2019-12-03T18:22:46.518Z,1575397366.518 [CommandLine](IMPORTANT): got command restart logs
2019-12-03T18:22:56.047Z,1575397376.047 [NAL9602](INFO): Powering up NAL9602
2019-12-03T18:22:57.283Z,1575397377.283 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:22:57.283Z,1575397377.283 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:22:58.517Z,1575397378.517 [CommandLine](IMPORTANT): got command show variable range
2019-12-03T18:22:58.519Z,1575397378.519 [CommandLine](IMPORTANT): acoustic_contact_range (unknown)
2019-12-03T18:22:58.632Z,1575397378.632 [CommandLine](IMPORTANT): BR_Ping1D.minRange (meter)
2019-12-03T18:22:58.633Z,1575397378.633 [CommandLine](IMPORTANT): BR_Ping1D.maxRange (meter)
2019-12-03T18:22:58.650Z,1575397378.650 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range (meter)
2019-12-03T18:22:58.651Z,1575397378.651 [CommandLine](IMPORTANT): Micromodem.range_request (count)
2019-12-03T18:22:58.652Z,1575397378.652 [CommandLine](IMPORTANT): Micromodem.range (meter)
2019-12-03T18:22:58.655Z,1575397378.655 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam1Range (meter)
2019-12-03T18:22:58.655Z,1575397378.655 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam2Range (meter)
2019-12-03T18:22:58.656Z,1575397378.656 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam3Range (meter)
2019-12-03T18:22:58.656Z,1575397378.656 [CommandLine](IMPORTANT): RDI_Pathfinder.Beam4Range (meter)
2019-12-03T18:23:02.969Z,1575397382.969 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T18:23:02.969Z,1575397382.969 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00,        +0    +0.00,   0.00,5424.68
2019-12-03T18:23:03.275Z,1575397383.275 [CommandLine](IMPORTANT): got command get acoustic_contact_range
2019-12-03T18:23:03.275Z,1575397383.275 [CommandLine](FAULT): Element has no value
2019-12-03T18:23:06.967Z,1575397386.967 [NAL9602](INFO): NAL9602 initialized
2019-12-03T18:23:10.756Z,1575397390.756 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.acoustic_contact_range
2019-12-03T18:23:10.757Z,1575397390.757 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range 1.200001 m
2019-12-03T18:23:18.086Z,1575397398.086 [CommandLine](IMPORTANT): got command failComponent hardware DUSBL_Hydroid
2019-12-03T18:23:18.086Z,1575397398.086 [DUSBL_Hydroid] Hardware Fault, FailCount= 1
2019-12-03T18:23:18.086Z,1575397398.086 [DUSBL_Hydroid](ERROR): Hardware Fault
2019-12-03T18:23:18.087Z,1575397398.087 [CommandLine](IMPORTANT): DUSBL_Hydroid failureMode is Hardware Fault
2019-12-03T18:23:18.265Z,1575397398.265 [DUSBL_Hydroid](INFO): Powering down
2019-12-03T18:23:18.373Z,1575397398.373 [CBIT](ERROR): Hardware Fault in component: DUSBL_Hydroid
2019-12-03T18:23:19.137Z,1575397399.137 [CBIT](INFO): Clearing failed state for component DUSBL_Hydroid
2019-12-03T18:23:19.137Z,1575397399.137 [DUSBL_Hydroid] No Fault, FailCount= 1
2019-12-03T18:23:21.515Z,1575397401.515 [DUSBL_Hydroid](INFO): Powering up
2019-12-03T18:23:21.515Z,1575397401.515 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2019-12-03T18:23:28.761Z,1575397408.761 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.acoustic_contact_range
2019-12-03T18:23:28.762Z,1575397408.762 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range 1.200001 m
2019-12-03T18:23:39.676Z,1575397419.676 [DUSBL_Hydroid](INFO): DUSBL Version:O
2019-12-03T18:23:44.342Z,1575397424.342 [CommandLine](IMPORTANT): got command get DUSBL_Hydroid.acoustic_contact_range
2019-12-03T18:23:44.343Z,1575397424.343 [CommandLine](IMPORTANT): DUSBL_Hydroid.acoustic_contact_range 1.200001 m
2019-12-03T18:23:53.125Z,1575397433.125 [CommandLine](IMPORTANT): got command show variable DDM
2019-12-03T18:23:53.134Z,1575397433.134 [CommandLine](IMPORTANT): DDM.loadControl (none)
2019-12-03T18:23:53.135Z,1575397433.135 [CommandLine](IMPORTANT): DDM.uart (none)
2019-12-03T18:23:53.135Z,1575397433.135 [CommandLine](IMPORTANT): DDM.baud (bit_per_second)
2019-12-03T18:23:53.226Z,1575397433.226 [CommandLine](IMPORTANT): DDM.loadAtStartup (bool)
2019-12-03T18:23:53.227Z,1575397433.227 [CommandLine](IMPORTANT): DDM.simulateHardware (bool)
2019-12-03T18:23:53.227Z,1575397433.227 [CommandLine](IMPORTANT): DDM.currentLimit (count)
2019-12-03T18:23:53.227Z,1575397433.227 [CommandLine](IMPORTANT): DDM.PWMLimit (count)
2019-12-03T18:23:53.228Z,1575397433.228 [CommandLine](IMPORTANT): DDM.verbosity (count)
2019-12-03T18:23:53.288Z,1575397433.288 [CommandLine](IMPORTANT): DDM.whiskerState (count)
2019-12-03T18:23:53.300Z,1575397433.300 [CommandLine](IMPORTANT): DDM.latchState (count)
2019-12-03T18:23:53.301Z,1575397433.301 [CommandLine](IMPORTANT): DDM.cablePresent (bool)
2019-12-03T18:23:53.301Z,1575397433.301 [CommandLine](IMPORTANT): DDM.DDMMode (enum)
2019-12-03T18:24:02.837Z,1575397442.837 [CommandLine](IMPORTANT): got command report mod DDM.DDMMode
2019-12-03T18:24:03.185Z,1575397443.185 [Reporter](INFO): DDM.DDMMode no_value
2019-12-03T18:24:17.268Z,1575397457.268 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:24:17.268Z,1575397457.268 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311363088,35.0, -.0,1448.9,  0
2019-12-03T18:25:42.949Z,1575397542.949 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T18:26:54.051Z,1575397614.051 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:26:54.051Z,1575397614.051 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:26:56.906Z,1575397616.906 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T18:27:23.945Z,1575397643.945 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T18:22:23.8Z
2019-12-03T18:27:23.945Z,1575397643.945 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:27:23.945Z,1575397643.945 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T18:27:31.560Z,1575397651.560 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20191203T181615/Courier0006.lzma
