396169.717 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:02:49.717Z,1575396169.717 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:02:49.718Z,1575396169.718 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:02:49.980Z,1575396169.980 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:50.459Z,1575396170.459 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:02:50.809Z,1575396170.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180250.44*50

2019-12-03T18:02:53.281Z,1575396173.281 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:54.024Z,1575396174.024 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:54.436Z,1575396174.436 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:54.942Z,1575396174.942 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:02:55.277Z,1575396175.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180254.89*55

2019-12-03T18:02:57.709Z,1575396177.709 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:02:58.467Z,1575396178.467 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:02:58.905Z,1575396178.905 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:02:59.381Z,1575396179.381 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:02:59.697Z,1575396179.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180259.33*59

2019-12-03T18:03:02.147Z,1575396182.147 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:02.913Z,1575396182.913 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:03.316Z,1575396183.316 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:03.434Z,1575396183.434 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575396224.000000 second
2019-12-03T18:03:03.749Z,1575396183.749 [lineCaptureHoming:NeedComms:C] Stopped
2019-12-03T18:03:03.749Z,1575396183.749 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-12-03T18:03:03.775Z,1575396183.775 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:03:04.149Z,1575396184.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180303.78*58

2019-12-03T18:03:04.224Z,1575396184.224 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-12-03T18:03:06.617Z,1575396186.617 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:07.350Z,1575396187.350 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:07.760Z,1575396187.760 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:08.289Z,1575396188.289 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:03:08.581Z,1575396188.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180308.21*5F

2019-12-03T18:03:11.068Z,1575396191.068 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:11.811Z,1575396191.811 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:12.391Z,1575396192.391 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:12.907Z,1575396192.907 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:03:13.149Z,1575396193.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180312.67*56

2019-12-03T18:03:13.170Z,1575396193.170 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:03:13.170Z,1575396193.170 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311152588,35.0, -0.1,   0.0,14
2019-12-03T18:03:15.107Z,1575396195.107 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20191203T165212/Courier0040.lzma
2019-12-03T18:03:15.329Z,1575396195.329 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-12-03T18:03:15.627Z,1575396195.627 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:16.365Z,1575396196.365 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:16.780Z,1575396196.780 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:17.115Z,1575396197.115 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Courier0040.lzma.bak
2019-12-03T18:03:17.115Z,1575396197.115 [DataOverHttps](INFO): SBD MOMSN=12113831
2019-12-03T18:03:17.262Z,1575396197.262 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:03:18.001Z,1575396198.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180317.29*59

2019-12-03T18:03:20.126Z,1575396200.126 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:20.810Z,1575396200.810 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:21.220Z,1575396201.220 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:21.283Z,1575396201.283 [RDI_Pathfinder](ERROR): Failed to parse:
00,   0.00,   0.00,   0.00,   0.00
2019-12-03T18:03:21.695Z,1575396201.695 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:03:22.047Z,1575396202.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180321.67*56

2019-12-03T18:03:24.526Z,1575396204.526 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:25.259Z,1575396205.259 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:25.737Z,1575396205.737 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:26.282Z,1575396206.282 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:03:26.509Z,1575396206.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180326.12*53

2019-12-03T18:03:27.863Z,1575396207.863 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575396224.000000 second
2019-12-03T18:03:29.061Z,1575396209.061 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:29.755Z,1575396209.755 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:30.148Z,1575396210.148 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:30.653Z,1575396210.653 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:03:30.990Z,1575396210.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180330.61*50

2019-12-03T18:03:31.993Z,1575396211.993 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:03:31.993Z,1575396211.993 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:03:31.994Z,1575396211.994 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:03:31.994Z,1575396211.994 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:03:31.994Z,1575396211.994 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:03:31.995Z,1575396211.995 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:03:31.995Z,1575396211.995 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-12-03T18:03:31.995Z,1575396211.995 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:03:31.995Z,1575396211.995 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:03:31.996Z,1575396211.996 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:03:33.437Z,1575396213.437 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:34.191Z,1575396214.191 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:34.608Z,1575396214.608 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:35.119Z,1575396215.119 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:03:35.418Z,1575396215.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180335.05*57

2019-12-03T18:03:37.588Z,1575396217.588 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:03:38.416Z,1575396218.416 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:03:38.953Z,1575396218.953 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:03:39.772Z,1575396219.772 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:03:39.929Z,1575396219.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180339.27*5B

2019-12-03T18:03:40.129Z,1575396220.129 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:03:40.129Z,1575396220.129 [CommandLine](IMPORTANT): Scheduling is paused
2019-12-03T18:03:40.129Z,1575396220.129 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:03:40.394Z,1575396220.394 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:03:40.395Z,1575396220.395 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming] Stopped
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-12-03T18:03:40.395Z,1575396220.395 [lineCaptureHoming:NeedComms] Stopped
2019-12-03T18:03:40.396Z,1575396220.396 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-12-03T18:03:40.396Z,1575396220.396 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-12-03T18:03:40.396Z,1575396220.396 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:03:40.396Z,1575396220.396 [lineCaptureHoming:NeedComms:D] Stopped
2019-12-03T18:03:40.396Z,1575396220.396 [lineCaptureHoming:SurfaceComms] Stopped
2019-12-03T18:03:40.428Z,1575396220.428 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-12-03T18:03:40.428Z,1575396220.428 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:J] Stopped
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:K.Mass] Stopped
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:K.Mass](DEBUG): Uninitialize.
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:StartingMission] Stopped
2019-12-03T18:03:40.429Z,1575396220.429 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-12-03T18:03:40.749Z,1575396220.749 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:03:40.749Z,1575396220.749 [Default] Running Loop=1
2019-12-03T18:03:40.749Z,1575396220.749 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:03:40.749Z,1575396220.749 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:03:40.749Z,1575396220.749 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:03:40.750Z,1575396220.750 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:03:40.750Z,1575396220.750 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:03:40.750Z,1575396220.750 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:03:40.750Z,1575396220.750 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:03:40.751Z,1575396220.751 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:03:40.751Z,1575396220.751 [Default:A.Wait] Running Loop=1
2019-12-03T18:03:40.751Z,1575396220.751 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:03:41.102Z,1575396221.102 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:03:41.506Z,1575396221.506 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:03:41.919Z,1575396221.919 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:03:42.314Z,1575396222.314 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:03:44.222Z,1575396224.222 [DataOverHttps](INFO): Sending 325 bytes from file Logs/20191203T165212/Express0038.lzma
2019-12-03T18:03:46.228Z,1575396226.228 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0038.lzma.bak
2019-12-03T18:03:46.229Z,1575396226.229 [DataOverHttps](INFO): SBD MOMSN=12113833
2019-12-03T18:03:54.099Z,1575396234.099 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:03:54.100Z,1575396234.100 [Default:A.Wait] Stopped
2019-12-03T18:03:54.100Z,1575396234.100 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:03:54.463Z,1575396234.463 [Default:CheckIn] Running Loop=1
2019-12-03T18:03:54.464Z,1575396234.464 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:03:54.464Z,1575396234.464 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:04:07.314Z,1575396247.314 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-12-03T18:04:07.315Z,1575396247.315 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-12-03T18:04:07.611Z,1575396247.611 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:04:07.622Z,1575396247.622 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:04:07.624Z,1575396247.624 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:04:07.626Z,1575396247.626 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:04:07.629Z,1575396247.629 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:04:07.631Z,1575396247.631 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:04:07.633Z,1575396247.633 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:04:07.635Z,1575396247.635 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:04:07.637Z,1575396247.637 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:04:07.639Z,1575396247.639 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 1.000000 m
2019-12-03T18:04:07.641Z,1575396247.641 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:04:07.643Z,1575396247.643 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:04:07.645Z,1575396247.645 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:04:07.648Z,1575396247.648 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:04:07.650Z,1575396247.650 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 0.000000 m
2019-12-03T18:04:07.652Z,1575396247.652 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:04:07.654Z,1575396247.654 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:04:07.656Z,1575396247.656 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:04:07.659Z,1575396247.659 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:04:07.661Z,1575396247.661 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:04:07.663Z,1575396247.663 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:04:07.681Z,1575396247.681 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:04:07.683Z,1575396247.683 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.500000 s
2019-12-03T18:04:07.691Z,1575396247.691 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:04:07.702Z,1575396247.702 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 0.000000 m/s
2019-12-03T18:04:07.709Z,1575396247.709 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:04:07.711Z,1575396247.711 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:04:07.717Z,1575396247.717 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:04:07.719Z,1575396247.719 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:04:07.726Z,1575396247.726 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:04:07.728Z,1575396247.728 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2019-12-03T18:04:07.734Z,1575396247.734 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:04:07.773Z,1575396247.773 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:04:07.775Z,1575396247.775 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:04:07.805Z,1575396247.805 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:04:07.807Z,1575396247.807 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:04:07.813Z,1575396247.813 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:04:07.815Z,1575396247.815 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:04:07.830Z,1575396247.830 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:04:07.832Z,1575396247.832 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:04:07.856Z,1575396247.856 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:04:07.879Z,1575396247.879 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:04:07.898Z,1575396247.898 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:04:07.903Z,1575396247.903 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:04:07.932Z,1575396247.932 [lineCaptureHoming:B.Mass](DEBUG): Construct.
2019-12-03T18:04:07.946Z,1575396247.946 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:04:07.953Z,1575396247.953 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:04:07.963Z,1575396247.963 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:04:07.969Z,1575396247.969 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:04:07.999Z,1575396247.999 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:04:08.027Z,1575396248.027 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:04:08.057Z,1575396248.057 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct.
2019-12-03T18:04:08.126Z,1575396248.126 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:04:08.141Z,1575396248.141 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:04:08.147Z,1575396248.147 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:04:08.218Z,1575396248.218 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:04:08.247Z,1575396248.247 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:04:08.318Z,1575396248.318 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>0.0</Value></DefineArg>

