2019-12-03T18:16:15.054Z,1575396975.054 [CommandLine](IMPORTANT): got command restart logs
2019-12-03T18:16:21.384Z,1575396981.384 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:16:21.384Z,1575396981.384 [Default:A.Wait] Stopped
2019-12-03T18:16:21.384Z,1575396981.384 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:16:21.820Z,1575396981.820 [Default:CheckIn] Running Loop=1
2019-12-03T18:16:21.820Z,1575396981.820 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:16:21.820Z,1575396981.820 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:17:02.506Z,1575397022.506 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181700
2019-12-03T18:17:10.244Z,1575397030.244 [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" 1qis2 1 5
2019-12-03T18:17:10.253Z,1575397030.253 [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" 1qis2 1 5.000000
2019-12-03T18:17:10.254Z,1575397030.254 [CommandLine](IMPORTANT): Scheduling command #1 of 5 with id=1qis2
2019-12-03T18:17:10.255Z,1575397030.255 [CommandLine](IMPORTANT): Scheduled #16 (#1 of 5 with id='1qis2'): "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
2019-12-03T18:17:12.251Z,1575397032.251 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181710
2019-12-03T18:17:20.008Z,1575397040.008 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.DockRange 0.5 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qis2 2 5
2019-12-03T18:17:20.093Z,1575397040.093 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.DockRange 0.5 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" 1qis2 2 5.000000
2019-12-03T18:17:20.094Z,1575397040.094 [CommandLine](IMPORTANT): Scheduling command #2 of 5 with id=1qis2
2019-12-03T18:17:20.094Z,1575397040.094 [CommandLine](IMPORTANT): Scheduled #17 (#2 of 5 with id='1qis2'): "set lineCaptureHoming.StartLon -121.8275 degree;set lineCaptureHoming.TerminalRange 500 meter;set lineCaptureHoming.DockRange 0.5 meter;set lineCaptureHoming.WaitOnDockTimeout 1 minute;set lineCaptureHoming.BreakOffRange 6 meter" ASAP
2019-12-03T18:17:22.014Z,1575397042.014 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181720
2019-12-03T18:17:29.757Z,1575397049.757 [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" 1qis2 3 5
2019-12-03T18:17:29.843Z,1575397049.843 [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" 1qis2 3 5.000000
2019-12-03T18:17:29.845Z,1575397049.845 [CommandLine](IMPORTANT): Scheduling command #3 of 5 with id=1qis2
2019-12-03T18:17:29.847Z,1575397049.847 [CommandLine](IMPORTANT): Scheduled #18 (#3 of 5 with id='1qis2'): "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
2019-12-03T18:17:31.762Z,1575397051.762 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181729
2019-12-03T18:17:39.608Z,1575397059.608 [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" 1qis2 4 5
2019-12-03T18:17:39.653Z,1575397059.653 [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" 1qis2 4 5.000000
2019-12-03T18:17:39.654Z,1575397059.654 [CommandLine](IMPORTANT): Scheduling command #4 of 5 with id=1qis2
2019-12-03T18:17:39.655Z,1575397059.655 [CommandLine](IMPORTANT): Scheduled #19 (#4 of 5 with id='1qis2'): "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
2019-12-03T18:17:41.614Z,1575397061.614 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T181739
2019-12-03T18:17:49.360Z,1575397069.360 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qis2 5 5
2019-12-03T18:17:49.457Z,1575397069.457 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qis2 5 5.000000
2019-12-03T18:17:49.458Z,1575397069.458 [CommandLine](IMPORTANT): Scheduling command #5 of 5 with id=1qis2
2019-12-03T18:17:49.458Z,1575397069.458 [CommandLine](IMPORTANT): Scheduled #20 (#5 of 5 with id='1qis2'): "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP
2019-12-03T18:17:49.576Z,1575397069.576 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:17:49.577Z,1575397069.577 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:17:49.921Z,1575397069.921 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:17:49.924Z,1575397069.924 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:17:49.926Z,1575397069.926 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:17:49.928Z,1575397069.928 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:17:49.930Z,1575397069.930 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:17:49.932Z,1575397069.932 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:17:49.934Z,1575397069.934 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:17:49.963Z,1575397069.963 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:17:49.966Z,1575397069.966 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:17:49.968Z,1575397069.968 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-12-03T18:17:49.978Z,1575397069.978 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:17:49.981Z,1575397069.981 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:17:49.983Z,1575397069.983 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:17:49.986Z,1575397069.986 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:17:49.996Z,1575397069.996 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 8.000000 m