2019-12-03T18:27:33.566Z,1575397653.566 [DataOverHttps](INFO): Moved sent file to Logs/20191203T181615/Courier0006.lzma.bak
2019-12-03T18:27:33.566Z,1575397653.566 [DataOverHttps](INFO): SBD MOMSN=12114117
2019-12-03T18:27:51.137Z,1575397671.137 [DataOverHttps](INFO): Sending 569 bytes from file Logs/20191203T181615/Express0007.lzma
2019-12-03T18:27:53.957Z,1575397673.957 [DataOverHttps](INFO): Moved sent file to Logs/20191203T181615/Express0007.lzma.bak
2019-12-03T18:27:53.957Z,1575397673.957 [DataOverHttps](INFO): SBD MOMSN=12114119
2019-12-03T18:28:03.936Z,1575397683.936 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T182801
2019-12-03T18:28:10.370Z,1575397690.370 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T18:28:11.705Z,1575397691.705 [DataOverHttps](INFO): Sending 844 bytes from file Logs/20191203T182246/Express0001.lzma
2019-12-03T18:28:11.710Z,1575397691.710 [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" 1qjaf 1 5
2019-12-03T18:28:11.743Z,1575397691.743 [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" 1qjaf 1 5.000000
2019-12-03T18:28:11.743Z,1575397691.743 [CommandLine](IMPORTANT): Scheduling command #1 of 5 with id=1qjaf
2019-12-03T18:28:11.744Z,1575397691.744 [CommandLine](IMPORTANT): Scheduled #21 (#1 of 5 with id='1qjaf'): "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
2019-12-03T18:28:13.711Z,1575397693.711 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0001.lzma.bak
2019-12-03T18:28:13.711Z,1575397693.711 [DataOverHttps](IMPORTANT): SBD MOMSN=12114140, MTMSN=20191203T182811
2019-12-03T18:28:22.494Z,1575397702.494 [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" 1qjaf 2 5
2019-12-03T18:28:22.557Z,1575397702.557 [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" 1qjaf 2 5.000000
2019-12-03T18:28:22.558Z,1575397702.558 [CommandLine](IMPORTANT): Scheduling command #2 of 5 with id=1qjaf
2019-12-03T18:28:22.559Z,1575397702.559 [CommandLine](IMPORTANT): Scheduled #22 (#2 of 5 with id='1qjaf'): "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
2019-12-03T18:28:24.498Z,1575397704.498 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T182822
2019-12-03T18:28:37.517Z,1575397717.517 [DataOverHttps](INFO): Sending 436 bytes from file Logs/20191203T182246/Express0004.lzma
2019-12-03T18:28:37.520Z,1575397717.520 [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" 1qjaf 3 5
2019-12-03T18:28:37.593Z,1575397717.593 [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" 1qjaf 3 5.000000
2019-12-03T18:28:37.594Z,1575397717.594 [CommandLine](IMPORTANT): Scheduling command #3 of 5 with id=1qjaf
2019-12-03T18:28:37.595Z,1575397717.595 [CommandLine](IMPORTANT): Scheduled #23 (#3 of 5 with id='1qjaf'): "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
2019-12-03T18:28:39.523Z,1575397719.523 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0004.lzma.bak
2019-12-03T18:28:39.523Z,1575397719.523 [DataOverHttps](IMPORTANT): SBD MOMSN=12114181, MTMSN=20191203T182837
2019-12-03T18:28:41.094Z,1575397721.094 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:28:48.320Z,1575397728.320 [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" 1qjaf 4 5
2019-12-03T18:28:48.397Z,1575397728.397 [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" 1qjaf 4 5.000000
2019-12-03T18:28:48.398Z,1575397728.398 [CommandLine](IMPORTANT): Scheduling command #4 of 5 with id=1qjaf
2019-12-03T18:28:48.399Z,1575397728.399 [CommandLine](IMPORTANT): Scheduled #24 (#4 of 5 with id='1qjaf'): "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
2019-12-03T18:28:50.326Z,1575397730.326 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T182848
2019-12-03T18:28:58.024Z,1575397738.024 [DataOverHttps](INFO): Sending 342 bytes from file Logs/20191203T182246/Express0007.lzma
2019-12-03T18:28:58.027Z,1575397738.027 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qjaf 5 5
2019-12-03T18:28:58.101Z,1575397738.101 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " 1qjaf 5 5.000000
2019-12-03T18:28:58.102Z,1575397738.102 [CommandLine](IMPORTANT): Scheduling command #5 of 5 with id=1qjaf
2019-12-03T18:28:58.102Z,1575397738.102 [CommandLine](IMPORTANT): Scheduled #25 (#5 of 5 with id='1qjaf'): "set lineCaptureHoming.MinAltitude 3.5 meter;set lineCaptureHoming.MaxDepth 45 meter;set lineCaptureHoming.MinOffshore 1 kilometer;run " ASAP
2019-12-03T18:28:58.367Z,1575397738.367 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:28:58.367Z,1575397738.367 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:28:58.678Z,1575397738.678 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:28:58.680Z,1575397738.680 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:28:58.691Z,1575397738.691 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:28:58.693Z,1575397738.693 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:28:58.696Z,1575397738.696 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:28:58.698Z,1575397738.698 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:28:58.700Z,1575397738.700 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:28:58.702Z,1575397738.702 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:28:58.704Z,1575397738.704 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:28:58.706Z,1575397738.706 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 2.000000 m
2019-12-03T18:28:58.708Z,1575397738.708 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:28:58.710Z,1575397738.710 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:28:58.712Z,1575397738.712 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:28:58.714Z,1575397738.714 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:28:58.716Z,1575397738.716 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 8.000000 m