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

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</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>0</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="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</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>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></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 to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></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="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</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
        unlatched.
    </Description><Units:count/><Value>4</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="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </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.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:LineCapture>
                <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:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

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

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Dactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

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

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


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


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

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

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                        <Setting><Guidance:Undock.undockRange/><Arg Name="BreakOffRange"/></Setting>
                        <Setting><Guidance:Undock.verbose/><Arg Name="Verbose"/></Setting>
                    </Guidance:Undock>

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

                </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>


2019-12-03T18:04:08.324Z,1575396248.324 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-12-03T18:04:08.630Z,1575396248.630 [Default] Stopped
2019-12-03T18:04:08.631Z,1575396248.631 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:04:08.631Z,1575396248.631 [Default:B.GoToSurface] Stopped
2019-12-03T18:04:08.631Z,1575396248.631 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:04:08.631Z,1575396248.631 [Default:CheckIn] Stopped
2019-12-03T18:04:08.631Z,1575396248.631 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:04:08.631Z,1575396248.631 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:04:08.631Z,1575396248.631 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:04:08.631Z,1575396248.631 [lineCaptureHoming] Running Loop=1
2019-12-03T18:04:08.632Z,1575396248.632 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:04:08.632Z,1575396248.632 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:04:08.632Z,1575396248.632 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:04:08.632Z,1575396248.632 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:04:08.632Z,1575396248.632 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:04:08.633Z,1575396248.633 [lineCaptureHoming:B.Mass] Running Loop=1
2019-12-03T18:04:08.633Z,1575396248.633 [lineCaptureHoming:B.Mass](DEBUG): Initialize.
2019-12-03T18:04:08.633Z,1575396248.633 [lineCaptureHoming:Lap] Running Loop=1
2019-12-03T18:04:08.633Z,1575396248.633 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-12-03T18:04:08.633Z,1575396248.633 [lineCaptureHoming:Lap:A] Running Loop=1
2019-12-03T18:04:08.634Z,1575396248.634 [lineCaptureHoming:Lap:A](IMPORTANT): Initiating homing sequence.
2019-12-03T18:04:08.634Z,1575396248.634 [lineCaptureHoming:Lap:A] Stopped
2019-12-03T18:04:08.634Z,1575396248.634 [lineCaptureHoming:Lap:B] Running Loop=1
2019-12-03T18:04:08.634Z,1575396248.634 [lineCaptureHoming:B.Mass] Running Loop=1
2019-12-03T18:04:08.634Z,1575396248.634 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:04:08.634Z,1575396248.634 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:04:09.047Z,1575396249.047 [lineCaptureHoming:Lap:B] Stopped
2019-12-03T18:04:09.047Z,1575396249.047 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-12-03T18:04:09.048Z,1575396249.048 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-12-03T18:04:09.048Z,1575396249.048 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-12-03T18:04:09.048Z,1575396249.048 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-12-03T18:04:09.422Z,1575396249.422 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-12-03T18:04:09.422Z,1575396249.422 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-12-03T18:04:09.423Z,1575396249.423 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-12-03T18:04:09.423Z,1575396249.423 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-12-03T18:04:09.423Z,1575396249.423 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-12-03T18:04:09.423Z,1575396249.423 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-12-03T18:04:09.423Z,1575396249.423 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-12-03T18:04:09.423Z,1575396249.423 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2019-12-03T18:04:09.835Z,1575396249.835 [lineCaptureHoming:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 1.200001 m .
2019-12-03T18:04:09.835Z,1575396249.835 [lineCaptureHoming:Lap:TerminalGuidance:B] Stopped
2019-12-03T18:04:09.835Z,1575396249.835 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2019-12-03T18:04:09.835Z,1575396249.835 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-12-03T18:04:10.233Z,1575396250.233 [lineCaptureHoming:Lap:TerminalGuidance:C] Stopped
2019-12-03T18:04:10.234Z,1575396250.234 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Running Loop=1
2019-12-03T18:04:10.234Z,1575396250.234 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize.
2019-12-03T18:04:11.532Z,1575396251.532 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:11.805Z,1575396251.805 [DDM](INFO): Closing Latch
2019-12-03T18:04:12.217Z,1575396252.217 [DDM](INFO): Closing Latch
2019-12-03T18:04:12.250Z,1575396252.250 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:12.610Z,1575396252.610 [DDM](INFO): Closing Latch
2019-12-03T18:04:12.664Z,1575396252.664 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:13.015Z,1575396253.015 [DDM](INFO): Closing Latch
2019-12-03T18:04:13.137Z,1575396253.137 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:04:13.466Z,1575396253.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180413.11*51

2019-12-03T18:04:13.822Z,1575396253.822 [DDM](INFO): Changing to mode: 1
2019-12-03T18:04:13.822Z,1575396253.822 [DDM](INFO): Extending Whiskers.
2019-12-03T18:04:13.916Z,1575396253.916 [PowerOnly](INFO): Powering up
2019-12-03T18:04:14.226Z,1575396254.226 [DDM](INFO): Extending Whiskers.
2019-12-03T18:04:14.253Z,1575396254.253 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:04:14.641Z,1575396254.641 [DDM](INFO): Extending Whiskers.
2019-12-03T18:04:14.668Z,1575396254.668 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:04:15.041Z,1575396255.041 [DDM](INFO): Extending Whiskers.
2019-12-03T18:04:15.068Z,1575396255.068 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:04:15.443Z,1575396255.443 [DDM](INFO): Extending Whiskers.
2019-12-03T18:04:15.479Z,1575396255.479 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:04:15.952Z,1575396255.952 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:16.717Z,1575396256.717 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:17.096Z,1575396257.096 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:17.805Z,1575396257.805 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:04:17.949Z,1575396257.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180417.58*58

2019-12-03T18:04:20.382Z,1575396260.382 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:21.127Z,1575396261.127 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:21.546Z,1575396261.546 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:22.077Z,1575396262.077 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:04:22.358Z,1575396262.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180422.03*50

2019-12-03T18:04:24.817Z,1575396264.817 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:25.571Z,1575396265.571 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:25.979Z,1575396265.979 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:26.549Z,1575396266.549 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:04:26.797Z,1575396266.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180426.44*57

2019-12-03T18:04:29.271Z,1575396269.271 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:30.015Z,1575396270.015 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:30.427Z,1575396270.427 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:30.985Z,1575396270.985 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:04:31.249Z,1575396271.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180430.88*50

2019-12-03T18:04:31.327Z,1575396271.327 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 1.20 m.
2019-12-03T18:04:33.721Z,1575396273.721 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:34.459Z,1575396274.459 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:34.872Z,1575396274.872 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:35.421Z,1575396275.421 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:04:35.697Z,1575396275.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180435.32*54

2019-12-03T18:04:38.166Z,1575396278.166 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:38.930Z,1575396278.930 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:39.308Z,1575396279.308 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:39.846Z,1575396279.846 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:04:40.146Z,1575396280.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180439.79*57

2019-12-03T18:04:42.574Z,1575396282.574 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:43.351Z,1575396283.351 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:43.764Z,1575396283.764 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:44.301Z,1575396284.301 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:04:44.585Z,1575396284.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180444.22*53

2019-12-03T18:04:46.622Z,1575396286.622 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:04:46.622Z,1575396286.622 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:04:47.074Z,1575396287.074 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:04:47.799Z,1575396287.799 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:04:48.197Z,1575396288.197 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:04:48.417Z,1575396288.417 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:04:48.418Z,1575396288.418 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:04:48.676Z,1575396288.676 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:04:48.676Z,1575396288.676 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:04:48.676Z,1575396288.676 [lineCaptureHoming] Stopped
2019-12-03T18:04:48.676Z,1575396288.676 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:04:48.676Z,1575396288.676 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:04:48.676Z,1575396288.676 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:04:48.676Z,1575396288.676 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:04:48.676Z,1575396288.676 [lineCaptureHoming:B.Mass] Stopped
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:B.Mass](DEBUG): Uninitialize.
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:Lap] Stopped
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-12-03T18:04:48.677Z,1575396288.677 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Stopped
2019-12-03T18:04:48.765Z,1575396288.765 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:04:48.984Z,1575396288.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180448.66*5F