2019-12-03T18:17:49.999Z,1575397069.999 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:17:50.005Z,1575397070.005 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:17:50.007Z,1575397070.007 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:17:50.011Z,1575397070.011 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:17:50.022Z,1575397070.022 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:17:50.028Z,1575397070.028 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:17:50.030Z,1575397070.030 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:17:50.037Z,1575397070.037 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-12-03T18:17:50.039Z,1575397070.039 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:17:50.043Z,1575397070.043 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-12-03T18:17:50.053Z,1575397070.053 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:17:50.055Z,1575397070.055 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:17:50.062Z,1575397070.062 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:17:50.084Z,1575397070.084 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:17:50.086Z,1575397070.086 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:17:50.099Z,1575397070.099 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.001000 arcdeg
2019-12-03T18:17:50.109Z,1575397070.109 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:17:50.111Z,1575397070.111 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:17:50.122Z,1575397070.122 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:17:50.124Z,1575397070.124 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:17:50.134Z,1575397070.134 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:17:50.136Z,1575397070.136 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:17:50.146Z,1575397070.146 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:17:50.157Z,1575397070.157 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:17:50.159Z,1575397070.159 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:17:50.166Z,1575397070.166 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:17:50.177Z,1575397070.177 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:17:50.179Z,1575397070.179 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:17:50.233Z,1575397070.233 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:17:50.234Z,1575397070.234 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-12-03T18:17:50.284Z,1575397070.284 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-12-03T18:17:50.294Z,1575397070.294 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-12-03T18:17:50.301Z,1575397070.301 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-12-03T18:17:50.302Z,1575397070.302 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-12-03T18:17:50.311Z,1575397070.311 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-12-03T18:17:50.326Z,1575397070.326 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-12-03T18:17:50.342Z,1575397070.342 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-12-03T18:17:50.383Z,1575397070.383 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-12-03T18:17:50.385Z,1575397070.385 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-12-03T18:17:50.387Z,1575397070.387 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-12-03T18:17:50.422Z,1575397070.422 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-12-03T18:17:50.424Z,1575397070.424 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-12-03T18:17:50.434Z,1575397070.434 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-12-03T18:17:50.444Z,1575397070.444 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-12-03T18:17:50.458Z,1575397070.458 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T18:17:50.570Z,1575397070.570 [lineCaptureHoming:K.Mass](DEBUG): Construct.
2019-12-03T18:17:50.611Z,1575397070.611 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:17:50.649Z,1575397070.649 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-12-03T18:17:50.652Z,1575397070.652 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-12-03T18:17:50.690Z,1575397070.690 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:17:50.697Z,1575397070.697 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-12-03T18:17:50.699Z,1575397070.699 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-12-03T18:17:50.713Z,1575397070.713 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:17:50.715Z,1575397070.715 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:17:50.730Z,1575397070.730 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:17:50.737Z,1575397070.737 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:17:50.754Z,1575397070.754 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:17:50.777Z,1575397070.777 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:17:50.800Z,1575397070.800 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](DEBUG): Construct.
2019-12-03T18:17:50.862Z,1575397070.862 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:17:50.874Z,1575397070.874 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:17:50.882Z,1575397070.882 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:17:50.894Z,1575397070.894 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:17:50.907Z,1575397070.907 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:17:50.950Z,1575397070.950 [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>