2019-12-03T18:28:58.718Z,1575397738.718 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:28:58.720Z,1575397738.720 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:28:58.723Z,1575397738.723 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:28:58.725Z,1575397738.725 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:28:58.727Z,1575397738.727 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:28:58.729Z,1575397738.729 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:28:58.731Z,1575397738.731 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:28:58.766Z,1575397738.766 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.000000 s
2019-12-03T18:28:58.768Z,1575397738.768 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:28:58.770Z,1575397738.770 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 1.000000 m/s
2019-12-03T18:28:58.772Z,1575397738.772 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:28:58.794Z,1575397738.794 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:28:58.806Z,1575397738.806 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:28:58.808Z,1575397738.808 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:28:58.810Z,1575397738.810 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:28:58.818Z,1575397738.818 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.001000 arcdeg
2019-12-03T18:28:58.822Z,1575397738.822 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:28:58.824Z,1575397738.824 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:28:58.826Z,1575397738.826 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:28:58.828Z,1575397738.828 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:28:58.886Z,1575397738.886 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:28:58.904Z,1575397738.904 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:28:58.908Z,1575397738.908 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:28:58.930Z,1575397738.930 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:28:58.941Z,1575397738.941 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:28:58.943Z,1575397738.943 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:28:58.950Z,1575397738.950 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:28:58.965Z,1575397738.965 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:28:58.967Z,1575397738.967 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:28:58.968Z,1575397738.968 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-12-03T18:28:59.062Z,1575397739.062 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2019-12-03T18:28:59.081Z,1575397739.081 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2019-12-03T18:28:59.083Z,1575397739.083 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-12-03T18:28:59.097Z,1575397739.097 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-12-03T18:28:59.110Z,1575397739.110 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-12-03T18:28:59.154Z,1575397739.154 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-12-03T18:28:59.203Z,1575397739.203 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-12-03T18:28:59.399Z,1575397739.399 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 3.000000 h
2019-12-03T18:28:59.418Z,1575397739.418 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2019-12-03T18:28:59.420Z,1575397739.420 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-12-03T18:28:59.426Z,1575397739.426 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2019-12-03T18:28:59.440Z,1575397739.440 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-12-03T18:28:59.443Z,1575397739.443 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2019-12-03T18:28:59.473Z,1575397739.473 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2019-12-03T18:28:59.490Z,1575397739.490 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-12-03T18:28:59.634Z,1575397739.634 [lineCaptureHoming:K.Mass](DEBUG): Construct.
2019-12-03T18:28:59.680Z,1575397739.680 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:28:59.683Z,1575397739.683 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Construct.
2019-12-03T18:28:59.698Z,1575397739.698 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Construct.
2019-12-03T18:28:59.749Z,1575397739.749 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Construct Buoyancy.
2019-12-03T18:28:59.751Z,1575397739.751 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Construct.
2019-12-03T18:28:59.758Z,1575397739.758 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Construct.
2019-12-03T18:28:59.785Z,1575397739.785 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:28:59.787Z,1575397739.787 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:28:59.809Z,1575397739.809 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:28:59.811Z,1575397739.811 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:28:59.827Z,1575397739.827 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:28:59.890Z,1575397739.890 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:28:59.928Z,1575397739.928 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](DEBUG): Construct.
2019-12-03T18:28:59.964Z,1575397739.964 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:28:59.980Z,1575397739.980 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:28:59.986Z,1575397739.986 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:29:00.026Z,1575397740.026 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0007.lzma.bak
2019-12-03T18:29:00.026Z,1575397740.026 [DataOverHttps](INFO): SBD MOMSN=12114190
2019-12-03T18:29:00.071Z,1575397740.071 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:29:00.117Z,1575397740.117 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:29:00.206Z,1575397740.206 [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>