2019-12-03T18:04:49.057Z,1575396289.057 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:04:49.058Z,1575396289.058 [Default] Running Loop=1
2019-12-03T18:04:49.058Z,1575396289.058 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:04:49.058Z,1575396289.058 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:04:49.058Z,1575396289.058 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:04:49.058Z,1575396289.058 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:04:49.058Z,1575396289.058 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:04:49.059Z,1575396289.059 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:04:49.059Z,1575396289.059 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:04:49.059Z,1575396289.059 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:04:49.060Z,1575396289.060 [Default:A.Wait] Running Loop=1
2019-12-03T18:04:49.060Z,1575396289.060 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:04:49.374Z,1575396289.374 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:04:49.778Z,1575396289.778 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:04:50.183Z,1575396290.183 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:04:50.592Z,1575396290.592 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:04:50.994Z,1575396290.994 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:05:02.404Z,1575396302.404 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:05:02.404Z,1575396302.404 [Default:A.Wait] Stopped
2019-12-03T18:05:02.404Z,1575396302.404 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:05:02.765Z,1575396302.765 [Default:CheckIn] Running Loop=1
2019-12-03T18:05:02.765Z,1575396302.765 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:05:02.765Z,1575396302.765 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:05:42.062Z,1575396342.062 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180540
2019-12-03T18:05:45.152Z,1575396345.152 [PowerOnly](INFO): Powering down
2019-12-03T18:05:49.948Z,1575396349.948 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" 1qi8x 1 5
2019-12-03T18:05:50.030Z,1575396350.030 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" 1qi8x 1 5.000000
2019-12-03T18:05:50.031Z,1575396350.031 [CommandLine](IMPORTANT): Scheduling command #1 of 5 with id=1qi8x
2019-12-03T18:05:50.031Z,1575396350.031 [CommandLine](IMPORTANT): Scheduled #6 (#1 of 5 with id='1qi8x'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" ASAP
2019-12-03T18:05:51.954Z,1575396351.954 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180550
2019-12-03T18:05:59.712Z,1575396359.712 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qi8x 2 5
2019-12-03T18:05:59.773Z,1575396359.773 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qi8x 2 5.000000
2019-12-03T18:05:59.774Z,1575396359.774 [CommandLine](IMPORTANT): Scheduling command #2 of 5 with id=1qi8x
2019-12-03T18:05:59.774Z,1575396359.774 [CommandLine](IMPORTANT): Scheduled #7 (#2 of 5 with id='1qi8x'): "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" ASAP
2019-12-03T18:06:01.718Z,1575396361.718 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180559
2019-12-03T18:06:09.760Z,1575396369.760 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qi8x 3 5
2019-12-03T18:06:09.822Z,1575396369.822 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qi8x 3 5.000000
2019-12-03T18:06:09.822Z,1575396369.822 [CommandLine](IMPORTANT): Scheduling command #3 of 5 with id=1qi8x
2019-12-03T18:06:09.823Z,1575396369.823 [CommandLine](IMPORTANT): Scheduled #8 (#3 of 5 with id='1qi8x'): "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" ASAP
2019-12-03T18:06:11.767Z,1575396371.767 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180609
2019-12-03T18:06:19.544Z,1575396379.544 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qi8x 4 5
2019-12-03T18:06:19.629Z,1575396379.629 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qi8x 4 5.000000
2019-12-03T18:06:19.630Z,1575396379.630 [CommandLine](IMPORTANT): Scheduling command #4 of 5 with id=1qi8x
2019-12-03T18:06:19.630Z,1575396379.630 [CommandLine](IMPORTANT): Scheduled #9 (#4 of 5 with id='1qi8x'): "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" ASAP
2019-12-03T18:06:21.550Z,1575396381.550 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T180619
2019-12-03T18:06:29.312Z,1575396389.312 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qi8x 5 5
2019-12-03T18:06:29.353Z,1575396389.353 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qi8x 5 5.000000
2019-12-03T18:06:29.354Z,1575396389.354 [CommandLine](IMPORTANT): Scheduling command #5 of 5 with id=1qi8x
2019-12-03T18:06:29.355Z,1575396389.355 [CommandLine](IMPORTANT): Scheduled #10 (#5 of 5 with id='1qi8x'): "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP
2019-12-03T18:06:29.646Z,1575396389.646 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:06:29.647Z,1575396389.647 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:06:29.933Z,1575396389.933 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:06:29.935Z,1575396389.935 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:06:29.937Z,1575396389.937 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:06:29.939Z,1575396389.939 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:06:29.942Z,1575396389.942 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:06:29.944Z,1575396389.944 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:06:29.946Z,1575396389.946 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:06:29.948Z,1575396389.948 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:06:29.950Z,1575396389.950 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:06:29.953Z,1575396389.953 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-12-03T18:06:29.955Z,1575396389.955 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:06:29.957Z,1575396389.957 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:06:29.959Z,1575396389.959 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:06:30.033Z,1575396390.033 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:06:30.035Z,1575396390.035 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 8.000000 m
2019-12-03T18:06:30.046Z,1575396390.046 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:06:30.048Z,1575396390.048 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:06:30.059Z,1575396390.059 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:06:30.074Z,1575396390.074 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:06:30.076Z,1575396390.076 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:06:30.086Z,1575396390.086 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:06:30.096Z,1575396390.096 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:06:30.099Z,1575396390.099 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-12-03T18:06:30.103Z,1575396390.103 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:06:30.114Z,1575396390.114 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-12-03T18:06:30.116Z,1575396390.116 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:06:30.122Z,1575396390.122 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:06:30.145Z,1575396390.145 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:06:30.147Z,1575396390.147 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:06:30.150Z,1575396390.150 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:06:30.164Z,1575396390.164 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.001000 arcdeg
2019-12-03T18:06:30.174Z,1575396390.174 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:06:30.177Z,1575396390.177 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:06:30.179Z,1575396390.179 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:06:30.185Z,1575396390.185 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:06:30.190Z,1575396390.190 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:06:30.193Z,1575396390.193 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:06:30.195Z,1575396390.195 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:06:30.206Z,1575396390.206 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:06:30.212Z,1575396390.212 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:06:30.215Z,1575396390.215 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:06:30.229Z,1575396390.229 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:06:30.231Z,1575396390.231 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:06:30.238Z,1575396390.238 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:06:30.238Z,1575396390.238 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-12-03T18:06:30.284Z,1575396390.284 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-12-03T18:06:30.287Z,1575396390.287 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-12-03T18:06:30.293Z,1575396390.293 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-12-03T18:06:30.294Z,1575396390.294 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-12-03T18:06:30.303Z,1575396390.303 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-12-03T18:06:30.324Z,1575396390.324 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-12-03T18:06:30.350Z,1575396390.350 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-12-03T18:06:30.490Z,1575396390.490 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-12-03T18:06:30.497Z,1575396390.497 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-12-03T18:06:30.499Z,1575396390.499 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-12-03T18:06:30.505Z,1575396390.505 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-12-03T18:06:30.507Z,1575396390.507 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-12-03T18:06:30.511Z,1575396390.511 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-12-03T18:06:30.522Z,1575396390.522 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-12-03T18:06:30.551Z,1575396390.551 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T18:06:30.643Z,1575396390.643 [lineCaptureHoming:K.Mass](DEBUG): Construct.
2019-12-03T18:06:30.657Z,1575396390.657 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:06:30.660Z,1575396390.660 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-12-03T18:06:30.663Z,1575396390.663 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-12-03T18:06:30.690Z,1575396390.690 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:06:30.696Z,1575396390.696 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-12-03T18:06:30.699Z,1575396390.699 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-12-03T18:06:30.708Z,1575396390.708 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:06:30.714Z,1575396390.714 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:06:30.729Z,1575396390.729 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:06:30.731Z,1575396390.731 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:06:30.753Z,1575396390.753 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:06:30.772Z,1575396390.772 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:06:30.831Z,1575396390.831 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](DEBUG): Construct.
2019-12-03T18:06:30.939Z,1575396390.939 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:06:30.952Z,1575396390.952 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:06:30.974Z,1575396390.974 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:06:31.014Z,1575396391.014 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:06:31.035Z,1575396391.035 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:06:31.115Z,1575396391.115 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>8.0</Value></DefineArg>

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

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

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

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

    <DefineArg Name="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.001</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>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></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 to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></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="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</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
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>


    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DoingComms"/></Assign>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="InitialDive"/></Assign>

    </Aggregate>


    <!-- Add track acoustic contact directive high in the stack. -->

    <Aggregate Id="TrackTransponder">

        <While>
            <Arg Name="HomingActive"/>
        </While>

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

    </Aggregate>

    <ReadData Strategy="MinError">
    	  <Parallel/>
        <Sensor:DDM.DDMMode/>
    </ReadData>
    
    <!-- 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="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>

                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>

                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DiveMode"/><Eq><Arg Name="DoingComms"/></Eq></Not>
            </While>