2019-12-03T18:17:50.951Z,1575397070.951 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:17:58.162Z,1575397078.162 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 40.000000 minute
2019-12-03T18:17:58.163Z,1575397078.163 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808540 degree
2019-12-03T18:17:58.163Z,1575397078.163 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823853 degree
2019-12-03T18:17:58.164Z,1575397078.164 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLat 36.810501 degree
2019-12-03T18:18:07.929Z,1575397087.929 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLon -121.827499 degree
2019-12-03T18:18:07.930Z,1575397087.930 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 500.000000 meter
2019-12-03T18:18:07.931Z,1575397087.931 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.500000 meter
2019-12-03T18:18:07.931Z,1575397087.931 [CommandLine](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1.000000 minute
2019-12-03T18:18:07.933Z,1575397087.933 [CommandLine](IMPORTANT): got command set lineCaptureHoming.BreakOffRange 6.000000 meter
2019-12-03T18:18:18.164Z,1575397098.164 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutDistance 300.000000 meter
2019-12-03T18:18:18.169Z,1575397098.169 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTime 7.000000 minute
2019-12-03T18:18:18.169Z,1575397098.169 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 5.000000 meter
2019-12-03T18:18:18.170Z,1575397098.170 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 25.000000 minute
2019-12-03T18:18:18.171Z,1575397098.171 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 25.000000 meter
2019-12-03T18:18:32.473Z,1575397112.473 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-12-03T18:18:32.474Z,1575397112.474 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-12-03T18:18:32.474Z,1575397112.474 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KpHeadingFinal 1.800000 none
2019-12-03T18:18:32.475Z,1575397112.475 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KiHeadingFinal 0.006000 reciprocal_second
2019-12-03T18:18:42.622Z,1575397122.622 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 3.500000 meter
2019-12-03T18:18:42.623Z,1575397122.623 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 45.000000 meter
2019-12-03T18:18:42.624Z,1575397122.624 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-12-03T18:18:42.638Z,1575397122.638 [CommandLine](IMPORTANT): got command run 
2019-12-03T18:18:42.640Z,1575397122.640 [CommandLine](IMPORTANT): Running 
2019-12-03T18:18:42.766Z,1575397122.766 [Default] Stopped
2019-12-03T18:18:42.766Z,1575397122.766 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:18:42.766Z,1575397122.766 [Default:B.GoToSurface] Stopped
2019-12-03T18:18:42.766Z,1575397122.766 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:18:42.766Z,1575397122.766 [Default:CheckIn] Stopped
2019-12-03T18:18:42.766Z,1575397122.766 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:18:42.766Z,1575397122.766 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:18:42.766Z,1575397122.766 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:18:42.767Z,1575397122.767 [lineCaptureHoming] Running Loop=1
2019-12-03T18:18:42.767Z,1575397122.767 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-12-03T18:18:42.769Z,1575397122.769 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:18:42.770Z,1575397122.770 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:18:42.770Z,1575397122.770 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:18:42.770Z,1575397122.770 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:18:42.770Z,1575397122.770 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:18:42.770Z,1575397122.770 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:18:42.770Z,1575397122.770 [lineCaptureHoming:K.Mass](DEBUG): Initialize.
2019-12-03T18:18:42.771Z,1575397122.771 [lineCaptureHoming:B] Running Loop=1
2019-12-03T18:18:42.771Z,1575397122.771 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:18:42.772Z,1575397122.772 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:18:42.781Z,1575397122.781 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2019-12-03T18:18:42.781Z,1575397122.781 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:18:42.781Z,1575397122.781 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:18:42.781Z,1575397122.781 [lineCaptureHoming:B] Stopped
2019-12-03T18:18:42.781Z,1575397122.781 [lineCaptureHoming:C] Running Loop=1
2019-12-03T18:18:42.781Z,1575397122.781 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:18:42.782Z,1575397122.782 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:18:42.782Z,1575397122.782 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:18:42.782Z,1575397122.782 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:18:43.247Z,1575397123.247 [lineCaptureHoming:C] Stopped
2019-12-03T18:18:43.247Z,1575397123.247 [lineCaptureHoming:D] Running Loop=1
2019-12-03T18:18:43.558Z,1575397123.558 [lineCaptureHoming:D] Stopped
2019-12-03T18:18:43.558Z,1575397123.558 [lineCaptureHoming:F] Running Loop=1
2019-12-03T18:18:44.134Z,1575397124.134 [lineCaptureHoming:F] Stopped
2019-12-03T18:18:44.134Z,1575397124.134 [lineCaptureHoming:G] Running Loop=1
2019-12-03T18:18:44.334Z,1575397124.334 [DDM](INFO): Extending Whiskers.
2019-12-03T18:18:44.441Z,1575397124.441 [lineCaptureHoming:G] Stopped
2019-12-03T18:18:44.442Z,1575397124.442 [lineCaptureHoming:StartingMission] Running Loop=1
2019-12-03T18:18:44.442Z,1575397124.442 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-12-03T18:18:44.738Z,1575397124.738 [DDM](INFO): Extending Whiskers.
2019-12-03T18:18:44.867Z,1575397124.867 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-12-03T18:18:44.867Z,1575397124.867 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-12-03T18:18:44.868Z,1575397124.868 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-12-03T18:18:44.868Z,1575397124.868 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-12-03T18:18:44.872Z,1575397124.872 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-12-03T18:18:44.873Z,1575397124.873 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:18:45.145Z,1575397125.145 [DDM](INFO): Extending Whiskers.
2019-12-03T18:18:45.270Z,1575397125.270 [lineCaptureHoming:NeedComms] Running Loop=1
2019-12-03T18:18:45.270Z,1575397125.270 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-12-03T18:18:45.270Z,1575397125.270 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-12-03T18:18:45.270Z,1575397125.270 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:18:45.270Z,1575397125.270 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-12-03T18:18:45.271Z,1575397125.271 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-12-03T18:18:45.271Z,1575397125.271 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-12-03T18:18:45.271Z,1575397125.271 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:18:45.272Z,1575397125.272 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:18:45.280Z,1575397125.280 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-12-03T18:18:45.281Z,1575397125.281 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1575396224.000000 second since 1970/01/01T00:00:00Z 
2019-12-03T18:18:45.282Z,1575397125.282 [lineCaptureHoming:NeedComms:A] Stopped
2019-12-03T18:18:45.546Z,1575397125.546 [DDM](INFO): Extending Whiskers.
2019-12-03T18:18:45.650Z,1575397125.650 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:18:45.651Z,1575397125.651 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-12-03T18:18:45.950Z,1575397125.950 [DDM](INFO): Extending Whiskers.
2019-12-03T18:18:46.071Z,1575397126.071 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T18:18:46.387Z,1575397126.387 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:18:46.796Z,1575397126.796 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:18:47.311Z,1575397127.311 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:18:47.625Z,1575397127.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181847.25*5A