2019-12-03T18:29:00.207Z,1575397740.207 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.xml
2019-12-03T18:29:13.112Z,1575397753.112 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 40.000000 minute
2019-12-03T18:29:13.113Z,1575397753.113 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLat 36.808540 degree
2019-12-03T18:29:13.113Z,1575397753.113 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockLon -121.823853 degree
2019-12-03T18:29:13.114Z,1575397753.114 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLat 36.810501 degree
2019-12-03T18:29:26.388Z,1575397766.388 [DataOverHttps](INFO): Sending 325 bytes from file Logs/20191203T182246/Express0010.lzma
2019-12-03T18:29:26.816Z,1575397766.816 [CommandLine](IMPORTANT): got command set lineCaptureHoming.StartLon -121.827499 degree
2019-12-03T18:29:26.818Z,1575397766.818 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TerminalRange 500.000000 meter
2019-12-03T18:29:26.818Z,1575397766.818 [CommandLine](IMPORTANT): got command set lineCaptureHoming.DockRange 0.500000 meter
2019-12-03T18:29:26.819Z,1575397766.819 [CommandLine](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 1.000000 minute
2019-12-03T18:29:26.820Z,1575397766.820 [CommandLine](IMPORTANT): got command set lineCaptureHoming.BreakOffRange 6.000000 meter
2019-12-03T18:29:28.394Z,1575397768.394 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0010.lzma.bak
2019-12-03T18:29:28.394Z,1575397768.394 [DataOverHttps](INFO): SBD MOMSN=12114197
2019-12-03T18:29:34.423Z,1575397774.423 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:29:34.424Z,1575397774.424 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311414788,35.0, -0.1,   0.0,1448:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T18:29:43.061Z,1575397783.061 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutDistance 300.000000 meter
2019-12-03T18:29:43.061Z,1575397783.061 [CommandLine](IMPORTANT): got command set lineCaptureHoming.RolloutTime 7.000000 minute
2019-12-03T18:29:43.062Z,1575397783.062 [CommandLine](IMPORTANT): got command set lineCaptureHoming.HoldAltitude 5.000000 meter
2019-12-03T18:29:43.063Z,1575397783.063 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InvalidAltitudeTimeout 25.000000 minute
2019-12-03T18:29:43.064Z,1575397783.064 [CommandLine](IMPORTANT): got command set lineCaptureHoming.InitDepth 25.000000 meter
2019-12-03T18:29:54.807Z,1575397794.807 [CommandLine](IMPORTANT): got command set lineCaptureHoming.TrackingUpdatePeriod 2.500000 second
2019-12-03T18:29:54.808Z,1575397794.808 [CommandLine](IMPORTANT): got command set lineCaptureHoming.Speed 0.800000 meter_per_second
2019-12-03T18:29:54.813Z,1575397794.813 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KpHeadingFinal 1.800000 none
2019-12-03T18:29:54.814Z,1575397794.814 [CommandLine](IMPORTANT): got command set lineCaptureHoming.KiHeadingFinal 0.006000 reciprocal_second
2019-12-03T18:29:56.320Z,1575397796.320 [DataOverHttps](INFO): Sending 336 bytes from file Logs/20191203T182246/Express0013.lzma
2019-12-03T18:29:58.326Z,1575397798.326 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0013.lzma.bak
2019-12-03T18:29:58.326Z,1575397798.326 [DataOverHttps](INFO): SBD MOMSN=12114203
2019-12-03T18:30:01.769Z,1575397801.769 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinAltitude 3.500000 meter
2019-12-03T18:30:01.770Z,1575397801.770 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MaxDepth 45.000000 meter
2019-12-03T18:30:01.771Z,1575397801.771 [CommandLine](IMPORTANT): got command set lineCaptureHoming.MinOffshore 1.000000 kilometer
2019-12-03T18:30:01.773Z,1575397801.773 [CommandLine](IMPORTANT): got command run 
2019-12-03T18:30:01.810Z,1575397801.810 [CommandLine](IMPORTANT): Running 
2019-12-03T18:30:01.951Z,1575397801.951 [Default] Stopped
2019-12-03T18:30:01.951Z,1575397801.951 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:30:01.951Z,1575397801.951 [Default:B.GoToSurface] Stopped
2019-12-03T18:30:01.951Z,1575397801.951 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:30:01.951Z,1575397801.951 [Default:CheckIn] Stopped
2019-12-03T18:30:01.951Z,1575397801.951 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:30:01.951Z,1575397801.951 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T18:30:01.952Z,1575397801.952 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:30:01.952Z,1575397801.952 [lineCaptureHoming] Running Loop=1