            <Call RefId="DiveCmd"/>
        </Aggregate>


        <Syslog Severity="Important">Initiating homing sequence.</Syslog>

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


        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>
        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Servo:RudderServo.deviationAngle/><Arg Name="RudderDeadband"/></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:LineCapture>
                <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:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

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

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Deactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

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

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


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


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

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

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                        <Setting><Guidance:Undock.undockRange/><Arg Name="BreakOffRange"/></Setting>
                        <Setting><Guidance:Undock.verbose/><Arg Name="Verbose"/></Setting>
                    </Guidance:Undock>

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

                </Aggregate>

            </Aggregate>

        </Aggregate>


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

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

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>
            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

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

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

        </Aggregate>

    </Aggregate>

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

</Mission>


2019-12-03T18:06:31.116Z,1575396391.116 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:06:34.084Z,1575396394.084 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T18:06:38.739Z,1575396398.739 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 40.000000 minute
2019-12-03T18:06:38.740Z,1575396398.740 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808540 degree
2019-12-03T18:06:38.741Z,1575396398.741 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823853 degree
2019-12-03T18:06:38.742Z,1575396398.742 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLat 36.810501 degree
2019-12-03T18:06:46.587Z,1575396406.587 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T18:06:46.907Z,1575396406.907 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLon -121.827499 degree
2019-12-03T18:06:46.908Z,1575396406.908 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 500.000000 meter
2019-12-03T18:06:46.909Z,1575396406.909 [CommandLine](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1.000000 minute
2019-12-03T18:06:46.909Z,1575396406.909 [CommandLine](IMPORTANT): got command set lineCaptureHoming.BreakOffRange 6.000000 meter
2019-12-03T18:06:57.655Z,1575396417.655 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutDistance 300.000000 meter
2019-12-03T18:06:57.655Z,1575396417.655 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTime 7.000000 minute
2019-12-03T18:06:57.657Z,1575396417.657 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 5.000000 meter
2019-12-03T18:06:57.658Z,1575396417.658 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 25.000000 minute
2019-12-03T18:06:57.659Z,1575396417.659 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 25.000000 meter
2019-12-03T18:07:00.499Z,1575396420.499 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2019-12-03T18:07:05.249Z,1575396425.249 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:07:05.249Z,1575396425.249 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311191888,35.048.9,  0
2019-12-03T18:07:10.403Z,1575396430.403 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-12-03T18:07:10.404Z,1575396430.404 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-12-03T18:07:10.405Z,1575396430.405 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KpHeadingFinal 1.800000 none
2019-12-03T18:07:10.406Z,1575396430.406 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KiHeadingFinal 0.006000 reciprocal_second
2019-12-03T18:07:14.137Z,1575396434.137 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-12-03T18:07:14.139Z,1575396434.139 [BPC1](INFO): Received data from all battery sticks.
2019-12-03T18:07:16.291Z,1575396436.291 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 3.500000 meter
2019-12-03T18:07:16.292Z,1575396436.292 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 45.000000 meter
2019-12-03T18:07:16.293Z,1575396436.293 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-12-03T18:07:16.293Z,1575396436.293 [CommandLine](IMPORTANT): got command run 
2019-12-03T18:07:16.295Z,1575396436.295 [CommandLine](IMPORTANT): Running 
2019-12-03T18:07:16.550Z,1575396436.550 [Default] Stopped
2019-12-03T18:07:16.550Z,1575396436.550 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:07:16.550Z,1575396436.550 [Default:B.GoToSurface] Stopped
2019-12-03T18:07:16.551Z,1575396436.551 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:07:16.551Z,1575396436.551 [Default:CheckIn] Stopped
2019-12-03T18:07:16.551Z,1575396436.551 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:07:16.551Z,1575396436.551 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:07:16.551Z,1575396436.551 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:07:16.551Z,1575396436.551 [lineCaptureHoming] Running Loop=1
2019-12-03T18:07:16.551Z,1575396436.551 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:07:16.551Z,1575396436.551 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-12-03T18:07:16.552Z,1575396436.552 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:K.Mass](DEBUG): Initialize.
2019-12-03T18:07:16.553Z,1575396436.553 [lineCaptureHoming:B] Running Loop=1
2019-12-03T18:07:16.554Z,1575396436.554 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:07:16.554Z,1575396436.554 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:07:16.555Z,1575396436.555 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2019-12-03T18:07:16.555Z,1575396436.555 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:07:16.555Z,1575396436.555 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:07:16.555Z,1575396436.555 [lineCaptureHoming:B] Stopped
2019-12-03T18:07:16.556Z,1575396436.556 [lineCaptureHoming:C] Running Loop=1
2019-12-03T18:07:16.556Z,1575396436.556 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:07:16.556Z,1575396436.556 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:07:16.556Z,1575396436.556 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:07:16.557Z,1575396436.557 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:07:16.972Z,1575396436.972 [lineCaptureHoming:C] Stopped
2019-12-03T18:07:16.972Z,1575396436.972 [lineCaptureHoming:D] Running Loop=1
2019-12-03T18:07:17.360Z,1575396437.360 [lineCaptureHoming:D] Stopped
2019-12-03T18:07:17.360Z,1575396437.360 [lineCaptureHoming:F] Running Loop=1
2019-12-03T18:07:17.853Z,1575396437.853 [lineCaptureHoming:F] Stopped
2019-12-03T18:07:17.853Z,1575396437.853 [lineCaptureHoming:G] Running Loop=1
2019-12-03T18:07:18.115Z,1575396438.115 [DDM](INFO): Extending Whiskers.
2019-12-03T18:07:18.200Z,1575396438.200 [lineCaptureHoming:G] Stopped
2019-12-03T18:07:18.200Z,1575396438.200 [lineCaptureHoming:StartingMission] Running Loop=1
2019-12-03T18:07:18.201Z,1575396438.201 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-12-03T18:07:18.520Z,1575396438.520 [DDM](INFO): Extending Whiskers.
2019-12-03T18:07:18.589Z,1575396438.589 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-12-03T18:07:18.589Z,1575396438.589 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-12-03T18:07:18.589Z,1575396438.589 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-12-03T18:07:18.589Z,1575396438.589 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-12-03T18:07:18.590Z,1575396438.590 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-12-03T18:07:18.590Z,1575396438.590 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:07:18.924Z,1575396438.924 [DDM](INFO): Extending Whiskers.
2019-12-03T18:07:19.018Z,1575396439.018 [lineCaptureHoming:NeedComms] Running Loop=1
2019-12-03T18:07:19.018Z,1575396439.018 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-12-03T18:07:19.018Z,1575396439.018 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-12-03T18:07:19.018Z,1575396439.018 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:07:19.019Z,1575396439.019 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-12-03T18:07:19.019Z,1575396439.019 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-12-03T18:07:19.020Z,1575396439.020 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-12-03T18:07:19.025Z,1575396439.025 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:07:19.025Z,1575396439.025 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:07:19.026Z,1575396439.026 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-12-03T18:07:19.027Z,1575396439.027 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1575396224.000000 second since 1970/01/01T00:00:00Z 
2019-12-03T18:07:19.028Z,1575396439.028 [lineCaptureHoming:NeedComms:A] Stopped
2019-12-03T18:07:19.327Z,1575396439.327 [DDM](INFO): Extending Whiskers.
2019-12-03T18:07:19.398Z,1575396439.398 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:19.399Z,1575396439.399 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-12-03T18:07:19.731Z,1575396439.731 [DDM](INFO): Extending Whiskers.
2019-12-03T18:07:19.813Z,1575396439.813 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T18:07:20.174Z,1575396440.174 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:20.576Z,1575396440.576 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:21.388Z,1575396441.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180721.04*57

2019-12-03T18:07:22.237Z,1575396442.237 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:23.805Z,1575396443.805 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:07:25.057Z,1575396445.057 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:25.831Z,1575396445.831 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:26.246Z,1575396446.246 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:26.717Z,1575396446.717 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:07:27.050Z,1575396447.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180726.70*53

2019-12-03T18:07:27.899Z,1575396447.899 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T18:07:27.899Z,1575396447.899 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-3278,-32768,V
2019-12-03T18:07:29.523Z,1575396449.523 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:30.275Z,1575396450.275 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:30.680Z,1575396450.680 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:31.190Z,1575396451.190 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:07:31.497Z,1575396451.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180731.14*57

2019-12-03T18:07:33.941Z,1575396453.941 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:34.719Z,1575396454.719 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:35.128Z,1575396455.128 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:35.613Z,1575396455.613 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:07:35.941Z,1575396455.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180735.58*5B

2019-12-03T18:07:38.405Z,1575396458.405 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:39.155Z,1575396459.155 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:39.572Z,1575396459.572 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:40.050Z,1575396460.050 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:07:40.381Z,1575396460.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180740.02*56

2019-12-03T18:07:42.849Z,1575396462.849 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:43.607Z,1575396463.607 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:44.017Z,1575396464.017 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:44.503Z,1575396464.503 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:07:44.833Z,1575396464.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180744.47*53