2019-12-03T18:18:50.070Z,1575397130.070 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:18:50.843Z,1575397130.843 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:18:51.248Z,1575397131.248 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:18:51.722Z,1575397131.722 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:18:52.058Z,1575397132.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181851.71*5C

2019-12-03T18:18:54.498Z,1575397134.498 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:18:55.283Z,1575397135.283 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:18:55.687Z,1575397135.687 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:18:56.267Z,1575397136.267 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:18:56.498Z,1575397136.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181856.15*59

2019-12-03T18:18:58.979Z,1575397138.979 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:18:59.719Z,1575397139.719 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:00.128Z,1575397140.128 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:00.577Z,1575397140.577 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:19:00.959Z,1575397140.959 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181900.59*53

2019-12-03T18:19:03.383Z,1575397143.383 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:04.167Z,1575397144.167 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:04.580Z,1575397144.580 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:05.026Z,1575397145.026 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:19:05.393Z,1575397145.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181905.03*59

2019-12-03T18:19:07.891Z,1575397147.891 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:08.611Z,1575397148.611 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:09.016Z,1575397149.016 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:09.487Z,1575397149.487 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:09.840Z,1575397149.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181909.47*55

2019-12-03T18:19:12.293Z,1575397152.293 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:13.059Z,1575397153.059 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:13.456Z,1575397153.456 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:13.922Z,1575397153.922 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:14.278Z,1575397154.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181913.92*56

2019-12-03T18:19:16.733Z,1575397156.733 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:17.498Z,1575397157.498 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:17.928Z,1575397157.928 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:18.398Z,1575397158.398 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:18.725Z,1575397158.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181918.36*53

2019-12-03T18:19:21.172Z,1575397161.172 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:21.947Z,1575397161.947 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:22.344Z,1575397162.344 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:22.843Z,1575397162.843 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:23.169Z,1575397163.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181922.81*56

2019-12-03T18:19:25.617Z,1575397165.617 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:26.399Z,1575397166.399 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:26.799Z,1575397166.799 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:27.272Z,1575397167.272 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:19:27.617Z,1575397167.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181927.26*5E