2019-12-03T18:30:01.956Z,1575397801.956 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:30:01.956Z,1575397801.956 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:30:01.956Z,1575397801.956 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:30:01.956Z,1575397801.956 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:30:01.957Z,1575397801.957 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:30:01.958Z,1575397801.958 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:30:01.958Z,1575397801.958 [lineCaptureHoming:K.Mass](DEBUG): Initialize.
2019-12-03T18:30:01.958Z,1575397801.958 [lineCaptureHoming:B] Running Loop=1
2019-12-03T18:30:01.959Z,1575397801.959 [lineCaptureHoming:K.Mass] Running Loop=1
2019-12-03T18:30:01.959Z,1575397801.959 [lineCaptureHoming:J] Running Loop=1
2019-12-03T18:30:01.959Z,1575397801.959 [lineCaptureHoming:J](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2019-12-03T18:30:01.960Z,1575397801.960 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:30:01.960Z,1575397801.960 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:30:01.964Z,1575397801.964 [lineCaptureHoming:B] Stopped
2019-12-03T18:30:01.964Z,1575397801.964 [lineCaptureHoming:C] Running Loop=1
2019-12-03T18:30:01.965Z,1575397801.965 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2019-12-03T18:30:01.965Z,1575397801.965 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-12-03T18:30:01.965Z,1575397801.965 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-12-03T18:30:01.965Z,1575397801.965 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-12-03T18:30:02.315Z,1575397802.315 [lineCaptureHoming:C] Stopped
2019-12-03T18:30:02.315Z,1575397802.315 [lineCaptureHoming:D] Running Loop=1
2019-12-03T18:30:02.707Z,1575397802.707 [lineCaptureHoming:D] Stopped
2019-12-03T18:30:02.708Z,1575397802.708 [lineCaptureHoming:F] Running Loop=1
2019-12-03T18:30:03.276Z,1575397803.276 [lineCaptureHoming:F] Stopped
2019-12-03T18:30:03.276Z,1575397803.276 [lineCaptureHoming:G] Running Loop=1
2019-12-03T18:30:03.318Z,1575397803.318 [Reporter](INFO): DDM.DDMMode 1 enum
2019-12-03T18:30:03.482Z,1575397803.482 [DDM](INFO): Extending Whiskers.
2019-12-03T18:30:03.562Z,1575397803.562 [lineCaptureHoming:G] Stopped
2019-12-03T18:30:03.562Z,1575397803.562 [lineCaptureHoming:StartingMission] Running Loop=1
2019-12-03T18:30:03.562Z,1575397803.562 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2019-12-03T18:30:03.886Z,1575397803.886 [DDM](INFO): Extending Whiskers.
2019-12-03T18:30:03.990Z,1575397803.990 [lineCaptureHoming:SurfaceComms] Running Loop=1
2019-12-03T18:30:03.991Z,1575397803.991 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms
2019-12-03T18:30:03.991Z,1575397803.991 [lineCaptureHoming:SurfaceComms:A] Running Loop=1
2019-12-03T18:30:03.992Z,1575397803.992 [lineCaptureHoming:SurfaceComms:A] Stopped
2019-12-03T18:30:04.000Z,1575397804.000 [lineCaptureHoming:SurfaceComms:B] Running Loop=1
2019-12-03T18:30:04.000Z,1575397804.000 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::initialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:30:04.291Z,1575397804.291 [DDM](INFO): Extending Whiskers.
2019-12-03T18:30:04.407Z,1575397804.407 [lineCaptureHoming:NeedComms] Running Loop=1
2019-12-03T18:30:04.407Z,1575397804.407 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2019-12-03T18:30:04.407Z,1575397804.407 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2019-12-03T18:30:04.407Z,1575397804.407 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:30:04.407Z,1575397804.407 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-12-03T18:30:04.408Z,1575397804.408 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-12-03T18:30:04.416Z,1575397804.416 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-12-03T18:30:04.417Z,1575397804.417 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:30:04.417Z,1575397804.417 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:30:04.417Z,1575397804.417 [lineCaptureHoming:NeedComms:A] Running Loop=1
2019-12-03T18:30:04.418Z,1575397804.418 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was: 1575397248.000000 second since 1970/01/01T00:00:00Z 
2019-12-03T18:30:04.418Z,1575397804.418 [lineCaptureHoming:NeedComms:A] Stopped
2019-12-03T18:30:04.694Z,1575397804.694 [DDM](INFO): Extending Whiskers.
2019-12-03T18:30:04.768Z,1575397804.768 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:04.773Z,1575397804.773 [lineCaptureHoming:NeedComms:C] Running Loop=1
2019-12-03T18:30:05.098Z,1575397805.098 [DDM](INFO): Extending Whiskers.
2019-12-03T18:30:05.225Z,1575397805.225 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T18:30:05.535Z,1575397805.535 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:05.944Z,1575397805.944 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:06.752Z,1575397806.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183006.40*56