2019-12-03T18:07:47.315Z,1575396467.315 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:48.047Z,1575396468.047 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:48.455Z,1575396468.455 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:48.958Z,1575396468.958 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:07:49.273Z,1575396469.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180748.91*54

2019-12-03T18:07:51.722Z,1575396471.722 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:52.490Z,1575396472.490 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:52.898Z,1575396472.898 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:53.359Z,1575396473.359 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:07:53.725Z,1575396473.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180753.35*50

2019-12-03T18:07:56.188Z,1575396476.188 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:07:56.947Z,1575396476.947 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:07:57.336Z,1575396477.336 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:07:57.803Z,1575396477.803 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:07:58.162Z,1575396478.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180757.81*5B

2019-12-03T18:08:00.617Z,1575396480.617 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:08:01.379Z,1575396481.379 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:08:01.784Z,1575396481.784 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:08:02.262Z,1575396482.262 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:08:02.605Z,1575396482.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180802.24*5B

2019-12-03T18:08:05.065Z,1575396485.065 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:08:05.822Z,1575396485.822 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:08:06.245Z,1575396486.245 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:08:06.685Z,1575396486.685 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:08:07.061Z,1575396487.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180806.69*56

2019-12-03T18:08:09.493Z,1575396489.493 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:08:10.267Z,1575396490.267 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:08:10.680Z,1575396490.680 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:08:11.205Z,1575396491.205 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:08:11.498Z,1575396491.498 [Micromodem](INFO): Nmea in: $SNTTA,,,0.291633,,180811.13*4F

2019-12-03T18:08:13.969Z,1575396493.969 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:08:14.718Z,1575396494.718 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:08:15.116Z,1575396495.116 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:08:15.627Z,1575396495.627 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:08:15.945Z,1575396495.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180815.58*56

2019-12-03T18:08:18.387Z,1575396498.387 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:08:19.163Z,1575396499.163 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:08:19.564Z,1575396499.564 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:08:20.067Z,1575396500.067 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:08:20.378Z,1575396500.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,180820.02*5F