2019-12-03T18:19:29.249Z,1575397169.249 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T18:19:30.062Z,1575397170.062 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:30.827Z,1575397170.827 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:31.236Z,1575397171.236 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:31.727Z,1575397171.727 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:32.053Z,1575397172.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181931.69*52

2019-12-03T18:19:34.516Z,1575397174.516 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:35.283Z,1575397175.283 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:35.673Z,1575397175.673 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:36.148Z,1575397176.148 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:19:36.505Z,1575397176.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181936.15*5E

2019-12-03T18:19:38.979Z,1575397178.979 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:39.727Z,1575397179.727 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:40.124Z,1575397180.124 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:40.585Z,1575397180.585 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:19:40.946Z,1575397180.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181940.59*57

2019-12-03T18:19:41.126Z,1575397181.126 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:19:41.126Z,1575397181.126 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:19:41.127Z,1575397181.127 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:19:41.127Z,1575397181.127 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:19:41.128Z,1575397181.128 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:19:41.128Z,1575397181.128 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:19:41.128Z,1575397181.128 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-12-03T18:19:41.129Z,1575397181.129 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:19:41.129Z,1575397181.129 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:19:41.129Z,1575397181.129 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:19:43.407Z,1575397183.407 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:44.162Z,1575397184.162 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:44.579Z,1575397184.579 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:45.062Z,1575397185.062 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:19:45.382Z,1575397185.382 [Micromodem](INFO): Nmea in: $SNTTA,0.173917,,,,181945.03*49

2019-12-03T18:19:47.844Z,1575397187.844 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:48.603Z,1575397188.603 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:49.012Z,1575397189.012 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:49.482Z,1575397189.482 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:49.843Z,1575397189.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181949.46*50

2019-12-03T18:19:52.283Z,1575397192.283 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:53.055Z,1575397193.055 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:53.456Z,1575397193.456 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:53.931Z,1575397193.931 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:54.281Z,1575397194.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181953.92*52

2019-12-03T18:19:56.413Z,1575397196.413 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397248.000000 second
2019-12-03T18:19:56.722Z,1575397196.722 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:19:56.723Z,1575397196.723 [lineCaptureHoming:NeedComms:C] Stopped
2019-12-03T18:19:56.723Z,1575397196.723 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-12-03T18:19:57.155Z,1575397197.155 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-12-03T18:19:57.510Z,1575397197.510 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:19:57.944Z,1575397197.944 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:19:58.442Z,1575397198.442 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:19:58.730Z,1575397198.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,181958.38*59

2019-12-03T18:20:01.191Z,1575397201.191 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:01.955Z,1575397201.955 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:02.356Z,1575397202.356 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:02.872Z,1575397202.872 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:03.186Z,1575397203.186 [Micromodem](INFO): Nmea in: $SNTTA,0.270181,,0.177495,,182002.82*59

2019-12-03T18:20:05.649Z,1575397205.649 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:06.200Z,1575397206.200 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-12-03T18:20:06.399Z,1575397206.399 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:06.800Z,1575397206.800 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:07.267Z,1575397207.267 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:07.300Z,1575397207.300 [DataOverHttps](INFO): Sending 145 bytes from file Logs/20191203T181615/Courier0000.lzma
2019-12-03T18:20:07.629Z,1575397207.629 [Micromodem](INFO): Nmea in: $SNTTA,,,0.389939,,182007.26*49

2019-12-03T18:20:09.322Z,1575397209.322 [DataOverHttps](INFO): Moved sent file to Logs/20191203T181615/Courier0000.lzma.bak
2019-12-03T18:20:09.322Z,1575397209.322 [DataOverHttps](INFO): SBD MOMSN=12114005
2019-12-03T18:20:10.083Z,1575397210.083 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:10.842Z,1575397210.842 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:11.244Z,1575397211.244 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:11.750Z,1575397211.750 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:12.073Z,1575397212.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182011.70*52

2019-12-03T18:20:14.524Z,1575397214.524 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:15.286Z,1575397215.286 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:15.688Z,1575397215.688 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:16.208Z,1575397216.208 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:20:16.513Z,1575397216.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182016.15*56

2019-12-03T18:20:18.976Z,1575397218.976 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:19.590Z,1575397219.590 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397248.000000 second
2019-12-03T18:20:19.735Z,1575397219.735 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:20.144Z,1575397220.144 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:20.603Z,1575397220.603 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:20.957Z,1575397220.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182020.60*51