2019-12-03T18:30:07.622Z,1575397807.622 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:09.178Z,1575397809.178 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:10.417Z,1575397810.417 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:11.195Z,1575397811.195 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:11.604Z,1575397811.604 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:12.419Z,1575397812.419 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183012.06*51

2019-12-03T18:30:13.255Z,1575397813.255 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:14.825Z,1575397814.825 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:16.097Z,1575397816.097 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:16.851Z,1575397816.851 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:17.248Z,1575397817.248 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:18.063Z,1575397818.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183017.72*57

2019-12-03T18:30:18.644Z,1575397818.644 [DataOverHttps](INFO): Sending 326 bytes from file Logs/20191203T182246/Express0016.lzma
2019-12-03T18:30:18.931Z,1575397818.931 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:20.489Z,1575397820.489 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:20.650Z,1575397820.650 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0016.lzma.bak
2019-12-03T18:30:20.650Z,1575397820.650 [DataOverHttps](INFO): SBD MOMSN=12114209
2019-12-03T18:30:21.729Z,1575397821.729 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:22.530Z,1575397822.530 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:22.927Z,1575397822.927 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:23.815Z,1575397823.815 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183023.40*51

2019-12-03T18:30:24.567Z,1575397824.567 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:26.150Z,1575397826.150 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:27.391Z,1575397827.391 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:28.159Z,1575397828.159 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:28.576Z,1575397828.576 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:29.383Z,1575397829.383 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.321817,183029.02*4D

2019-12-03T18:30:30.226Z,1575397830.226 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:31.797Z,1575397831.797 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:33.050Z,1575397833.050 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:33.819Z,1575397833.819 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:34.224Z,1575397834.224 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:35.028Z,1575397835.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183034.68*5D

2019-12-03T18:30:35.914Z,1575397835.914 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:37.453Z,1575397837.453 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:37.455Z,1575397837.455 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-12-03T18:30:37.536Z,1575397837.536 [NAL9602](FAULT): received: 
+CSQ:0

OK
2019-12-03T18:30:37.536Z,1575397837.536 [NAL9602] Data Fault, FailCount= 4
2019-12-03T18:30:37.536Z,1575397837.536 [NAL9602](ERROR): Data Fault
2019-12-03T18:30:37.599Z,1575397837.599 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T18:30:37.868Z,1575397837.868 [NAL9602](INFO): Powering down
2019-12-03T18:30:38.705Z,1575397838.705 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:38.715Z,1575397838.715 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T18:30:38.715Z,1575397838.715 [NAL9602] No Fault, FailCount= 4
2019-12-03T18:30:39.475Z,1575397839.475 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:39.904Z,1575397839.904 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:40.688Z,1575397840.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183040.34*57

2019-12-03T18:30:41.553Z,1575397841.553 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:43.110Z,1575397843.110 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:44.365Z,1575397844.365 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:45.131Z,1575397845.131 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:45.536Z,1575397845.536 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:46.345Z,1575397846.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.430460,183046.00*4D

2019-12-03T18:30:47.192Z,1575397847.192 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:48.178Z,1575397848.178 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397888.000000 second
2019-12-03T18:30:48.765Z,1575397848.765 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:50.037Z,1575397850.037 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:50.783Z,1575397850.783 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:51.197Z,1575397851.197 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:52.003Z,1575397852.003 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183051.64*52

2019-12-03T18:30:52.043Z,1575397852.043 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:30:52.043Z,1575397852.043 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:30:52.045Z,1575397852.045 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:30:52.045Z,1575397852.045 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:30:52.046Z,1575397852.046 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:30:52.046Z,1575397852.046 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:30:52.046Z,1575397852.046 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:C
2019-12-03T18:30:52.046Z,1575397852.046 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:30:52.047Z,1575397852.047 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:30:52.047Z,1575397852.047 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:30:52.858Z,1575397852.858 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:54.066Z,1575397854.066 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:30:54.067Z,1575397854.067 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-32768-32768,-32768,-32768,V
2019-12-03T18:30:54.417Z,1575397854.417 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:30:55.659Z,1575397855.659 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:30:56.454Z,1575397856.454 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:30:56.882Z,1575397856.882 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:30:57.664Z,1575397857.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183057.32*57

2019-12-03T18:30:58.491Z,1575397858.491 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:00.082Z,1575397860.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:01.336Z,1575397861.336 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:02.111Z,1575397862.111 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:02.508Z,1575397862.508 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:03.324Z,1575397863.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.428353,183102.98*43