2019-12-03T18:08:21.561Z,1575396501.561 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:08:21.562Z,1575396501.562 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:08:21.641Z,1575396501.641 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:08:21.642Z,1575396501.642 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming] Stopped
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-12-03T18:08:21.642Z,1575396501.642 [lineCaptureHoming:NeedComms] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:NeedComms:C] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:SurfaceComms] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:08:21.643Z,1575396501.643 [lineCaptureHoming:J] Stopped
2019-12-03T18:08:21.644Z,1575396501.644 [lineCaptureHoming:K.Mass] Stopped
2019-12-03T18:08:21.644Z,1575396501.644 [lineCaptureHoming:K.Mass](DEBUG): Uninitialize.
2019-12-03T18:08:21.644Z,1575396501.644 [lineCaptureHoming:StartingMission] Stopped
2019-12-03T18:08:21.644Z,1575396501.644 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-12-03T18:08:21.998Z,1575396501.998 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:08:21.998Z,1575396501.998 [Default] Running Loop=1
2019-12-03T18:08:21.998Z,1575396501.998 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:08:21.998Z,1575396501.998 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:08:21.998Z,1575396501.998 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:08:21.999Z,1575396501.999 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:08:21.999Z,1575396501.999 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:08:21.999Z,1575396501.999 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:08:21.999Z,1575396501.999 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:08:21.000Z,1575396502.000 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:08:22.000Z,1575396502.000 [Default:A.Wait] Running Loop=1
2019-12-03T18:08:22.001Z,1575396502.001 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:08:22.354Z,1575396502.354 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:08:22.756Z,1575396502.756 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:08:23.159Z,1575396503.159 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:08:23.563Z,1575396503.563 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:08:23.970Z,1575396503.970 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:08:32.107Z,1575396512.107 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-12-03T18:08:35.413Z,1575396515.413 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:08:35.414Z,1575396515.414 [Default:A.Wait] Stopped
2019-12-03T18:08:35.414Z,1575396515.414 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:08:35.729Z,1575396515.729 [Default:CheckIn] Running Loop=1
2019-12-03T18:08:35.729Z,1575396515.729 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:08:35.729Z,1575396515.729 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:08:46.628Z,1575396526.628 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:08:46.628Z,1575396526.628 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:08:49.889Z,1575396529.889 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-12-03T18:08:49.889Z,1575396529.889 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-32768,-32768,V
2019-12-03T18:08:55.490Z,1575396535.490 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T18:08:55.490Z,1575396535.490 [NAL9602] Data Fault, FailCount= 2
2019-12-03T18:08:55.490Z,1575396535.490 [NAL9602](ERROR): Data Fault
2019-12-03T18:08:55.574Z,1575396535.574 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T18:08:55.903Z,1575396535.903 [NAL9602](INFO): Powering down
2019-12-03T18:08:56.741Z,1575396536.741 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T18:08:56.741Z,1575396536.741 [NAL9602] No Fault, FailCount= 2
2019-12-03T18:09:26.191Z,1575396566.191 [NAL9602](INFO): Powering up NAL9602
2019-12-03T18:09:26.631Z,1575396566.631 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:09:26.632Z,1575396566.632 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:09:37.099Z,1575396577.099 [NAL9602](INFO): NAL9602 initialized
2019-12-03T18:12:48.709Z,1575396768.709 [CommandLine](IMPORTANT): got command show variable powerOnly
2019-12-03T18:12:48.722Z,1575396768.722 [CommandLine](IMPORTANT): PowerOnly.loadControl (none)
2019-12-03T18:12:48.778Z,1575396768.778 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup (bool)
2019-12-03T18:12:48.778Z,1575396768.778 [CommandLine](IMPORTANT): PowerOnly.simulateHardware (bool)
2019-12-03T18:12:48.778Z,1575396768.778 [CommandLine](IMPORTANT): PowerOnly.sampleTime (second)
2019-12-03T18:12:48.820Z,1575396768.820 [CommandLine](IMPORTANT): PowerOnly.samplePowerOnly (bool)
2019-12-03T18:12:48.902Z,1575396768.902 [CommandLine](IMPORTANT): PowerOnly.component_voltage (volt)
2019-12-03T18:12:48.903Z,1575396768.903 [CommandLine](IMPORTANT): PowerOnly.component_avgVoltage (volt)
2019-12-03T18:12:48.903Z,1575396768.903 [CommandLine](IMPORTANT): PowerOnly.component_current (milliampere)
2019-12-03T18:12:48.903Z,1575396768.903 [CommandLine](IMPORTANT): PowerOnly.component_avgCurrent (milliampere)
2019-12-03T18:12:54.680Z,1575396774.680 [CommandLine](IMPORTANT): got command get PowerOnly.loadAtStartup
2019-12-03T18:12:54.693Z,1575396774.693 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup 1 bool
2019-12-03T18:13:02.563Z,1575396782.563 [CommandLine](IMPORTANT): got command get PowerOnly.simulateHardware
2019-12-03T18:13:02.564Z,1575396782.564 [CommandLine](IMPORTANT): PowerOnly.simulateHardware 0 bool
2019-12-03T18:13:35.944Z,1575396815.944 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T18:08:35.7Z
2019-12-03T18:13:35.944Z,1575396815.944 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:13:35.945Z,1575396815.945 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T18:13:38.566Z,1575396818.566 [CommandLine](IMPORTANT): got command get depth
2019-12-03T18:13:38.567Z,1575396818.567 [CommandLine](IMPORTANT): depth 0.127201 m
2019-12-03T18:13:42.054Z,1575396822.054 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191203T165212/Courier0043.lzma
2019-12-03T18:13:44.066Z,1575396824.066 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Courier0043.lzma.bak
2019-12-03T18:13:44.066Z,1575396824.066 [DataOverHttps](INFO): SBD MOMSN=12113846
2019-12-03T18:13:53.750Z,1575396833.750 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181351
2019-12-03T18:14:01.978Z,1575396841.978 [DataOverHttps](INFO): Sending 1045 bytes from file Logs/20191203T165212/Express0041.lzma
2019-12-03T18:14:01.991Z,1575396841.991 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" 1qimz 1 5
2019-12-03T18:14:02.089Z,1575396842.089 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" 1qimz 1 5.000000
2019-12-03T18:14:02.090Z,1575396842.090 [CommandLine](IMPORTANT): Scheduling command #1 of 5 with id=1qimz
2019-12-03T18:14:02.091Z,1575396842.091 [CommandLine](IMPORTANT): Scheduled #11 (#1 of 5 with id='1qimz'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.MissionTimeout 40 minute;set lineCaptureHoming.DockLat 36.80854 degree;set lineCaptureHoming.DockLon -121.82385 degree;set lineCaptureHoming.StartLat 36.8105 degree" ASAP
2019-12-03T18:14:03.984Z,1575396843.984 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0041.lzma.bak
2019-12-03T18:14:03.984Z,1575396843.984 [DataOverHttps](IMPORTANT): SBD MOMSN=12113849, MTMSN=20191203T181402
2019-12-03T18:14:06.377Z,1575396846.377 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:14:12.752Z,1575396852.752 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qimz 2 5
2019-12-03T18:14:12.813Z,1575396852.813 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qimz 2 5.000000
2019-12-03T18:14:12.814Z,1575396852.814 [CommandLine](IMPORTANT): Scheduling command #2 of 5 with id=1qimz
2019-12-03T18:14:12.814Z,1575396852.814 [CommandLine](IMPORTANT): Scheduled #12 (#2 of 5 with id='1qimz'): "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" ASAP
2019-12-03T18:14:14.758Z,1575396854.758 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181412
2019-12-03T18:14:22.504Z,1575396862.504 [DataOverHttps](INFO): Sending 1835 bytes from file Logs/20191203T165212/Express0044.lzma
2019-12-03T18:14:22.510Z,1575396862.510 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qimz 3 5
2019-12-03T18:14:22.520Z,1575396862.520 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" 1qimz 3 5.000000
2019-12-03T18:14:22.537Z,1575396862.537 [CommandLine](IMPORTANT): Scheduling command #3 of 5 with id=1qimz
2019-12-03T18:14:22.537Z,1575396862.537 [CommandLine](IMPORTANT): Scheduled #13 (#3 of 5 with id='1qimz'): "set lineCaptureHoming.RolloutDistance 300 meter;set lineCaptureHoming.RolloutTime 7 minute;set lineCaptureHoming.HoldAltitude 5.0 meter;set lineCaptureHoming.InvalidAltitudeTimeout 25 minute;set lineCaptureHoming.InitDepth 25 meter" ASAP
2019-12-03T18:14:24.507Z,1575396864.507 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0044.lzma.bak
2019-12-03T18:14:24.507Z,1575396864.507 [DataOverHttps](IMPORTANT): SBD MOMSN=12113892, MTMSN=20191203T181422
2019-12-03T18:14:32.240Z,1575396872.240 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qimz 4 5
2019-12-03T18:14:32.282Z,1575396872.282 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" 1qimz 4 5.000000
2019-12-03T18:14:32.282Z,1575396872.282 [CommandLine](IMPORTANT): Scheduling command #4 of 5 with id=1qimz
2019-12-03T18:14:32.283Z,1575396872.283 [CommandLine](IMPORTANT): Scheduled #14 (#4 of 5 with id='1qimz'): "set lineCaptureHoming.TrackingUpdatePeriod 2.5 second;set lineCaptureHoming.Speed 0.8 meter_per_second;set lineCaptureHoming.KpHeadingFinal 1.8 none;set lineCaptureHoming.KiHeadingFinal 0.006 reciprocal_second" ASAP
2019-12-03T18:14:34.246Z,1575396874.246 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181432
2019-12-03T18:14:42.416Z,1575396882.416 [DataOverHttps](INFO): Sending 122 bytes from file Logs/20191203T165212/Express0047.lzma
2019-12-03T18:14:42.418Z,1575396882.418 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qimz 5 5
2019-12-03T18:14:42.493Z,1575396882.493 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qimz 5 5.000000
2019-12-03T18:14:42.494Z,1575396882.494 [CommandLine](IMPORTANT): Scheduling command #5 of 5 with id=1qimz
2019-12-03T18:14:42.494Z,1575396882.494 [CommandLine](IMPORTANT): Scheduled #15 (#5 of 5 with id='1qimz'): "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP
2019-12-03T18:14:42.685Z,1575396882.685 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:14:42.686Z,1575396882.686 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:14:43.030Z,1575396883.030 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:14:43.032Z,1575396883.032 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:14:43.034Z,1575396883.034 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:14:43.037Z,1575396883.037 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:14:43.039Z,1575396883.039 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:14:43.047Z,1575396883.047 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:14:43.049Z,1575396883.049 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:14:43.052Z,1575396883.052 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:14:43.054Z,1575396883.054 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:14:43.056Z,1575396883.056 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-12-03T18:14:43.058Z,1575396883.058 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:14:43.060Z,1575396883.060 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:14:43.062Z,1575396883.062 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:14:43.064Z,1575396883.064 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:14:43.066Z,1575396883.066 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 8.000000 m
2019-12-03T18:14:43.150Z,1575396883.150 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:14:43.174Z,1575396883.174 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:14:43.188Z,1575396883.188 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:14:43.191Z,1575396883.191 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:14:43.205Z,1575396883.205 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:14:43.207Z,1575396883.207 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:14:43.226Z,1575396883.226 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:14:43.228Z,1575396883.228 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-12-03T18:14:43.240Z,1575396883.240 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:14:43.247Z,1575396883.247 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-12-03T18:14:43.265Z,1575396883.265 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:14:43.267Z,1575396883.267 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:14:43.274Z,1575396883.274 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:14:43.276Z,1575396883.276 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:14:43.286Z,1575396883.286 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:14:43.297Z,1575396883.297 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.001000 arcdeg
2019-12-03T18:14:43.299Z,1575396883.299 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:14:43.305Z,1575396883.305 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:14:43.308Z,1575396883.308 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:14:43.312Z,1575396883.312 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:14:43.322Z,1575396883.322 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:14:43.324Z,1575396883.324 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:14:43.330Z,1575396883.330 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:14:43.337Z,1575396883.337 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:14:43.339Z,1575396883.339 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:14:43.346Z,1575396883.346 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:14:43.348Z,1575396883.348 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:14:43.354Z,1575396883.354 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:14:43.361Z,1575396883.361 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:14:43.361Z,1575396883.361 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-12-03T18:14:43.395Z,1575396883.395 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-12-03T18:14:43.406Z,1575396883.406 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-12-03T18:14:43.408Z,1575396883.408 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-12-03T18:14:43.409Z,1575396883.409 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-12-03T18:14:43.434Z,1575396883.434 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-12-03T18:14:43.467Z,1575396883.467 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-12-03T18:14:43.488Z,1575396883.488 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-12-03T18:14:43.695Z,1575396883.695 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-12-03T18:14:43.714Z,1575396883.714 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-12-03T18:14:43.728Z,1575396883.728 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-12-03T18:14:43.730Z,1575396883.730 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-12-03T18:14:43.745Z,1575396883.745 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-12-03T18:14:43.753Z,1575396883.753 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-12-03T18:14:43.755Z,1575396883.755 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-12-03T18:14:43.777Z,1575396883.777 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T18:14:43.897Z,1575396883.897 [lineCaptureHoming:K.Mass](DEBUG): Construct.
2019-12-03T18:14:43.910Z,1575396883.910 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:14:43.921Z,1575396883.921 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-12-03T18:14:43.924Z,1575396883.924 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-12-03T18:14:44.068Z,1575396884.068 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:14:44.079Z,1575396884.079 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-12-03T18:14:44.094Z,1575396884.094 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-12-03T18:14:44.099Z,1575396884.099 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:14:44.116Z,1575396884.116 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:14:44.134Z,1575396884.134 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:14:44.139Z,1575396884.139 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:14:44.144Z,1575396884.144 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:14:44.165Z,1575396884.165 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:14:44.201Z,1575396884.201 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](DEBUG): Construct.
2019-12-03T18:14:44.220Z,1575396884.220 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:14:44.232Z,1575396884.232 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:14:44.238Z,1575396884.238 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:14:44.250Z,1575396884.250 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:14:44.263Z,1575396884.263 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:14:44.305Z,1575396884.305 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

    <Description>
        Home to transponder while maintaining altitude. The mission sequence:
        (*) Start (1) Midcourse guidance: nav to target WP while querying
        transponder (2) Terminal guidance: home to target using DUSBL tracking
        data, fire up SCPI when in range (4) Dock: final approach using fixed
        heading (5) Rollout: break off from dock, then nav back to start wp or move away
        from the target at the last commanded heading (*) repeat Note: since there's a
        possibility that no altitude reading will be available form the surface
        (e.g., when the bottom is out of DVL range), the vehicle first descends
        from the surface to a commanded depth and then starts following the
        commanded altitude.
    </Description>

    <!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Repeat"><Description>
        Number of times the vehicle should try to cycle through the homing
        sequence.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="DockLat"><Description>
        Latitude of docking station waypoint.
    </Description><Units:degree/><Value>36.7436</Value></DefineArg>

    <DefineArg Name="DockLon"><Description>
        Longitude of docking station waypoint.
    </Description><Units:degree/><Value>-121.8800</Value></DefineArg>

    <DefineArg Name="StartLat"><Description>
        Latitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="StartLon"><Description>
        Longitude of docking sequance start waypoint. The vehicle navigates back
        to this waypoint at the end of each homing attempt. If set to NaN, the
        vehicle moves away from the target at the last commanded heading until
        *RolloutTime* has passed.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TerminalRange"><Description>
        Range at which the vehicle should switch from navigating to the dock wp
        and start homing to the target using DUSBL tracking data. Max is ??
        meters due to DUSBL ???.
    </Description><Units:meter/><Value>650.0</Value></DefineArg>

    <DefineArg Name="ArmRange"><Description>
        Range to deploy the whiskers, open the latch, and activate the camera.
    </Description><Units:meter/><Value>40.0</Value></DefineArg>

    <DefineArg Name="DockRange"><Description>
        Range from dock to stop commanding heading.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="TerminalGuidanceTimeout"><Description>
        Maximum time duration for running in terminal guidance mode.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</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="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

    <DefineArg Name="BreakOffRange"><Description>
        Range from dock in which the vehicle is considered undocked.

        IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth.
        Thus, BreakOffRange must be *less* than the vertical distance between the
        dock transponder and InitDepth.
    </Description><Units:meter/><Value>8.0</Value></DefineArg>

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

    <DefineArg Name="RolloutTime"><Description>
        Drive on your last heading for this long after detaching from the dock.
        This argument is *ignored* if start Lat/Lon are specified.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="HoldAltitude"><Description>
        Desired vehicle altitude to maintain.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="InvalidAltitudeTimeout"><Description>
        The mission will abort if no valid altitude readings are received within
        this specified time duration. Set this variable to NaN to disable this
        timeout functionality.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="InitDepth"><Description>
        Initial depth. The vehicle will dive to this depth when leaving the
        surface. Necessary if no altitude reading is available form the surface
        (e.g., when the bottom is out of DVL range).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial depth. The
        vehicle will switch over to altitude following after the timeout is
        expired.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Transponder Address.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of pings requested each time.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        Vertical drift from the specified depth that's allowed during altitude
        keeping (alt. is projected to depth).
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

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

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

    <DefineArg Name="KpHeadingFinal"><Description>
        Heading proportional gain to use during Final Approach.
    </Description><Units:none/><Value>1.6</Value></DefineArg>

    <DefineArg Name="KiHeadingFinal"><Description>
        Heading Integral gain to use during Final Approach.
    </Description><Units:reciprocal_second/><Value>0.004</Value></DefineArg>

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.001</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>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></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 to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></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="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</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
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>


    <!-- Safety nets and surfacing behaviors -->

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Aggregate Id="SurfaceComms">

        <When>
            <Called/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></Or>
        </When>

        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DoingComms"/></Assign>

        <Call RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="InitialDive"/></Assign>

    </Aggregate>


    <!-- Add track acoustic contact directive high in the stack. -->

    <Aggregate Id="TrackTransponder">

        <While>
            <Arg Name="HomingActive"/>
        </While>

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

    </Aggregate>

    <ReadData Strategy="MinError">
    	  <Parallel/>
        <Sensor:DDM.DDMMode/>
    </ReadData>
    
    <!-- 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="DockHold">

            <Description>
                Wait on dock after vehicle latches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="WaitOnDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Parallel/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DockingDepth"/></Setting>
                </Guidance:Pitch>

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

            <Description>
                Drift away from the dock after vehicle unlatches.
            </Description>

            <While>
                <Arg Name="DiveMode"/><Eq><Arg Name="DetachFromDock"/></Eq>
            </While>

            <Aggregate Id="dive">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Timeout Duration="InitDepthTimeout">
                        <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>

                        <Guidance:Execute>
                            <Sequence/>
                            <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                        </Guidance:Execute>
                    </Timeout>

                    <Setting><Guidance:Pitch.depth/><Arg Name="InitDepth"/></Setting>
                </Guidance:Pitch>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

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

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

        <Aggregate Id="Dive">

            <While>
                <Not><Arg Name="DiveMode"/><Eq><Arg Name="DoingComms"/></Eq></Not>
            </While>

            <Call RefId="DiveCmd"/>
        </Aggregate>


        <Syslog Severity="Important">Initiating homing sequence.</Syslog>

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


        <Aggregate Id="MidcourseGuidance">

            <Description>
                Navigate toward the dock waypoint while querying the dock
                transponder. Continue until you approach within *TerminalRange*,
                then move on to the next aggregate.
            </Description>

            <Sequence/>

            <Break>
                <Estimation:TrackAcousticContact.range_to_contact/>
                <Lt><Arg Name="TerminalRange"/></Lt>
            </Break>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="DockLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="DockLon"/></Setting>
            </Guidance:Waypoint>
        </Aggregate>

        <Aggregate Id="TerminalGuidance">

            <Description>
                Move toward the target using DUSBL tracking data and update the
                commanded heading with each cycle, activate SCPI when in range.
                Continue until you're within *DockRange*, then move on to the
                next aggregate.
            </Description>

            <Sequence/>

            <Assign><Parallel/><Servo:RudderServo.deviationAngle/><Arg Name="RudderDeadband"/></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:LineCapture>
                <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:LineCapture.armRange/><Arg Name="ArmRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptRange/><Arg Name="DockRange"/></Setting>
                <Setting><Guidance:LineCapture.interceptTimeout/><Arg Name="DockTimeout"/></Setting>
                <Setting><Guidance:LineCapture.rolloutDistance/><Arg Name="RolloutDistance"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingTerminalGuidance/><Arg Name="KpHeading"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingTerminalGuidance/><Arg Name="KiHeading"/></Setting>
                <Setting><Guidance:LineCapture.kpHeadingFinalApproach/><Arg Name="KpHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.kiHeadingFinalApproach/><Arg Name="KiHeadingFinal"/></Setting>
                <Setting><Guidance:LineCapture.verbose/><Arg Name="Verbose"/></Setting>
            </Guidance:LineCapture>

            <Aggregate Id="Dock">

                <Sequence/>

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

                <!-- Hold at the current depth while latched on the line -->
                <Assign><Sequence/><Arg Name="DockingDepth"/><Universal:depth/></Assign>
                <Syslog Severity="Important">Holding depth at: <Arg Name="DockingDepth"/><Units:meter/>.</Syslog>

                <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="WaitOnDock"/></Assign>

                <!-- Deactivate homing while relaxing on the line -->
                <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

                <Aggregate Id="UpdateNav">

                    <Sequence/>

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

                    <Guidance:SetNav>
                        <Sequence/>
                        <Setting><Guidance:SetNav.latitude/><Arg Name="DockLat"/></Setting>
                        <Setting><Guidance:SetNav.longitude/><Arg Name="DockLon"/></Setting>
                    </Guidance:SetNav>
                </Aggregate>


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


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

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

                    <Syslog Severity="Important">Breaking off. Range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>

                    <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="DetachFromDock"/></Assign>

                    <Guidance:Undock>
                        <Sequence/>
                        <Setting><Guidance:Undock.undockRange/><Arg Name="BreakOffRange"/></Setting>
                        <Setting><Guidance:Undock.verbose/><Arg Name="Verbose"/></Setting>
                    </Guidance:Undock>

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

                </Aggregate>

            </Aggregate>

        </Aggregate>


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

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

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="HomingActive"/><False/></Assign>

            <!-- Let's make sure we're in the right dive mode -->
            <Assign><Sequence/><Arg Name="DiveMode"/><Arg Name="MaintainAltitude"/></Assign>

            <Aggregate Id="NavToStart">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="StartLat"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Or>
                </Break>

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="StartLat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="StartLon"/></Setting>
                </Guidance:Waypoint>
            </Aggregate>

            <Aggregate Id="MaintainHeading">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="StartLat"/>
                    </IsNaN></Not>
                    <Or><Not><IsNaN><Arg Name="StartLon"/>
                    </IsNaN></Not></Or>
                </Break>