2019-12-03T18:20:23.406Z,1575397223.406 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:23.455Z,1575397223.455 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:20:23.455Z,1575397223.455 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:20:23.456Z,1575397223.456 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:20:23.456Z,1575397223.456 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:20:23.456Z,1575397223.456 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:20:23.457Z,1575397223.457 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:20:23.457Z,1575397223.457 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-12-03T18:20:23.457Z,1575397223.457 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:20:23.458Z,1575397223.458 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:20:23.458Z,1575397223.458 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:20:24.174Z,1575397224.174 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:24.588Z,1575397224.588 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:25.083Z,1575397225.083 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:20:25.402Z,1575397225.402 [Micromodem](INFO): Nmea in: $SNTTA,0.050359,,,,182025.04*42

2019-12-03T18:20:27.895Z,1575397227.895 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:28.611Z,1575397228.611 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:29.016Z,1575397229.016 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:29.504Z,1575397229.504 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:20:29.855Z,1575397229.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182029.47*5D

2019-12-03T18:20:30.265Z,1575397230.265 [DataOverHttps](INFO): Sending 326 bytes from file Logs/20191203T165212/Express0056.lzma
2019-12-03T18:20:32.270Z,1575397232.270 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0056.lzma.bak
2019-12-03T18:20:32.270Z,1575397232.270 [DataOverHttps](INFO): SBD MOMSN=12114008
2019-12-03T18:20:32.314Z,1575397232.314 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:33.067Z,1575397233.067 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:33.464Z,1575397233.464 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:33.950Z,1575397233.950 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:34.301Z,1575397234.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182033.93*5F

2019-12-03T18:20:36.752Z,1575397236.752 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:37.270Z,1575397237.270 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397248.000000 second
2019-12-03T18:20:37.499Z,1575397237.499 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:37.924Z,1575397237.924 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:38.448Z,1575397238.448 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:20:38.729Z,1575397238.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182038.37*5A

2019-12-03T18:20:41.190Z,1575397241.190 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:41.943Z,1575397241.943 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:42.349Z,1575397242.349 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:42.839Z,1575397242.839 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:20:43.181Z,1575397243.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182042.81*5A

2019-12-03T18:20:45.615Z,1575397245.615 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:46.119Z,1575397246.119 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-12-03T18:20:46.403Z,1575397246.403 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:46.800Z,1575397246.800 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:47.325Z,1575397247.325 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:47.621Z,1575397247.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182047.26*52

2019-12-03T18:20:48.426Z,1575397248.426 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T18:20:50.076Z,1575397250.076 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:50.831Z,1575397250.831 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:51.240Z,1575397251.240 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:51.702Z,1575397251.702 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:20:52.073Z,1575397252.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182051.70*56

2019-12-03T18:20:52.309Z,1575397252.309 [DataOverHttps](INFO): Sending 335 bytes from file Logs/20191203T165212/Express0059.lzma
2019-12-03T18:20:54.314Z,1575397254.314 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0059.lzma.bak
2019-12-03T18:20:54.314Z,1575397254.314 [DataOverHttps](INFO): SBD MOMSN=12114014
2019-12-03T18:20:54.515Z,1575397254.515 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:55.286Z,1575397255.286 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:20:55.696Z,1575397255.696 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:20:56.203Z,1575397256.203 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:20:56.512Z,1575397256.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182056.15*52

2019-12-03T18:20:58.983Z,1575397258.983 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:20:59.723Z,1575397259.723 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:00.136Z,1575397260.136 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:00.637Z,1575397260.637 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:21:00.961Z,1575397260.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182100.59*58

2019-12-03T18:21:03.404Z,1575397263.404 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:04.174Z,1575397264.174 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:04.576Z,1575397264.576 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:05.034Z,1575397265.034 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:21:05.401Z,1575397265.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182105.04*55

2019-12-03T18:21:07.841Z,1575397267.841 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:08.618Z,1575397268.618 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:09.012Z,1575397269.012 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:09.505Z,1575397269.505 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:21:09.853Z,1575397269.853 [Micromodem](INFO): Nmea in: $SNTTA,,,0.454937,,182109.48*47