2019-12-03T18:31:04.168Z,1575397864.168 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:04.369Z,1575397864.369 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-12-03T18:31:05.746Z,1575397865.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:06.998Z,1575397866.998 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:07.763Z,1575397867.763 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:08.172Z,1575397868.172 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:08.185Z,1575397868.185 [NAL9602](INFO): Powering up NAL9602
2019-12-03T18:31:08.972Z,1575397868.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183108.63*58

2019-12-03T18:31:09.807Z,1575397869.807 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:11.393Z,1575397871.393 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:12.643Z,1575397872.643 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:13.415Z,1575397873.415 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:13.824Z,1575397873.824 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:14.635Z,1575397874.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183114.28*5A

2019-12-03T18:31:15.491Z,1575397875.491 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:17.050Z,1575397877.050 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:18.295Z,1575397878.295 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:19.075Z,1575397879.075 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:19.078Z,1575397879.078 [NAL9602](INFO): NAL9602 initialized
2019-12-03T18:31:19.479Z,1575397879.479 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:20.291Z,1575397880.291 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183119.94*50

2019-12-03T18:31:21.129Z,1575397881.129 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:22.709Z,1575397882.709 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:23.962Z,1575397883.962 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:24.734Z,1575397884.734 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:25.128Z,1575397885.128 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:25.950Z,1575397885.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183125.60*54

2019-12-03T18:31:26.793Z,1575397886.793 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:27.305Z,1575397887.305 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397888.000000 second
2019-12-03T18:31:27.609Z,1575397887.609 [lineCaptureHoming:NeedComms:C] Stopped
2019-12-03T18:31:27.609Z,1575397887.609 [lineCaptureHoming:NeedComms:D] Running Loop=1
2019-12-03T18:31:28.055Z,1575397888.055 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-12-03T18:31:28.597Z,1575397888.597 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:29.361Z,1575397889.361 [DataOverHttps](INFO): Sending 146 bytes from file Logs/20191203T182246/Courier0018.lzma
2019-12-03T18:31:29.427Z,1575397889.427 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:30.195Z,1575397890.195 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:30.596Z,1575397890.596 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:30.694Z,1575397890.694 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0018.lzma.bak
2019-12-03T18:31:30.694Z,1575397890.694 [DataOverHttps](INFO): SBD MOMSN=12114216
2019-12-03T18:31:31.411Z,1575397891.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183131.06*51

2019-12-03T18:31:32.098Z,1575397892.098 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:31:32.098Z,1575397892.098 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:31:32.099Z,1575397892.099 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:31:32.099Z,1575397892.099 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:31:32.099Z,1575397892.099 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:31:32.100Z,1575397892.100 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:31:32.100Z,1575397892.100 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:D
2019-12-03T18:31:32.132Z,1575397892.132 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:31:32.133Z,1575397892.133 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:31:32.133Z,1575397892.133 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:31:32.306Z,1575397892.306 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:33.850Z,1575397893.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:35.070Z,1575397895.070 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:35.843Z,1575397895.843 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:36.268Z,1575397896.268 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:37.075Z,1575397897.075 [Micromodem](INFO): Nmea in: $SNTTA,0.041862,0.290730,,,183136.71*50

2019-12-03T18:31:37.945Z,1575397897.945 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:39.489Z,1575397899.489 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:40.740Z,1575397900.740 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:41.503Z,1575397901.503 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:41.936Z,1575397901.936 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:42.729Z,1575397902.729 [Micromodem](INFO): Nmea in: $SNTTA,0.460919,,,,183142.37*4A

2019-12-03T18:31:43.247Z,1575397903.247 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:45.138Z,1575397905.138 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:45.984Z,1575397905.984 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:46.755Z,1575397906.755 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:47.160Z,1575397907.160 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:47.978Z,1575397907.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183147.62*52

2019-12-03T18:31:48.821Z,1575397908.821 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:49.371Z,1575397909.371 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397888.000000 second
2019-12-03T18:31:50.393Z,1575397910.393 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:51.692Z,1575397911.692 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:52.093Z,1575397912.093 [DataOverHttps](INFO): Sending 932 bytes from file Logs/20191203T182246/Express0019.lzma
2019-12-03T18:31:52.419Z,1575397912.419 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:52.830Z,1575397912.830 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:53.631Z,1575397913.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183153.29*58

2019-12-03T18:31:54.098Z,1575397914.098 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0019.lzma.bak
2019-12-03T18:31:54.098Z,1575397914.098 [DataOverHttps](INFO): SBD MOMSN=12114218
2019-12-03T18:31:54.467Z,1575397914.467 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:56.050Z,1575397916.050 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:31:56.919Z,1575397916.919 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T18:31:56.919Z,1575397916.919 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,   958.42
2019-12-03T18:31:56.934Z,1575397916.934 [lineCaptureHoming:NeedComms:D] Stopped
2019-12-03T18:31:56.934Z,1575397916.934 [lineCaptureHoming:NeedComms:E] Running Loop=1
2019-12-03T18:31:57.317Z,1575397917.317 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:31:57.319Z,1575397917.319 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-12-03T18:31:57.793Z,1575397917.793 [CommandLine](IMPORTANT): got command set NAL9602.platform_communications 1.000000 bool
2019-12-03T18:31:58.079Z,1575397918.079 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:31:58.468Z,1575397918.468 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:31:59.306Z,1575397919.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183158.94*55