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

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

        </Aggregate>

    </Aggregate>

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

</Mission>


2019-12-03T18:14:44.305Z,1575396884.305 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:14:44.422Z,1575396884.422 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0047.lzma.bak
2019-12-03T18:14:44.422Z,1575396884.422 [DataOverHttps](INFO): SBD MOMSN=12113982
2019-12-03T18:14:55.909Z,1575396895.909 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 40.000000 minute
2019-12-03T18:14:55.910Z,1575396895.910 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808540 degree
2019-12-03T18:14:55.911Z,1575396895.911 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823853 degree
2019-12-03T18:14:55.911Z,1575396895.911 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLat 36.810501 degree
2019-12-03T18:15:05.674Z,1575396905.674 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLon -121.827499 degree
2019-12-03T18:15:05.675Z,1575396905.675 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 500.000000 meter
2019-12-03T18:15:05.676Z,1575396905.676 [CommandLine](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1.000000 minute
2019-12-03T18:15:05.705Z,1575396905.705 [CommandLine](IMPORTANT): got command set lineCaptureHoming.BreakOffRange 6.000000 meter
2019-12-03T18:15:11.128Z,1575396911.128 [DataOverHttps](INFO): Sending 329 bytes from file Logs/20191203T165212/Express0050.lzma
2019-12-03T18:15:13.134Z,1575396913.134 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0050.lzma.bak
2019-12-03T18:15:13.134Z,1575396913.134 [DataOverHttps](INFO): SBD MOMSN=12113987
2019-12-03T18:15:22.424Z,1575396922.424 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutDistance 300.000000 meter
2019-12-03T18:15:22.433Z,1575396922.433 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTime 7.000000 minute
2019-12-03T18:15:22.434Z,1575396922.434 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 5.000000 meter
2019-12-03T18:15:22.434Z,1575396922.434 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 25.000000 minute
2019-12-03T18:15:22.435Z,1575396922.435 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 25.000000 meter
2019-12-03T18:15:32.637Z,1575396932.637 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-12-03T18:15:32.638Z,1575396932.638 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-12-03T18:15:32.639Z,1575396932.639 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KpHeadingFinal 1.800000 none
2019-12-03T18:15:32.639Z,1575396932.639 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KiHeadingFinal 0.006000 reciprocal_second
2019-12-03T18:15:39.764Z,1575396939.764 [DataOverHttps](INFO): Sending 332 bytes from file Logs/20191203T165212/Express0053.lzma
2019-12-03T18:15:41.322Z,1575396941.322 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 3.500000 meter
2019-12-03T18:15:41.323Z,1575396941.323 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 45.000000 meter
2019-12-03T18:15:41.324Z,1575396941.324 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-12-03T18:15:41.357Z,1575396941.357 [CommandLine](IMPORTANT): got command run 
2019-12-03T18:15:41.359Z,1575396941.359 [CommandLine](IMPORTANT): Running 
2019-12-03T18:15:41.401Z,1575396941.401 [Default] Stopped
2019-12-03T18:15:41.401Z,1575396941.401 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:15:41.401Z,1575396941.401 [Default:B.GoToSurface] Stopped
2019-12-03T18:15:41.402Z,1575396941.402 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:15:41.402Z,1575396941.402 [Default:CheckIn] Stopped
2019-12-03T18:15:41.402Z,1575396941.402 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:15:41.402Z,1575396941.402 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T18:15:41.402Z,1575396941.402 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:15:41.402Z,1575396941.402 [lineCaptureHoming] Running Loop=1
2019-12-03T18:15:41.402Z,1575396941.402 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:15:41.402Z,1575396941.402 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:15:41.403Z,1575396941.403 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:15:41.404Z,1575396941.404 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:15:41.404Z,1575396941.404 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:15:41.404Z,1575396941.404 [lineCaptureHoming:K.Mass](DEBUG): Initialize.
2019-12-03T18:15:41.404Z,1575396941.404 [lineCaptureHoming:B] Running Loop=1
2019-12-03T18:15:41.405Z,1575396941.405 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:15:41.405Z,1575396941.405 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:15:41.406Z,1575396941.406 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2019-12-03T18:15:41.406Z,1575396941.406 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:15:41.406Z,1575396941.406 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:15:41.406Z,1575396941.406 [lineCaptureHoming:B] Stopped
2019-12-03T18:15:41.407Z,1575396941.407 [lineCaptureHoming:C] Running Loop=1
2019-12-03T18:15:41.407Z,1575396941.407 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:15:41.407Z,1575396941.407 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:15:41.407Z,1575396941.407 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:15:41.407Z,1575396941.407 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:15:41.770Z,1575396941.770 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0053.lzma.bak
2019-12-03T18:15:41.770Z,1575396941.770 [DataOverHttps](INFO): SBD MOMSN=12113993
2019-12-03T18:15:41.783Z,1575396941.783 [lineCaptureHoming:C] Stopped
2019-12-03T18:15:41.783Z,1575396941.783 [lineCaptureHoming:D] Running Loop=1
2019-12-03T18:15:42.185Z,1575396942.185 [lineCaptureHoming:D] Stopped
2019-12-03T18:15:42.185Z,1575396942.185 [lineCaptureHoming:F] Running Loop=1
2019-12-03T18:15:42.663Z,1575396942.663 [lineCaptureHoming:F] Stopped
2019-12-03T18:15:42.663Z,1575396942.663 [lineCaptureHoming:G] Running Loop=1
2019-12-03T18:15:42.953Z,1575396942.953 [DDM](INFO): Extending Whiskers.
2019-12-03T18:15:43.038Z,1575396943.038 [lineCaptureHoming:G] Stopped
2019-12-03T18:15:43.039Z,1575396943.039 [lineCaptureHoming:StartingMission] Running Loop=1
2019-12-03T18:15:43.039Z,1575396943.039 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-12-03T18:15:43.334Z,1575396943.334 [DDM](INFO): Extending Whiskers.
2019-12-03T18:15:43.406Z,1575396943.406 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-12-03T18:15:43.406Z,1575396943.406 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-12-03T18:15:43.406Z,1575396943.406 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-12-03T18:15:43.406Z,1575396943.406 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-12-03T18:15:43.407Z,1575396943.407 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-12-03T18:15:43.407Z,1575396943.407 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:15:43.738Z,1575396943.738 [DDM](INFO): Extending Whiskers.
2019-12-03T18:15:43.833Z,1575396943.833 [lineCaptureHoming:NeedComms] Running Loop=1
2019-12-03T18:15:43.833Z,1575396943.833 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-12-03T18:15:43.833Z,1575396943.833 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-12-03T18:15:43.834Z,1575396943.834 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:15:43.834Z,1575396943.834 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-12-03T18:15:43.834Z,1575396943.834 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-12-03T18:15:43.835Z,1575396943.835 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-12-03T18:15:43.835Z,1575396943.835 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:15:43.835Z,1575396943.835 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:15:43.836Z,1575396943.836 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-12-03T18:15:43.841Z,1575396943.841 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1575396224.000000 second since 1970/01/01T00:00:00Z 
2019-12-03T18:15:43.841Z,1575396943.841 [lineCaptureHoming:NeedComms:A] Stopped
2019-12-03T18:15:44.142Z,1575396944.142 [DDM](INFO): Extending Whiskers.
2019-12-03T18:15:44.220Z,1575396944.220 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:15:44.221Z,1575396944.221 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-12-03T18:15:44.546Z,1575396944.546 [DDM](INFO): Extending Whiskers.
2019-12-03T18:15:44.625Z,1575396944.625 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T18:15:44.986Z,1575396944.986 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:15:45.388Z,1575396945.388 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:15:45.903Z,1575396945.903 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:15:46.207Z,1575396946.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181545.85*5F

2019-12-03T18:15:48.688Z,1575396948.688 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:15:49.431Z,1575396949.431 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:15:49.836Z,1575396949.836 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:15:50.281Z,1575396950.281 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:15:50.653Z,1575396950.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181550.30*55

2019-12-03T18:15:53.371Z,1575396953.371 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:15:53.871Z,1575396953.871 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:15:54.276Z,1575396954.276 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:15:54.733Z,1575396954.733 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:15:55.101Z,1575396955.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181554.74*51

2019-12-03T18:15:57.600Z,1575396957.600 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:15:58.327Z,1575396958.327 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:15:58.728Z,1575396958.728 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:15:59.234Z,1575396959.234 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:15:59.553Z,1575396959.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181559.19*57

2019-12-03T18:16:01.995Z,1575396961.995 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:16:02.767Z,1575396962.767 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:16:03.168Z,1575396963.168 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:16:03.639Z,1575396963.639 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:16:03.989Z,1575396963.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181603.63*56

2019-12-03T18:16:06.442Z,1575396966.442 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:16:07.214Z,1575396967.214 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:16:07.597Z,1575396967.597 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:16:07.597Z,1575396967.597 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:16:07.612Z,1575396967.612 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:16:07.712Z,1575396967.712 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:16:07.713Z,1575396967.713 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming] Stopped
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-12-03T18:16:07.713Z,1575396967.713 [lineCaptureHoming:NeedComms] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:NeedComms:C] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:SurfaceComms] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:J] Stopped
2019-12-03T18:16:07.714Z,1575396967.714 [lineCaptureHoming:K.Mass] Stopped
2019-12-03T18:16:07.715Z,1575396967.715 [lineCaptureHoming:K.Mass](DEBUG): Uninitialize.
2019-12-03T18:16:07.715Z,1575396967.715 [lineCaptureHoming:StartingMission] Stopped
2019-12-03T18:16:07.715Z,1575396967.715 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-12-03T18:16:08.000Z,1575396968.000 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-327683768,V
2019-12-03T18:16:08.024Z,1575396968.024 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:16:08.024Z,1575396968.024 [Default] Running Loop=1
2019-12-03T18:16:08.028Z,1575396968.028 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:16:08.028Z,1575396968.028 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:16:08.028Z,1575396968.028 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:16:08.029Z,1575396968.029 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:16:08.029Z,1575396968.029 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:16:08.029Z,1575396968.029 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:16:08.030Z,1575396968.030 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:16:08.030Z,1575396968.030 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:16:08.030Z,1575396968.030 [Default:A.Wait] Running Loop=1
2019-12-03T18:16:08.030Z,1575396968.030 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:16:08.382Z,1575396968.382 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:16:08.786Z,1575396968.786 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:16:08.830Z,1575396968.830 [Micromodem](INFO): Nmea in: $SNTTA,,,0.405418,,181608.08*42

2019-12-03T18:16:09.190Z,1575396969.190 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:16:09.594Z,1575396969.594 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:16:10.001Z,1575396970.001 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:16:10.402Z,1575396970.402 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:16:10.891Z,1575396970.891 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T18:16:10.891Z,1575396970.891 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,     ,        +0.00,   0.00,5012.89