2019-12-03T18:21:12.301Z,1575397272.301 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:13.055Z,1575397273.055 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:13.460Z,1575397273.460 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:13.969Z,1575397273.969 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:21:14.285Z,1575397274.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182113.92*5D

2019-12-03T18:21:15.152Z,1575397275.152 [DataOverHttps](INFO): Sending 326 bytes from file Logs/20191203T165212/Express0062.lzma
2019-12-03T18:21:16.733Z,1575397276.733 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:17.158Z,1575397277.158 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0062.lzma.bak
2019-12-03T18:21:17.158Z,1575397277.158 [DataOverHttps](INFO): SBD MOMSN=12114020
2019-12-03T18:21:17.498Z,1575397277.498 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:17.932Z,1575397277.932 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:18.406Z,1575397278.406 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:21:18.726Z,1575397278.726 [Micromodem](INFO): Nmea in: $SNTTA,0.155614,,,,182118.36*44

2019-12-03T18:21:19.122Z,1575397279.122 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:21:21.183Z,1575397281.183 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:21.943Z,1575397281.943 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:22.344Z,1575397282.344 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:22.843Z,1575397282.843 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:21:23.177Z,1575397283.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182122.81*5D

2019-12-03T18:21:25.606Z,1575397285.606 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:26.391Z,1575397286.391 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:26.796Z,1575397286.796 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:27.275Z,1575397287.275 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:21:27.625Z,1575397287.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182127.25*56

2019-12-03T18:21:30.075Z,1575397290.075 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:30.845Z,1575397290.845 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:31.236Z,1575397291.236 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:31.733Z,1575397291.733 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:21:32.065Z,1575397292.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182131.71*50

2019-12-03T18:21:34.521Z,1575397294.521 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:35.283Z,1575397295.283 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:35.691Z,1575397295.691 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:36.061Z,1575397296.061 [DataOverHttps](INFO): Sending 637 bytes from file Logs/20191203T165212/Express0065.lzma
2019-12-03T18:21:36.171Z,1575397296.171 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:21:36.509Z,1575397296.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182136.15*55

2019-12-03T18:21:38.066Z,1575397298.066 [DataOverHttps](INFO): Moved sent file to Logs/20191203T165212/Express0065.lzma.bak
2019-12-03T18:21:38.066Z,1575397298.066 [DataOverHttps](INFO): SBD MOMSN=12114027
2019-12-03T18:21:38.989Z,1575397298.989 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:39.715Z,1575397299.715 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:40.128Z,1575397300.128 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:40.595Z,1575397300.595 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:21:40.954Z,1575397300.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182140.58*5D

2019-12-03T18:21:43.405Z,1575397303.405 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:44.163Z,1575397304.163 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:44.568Z,1575397304.568 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:45.035Z,1575397305.035 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:21:45.393Z,1575397305.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182145.03*56

2019-12-03T18:21:47.511Z,1575397307.511 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:48.219Z,1575397308.219 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:48.693Z,1575397308.693 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:49.137Z,1575397309.137 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:21:49.430Z,1575397309.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182149.08*51

2019-12-03T18:21:49.879Z,1575397309.879 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T18:21:49.880Z,1575397309.880 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,32768,-32768,V
2019-12-03T18:21:51.915Z,1575397311.915 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:52.643Z,1575397312.643 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:53.060Z,1575397313.060 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:53.535Z,1575397313.535 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:21:53.877Z,1575397313.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182153.51*56

2019-12-03T18:21:56.118Z,1575397316.118 [DataOverHttps](INFO): Sending 1608 bytes from file Logs/20191203T181615/Express0001.lzma
2019-12-03T18:21:56.325Z,1575397316.325 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:21:57.095Z,1575397317.095 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:21:57.503Z,1575397317.503 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:21:58.001Z,1575397318.001 [Reporter](INFO): acoustic_contact_range 1.140000 m
2019-12-03T18:21:58.122Z,1575397318.122 [DataOverHttps](INFO): Moved sent file to Logs/20191203T181615/Express0001.lzma.bak
2019-12-03T18:21:58.122Z,1575397318.122 [DataOverHttps](INFO): SBD MOMSN=12114055
2019-12-03T18:21:58.321Z,1575397318.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182157.96*59

2019-12-03T18:22:00.761Z,1575397320.761 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:22:01.543Z,1575397321.543 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:22:01.944Z,1575397321.944 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:22:02.440Z,1575397322.440 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:22:02.773Z,1575397322.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182202.41*50

2019-12-03T18:22:05.246Z,1575397325.246 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:22:05.990Z,1575397325.990 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:22:06.396Z,1575397326.396 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:22:06.898Z,1575397326.898 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:22:07.218Z,1575397327.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182206.86*5F

2019-12-03T18:22:09.301Z,1575397329.301 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:22:09.302Z,1575397329.302 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:22:09.649Z,1575397329.649 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:22:09.651Z,1575397329.651 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:22:09.651Z,1575397329.651 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:22:09.651Z,1575397329.651 [lineCaptureHoming] Stopped
2019-12-03T18:22:09.651Z,1575397329.651 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:22:09.652Z,1575397329.652 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-12-03T18:22:09.652Z,1575397329.652 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:22:09.652Z,1575397329.652 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-12-03T18:22:09.652Z,1575397329.652 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-12-03T18:22:09.652Z,1575397329.652 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-12-03T18:22:09.656Z,1575397329.656 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-12-03T18:22:09.656Z,1575397329.656 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-12-03T18:22:09.656Z,1575397329.656 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-12-03T18:22:09.656Z,1575397329.656 [lineCaptureHoming:NeedComms] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:NeedComms:D] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:SurfaceComms] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:22:09.657Z,1575397329.657 [lineCaptureHoming:J] Stopped
2019-12-03T18:22:09.658Z,1575397329.658 [lineCaptureHoming:K.Mass] Stopped
2019-12-03T18:22:09.658Z,1575397329.658 [lineCaptureHoming:K.Mass](DEBUG): Uninitialize.
2019-12-03T18:22:09.658Z,1575397329.658 [lineCaptureHoming:StartingMission] Stopped
2019-12-03T18:22:09.658Z,1575397329.658 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-12-03T18:22:10.040Z,1575397330.040 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:22:10.041Z,1575397330.041 [Default] Running Loop=1
2019-12-03T18:22:10.041Z,1575397330.041 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:22:10.041Z,1575397330.041 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:22:10.041Z,1575397330.041 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:22:10.041Z,1575397330.041 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:22:10.041Z,1575397330.041 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:22:10.042Z,1575397330.042 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:22:10.042Z,1575397330.042 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:22:10.042Z,1575397330.042 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:22:10.043Z,1575397330.043 [Default:A.Wait] Running Loop=1
2019-12-03T18:22:10.043Z,1575397330.043 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:22:10.389Z,1575397330.389 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:22:10.794Z,1575397330.794 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:22:11.201Z,1575397331.201 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:22:11.614Z,1575397331.614 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:22:12.011Z,1575397332.011 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:22:12.414Z,1575397332.414 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T18:22:16.100Z,1575397336.100 [DataOverHttps](INFO): Sending 70 bytes from file Logs/20191203T181615/Express0004.lzma
2019-12-03T18:22:18.107Z,1575397338.107 [DataOverHttps](INFO): Moved sent file to Logs/20191203T181615/Express0004.lzma.bak
2019-12-03T18:22:18.107Z,1575397338.107 [DataOverHttps](INFO): SBD MOMSN=12114115
2019-12-03T18:22:23.394Z,1575397343.394 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:22:23.394Z,1575397343.394 [Default:A.Wait] Stopped
2019-12-03T18:22:23.394Z,1575397343.394 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:22:23.817Z,1575397343.817 [Default:CheckIn] Running Loop=1
2019-12-03T18:22:23.817Z,1575397343.817 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:22:23.817Z,1575397343.817 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:22:25.346Z,1575397345.346 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T18:22:25.346Z,1575397345.346 [NAL9602] Data Fault, FailCount= 3
2019-12-03T18:22:25.346Z,1575397345.346 [NAL9602](ERROR): Data Fault
2019-12-03T18:22:25.431Z,1575397345.431 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T18:22:25.751Z,1575397345.751 [NAL9602](INFO): Powering down
2019-12-03T18:22:26.603Z,1575397346.603 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T18:22:26.603Z,1575397346.603 [NAL9602] No Fault, FailCount= 3