2019-12-03T18:32:00.183Z,1575397920.183 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:01.721Z,1575397921.721 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:02.698Z,1575397922.698 [CommandLine](IMPORTANT): got command show stack
2019-12-03T18:32:02.698Z,1575397922.698 [CommandLine](IMPORTANT): Behavior Stack:

2019-12-03T18:32:02.699Z,1575397922.699 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 0: lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope
2019-12-03T18:32:02.699Z,1575397922.699 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 1: lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope
2019-12-03T18:32:02.699Z,1575397922.699 [lineCaptureHoming:StandardEnvelopes](IMPORTANT): Priority 2: lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope
2019-12-03T18:32:02.700Z,1575397922.700 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 3: lineCaptureHoming:NeedComms:B.GoToSurface
2019-12-03T18:32:02.700Z,1575397922.700 [lineCaptureHoming:NeedComms](IMPORTANT): Priority 4: lineCaptureHoming:NeedComms:E
2019-12-03T18:32:02.707Z,1575397922.707 [lineCaptureHoming:TrackTransponder](IMPORTANT): Priority 5: lineCaptureHoming:TrackTransponder:A.
2019-12-03T18:32:02.707Z,1575397922.707 [lineCaptureHoming](IMPORTANT): Priority 6: lineCaptureHoming:J
2019-12-03T18:32:02.707Z,1575397922.707 [lineCaptureHoming](IMPORTANT): Priority 7: lineCaptureHoming:K.Mass
2019-12-03T18:32:02.995Z,1575397922.995 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:03.751Z,1575397923.751 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:04.152Z,1575397924.152 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:04.961Z,1575397924.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183204.61*55

2019-12-03T18:32:05.801Z,1575397925.801 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:07.385Z,1575397927.385 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:08.657Z,1575397928.657 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:09.395Z,1575397929.395 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:09.804Z,1575397929.804 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:10.622Z,1575397930.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183210.26*53

2019-12-03T18:32:11.465Z,1575397931.465 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:13.030Z,1575397933.030 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:14.295Z,1575397934.295 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:15.058Z,1575397935.058 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:15.464Z,1575397935.464 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:16.279Z,1575397936.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183215.92*59

2019-12-03T18:32:17.132Z,1575397937.132 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:18.693Z,1575397938.693 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:19.058Z,1575397939.058 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1575397888.000000 second
2019-12-03T18:32:19.146Z,1575397939.146 [lineCaptureHoming:NeedComms:E] Stopped
2019-12-03T18:32:19.147Z,1575397939.147 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2019-12-03T18:32:19.147Z,1575397939.147 [lineCaptureHoming:NeedComms] Stopped
2019-12-03T18:32:19.147Z,1575397939.147 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2019-12-03T18:32:19.147Z,1575397939.147 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2019-12-03T18:32:19.147Z,1575397939.147 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:32:19.524Z,1575397939.524 [lineCaptureHoming:SurfaceComms:B](INFO): Completed lineCaptureHoming:SurfaceComms:B
2019-12-03T18:32:19.524Z,1575397939.524 [lineCaptureHoming:SurfaceComms:B] Stopped
2019-12-03T18:32:19.524Z,1575397939.524 [lineCaptureHoming:SurfaceComms:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms:B
2019-12-03T18:32:19.525Z,1575397939.525 [lineCaptureHoming:SurfaceComms:C] Running Loop=1
2019-12-03T18:32:19.950Z,1575397939.950 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:19.951Z,1575397939.951 [lineCaptureHoming:SurfaceComms:C] Stopped
2019-12-03T18:32:19.951Z,1575397939.951 [lineCaptureHoming:SurfaceComms](INFO): Completed lineCaptureHoming:SurfaceComms
2019-12-03T18:32:19.951Z,1575397939.951 [lineCaptureHoming:SurfaceComms] Stopped
2019-12-03T18:32:19.951Z,1575397939.951 [lineCaptureHoming:SurfaceComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:SurfaceComms
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:StartingMission] Stopped
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:Lap] Running Loop=1
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-12-03T18:32:20.352Z,1575397940.352 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive
2019-12-03T18:32:20.353Z,1575397940.353 [lineCaptureHoming:Lap:Dive:A] Running Loop=1
2019-12-03T18:32:20.353Z,1575397940.353 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Dive:A
2019-12-03T18:32:20.353Z,1575397940.353 [lineCaptureHoming:Lap:B] Running Loop=1
2019-12-03T18:32:20.715Z,1575397940.715 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:20.819Z,1575397940.819 [lineCaptureHoming:Lap:B](IMPORTANT): Initiating homing sequence.
2019-12-03T18:32:20.819Z,1575397940.819 [lineCaptureHoming:Lap:B] Stopped
2019-12-03T18:32:20.819Z,1575397940.819 [lineCaptureHoming:Lap:C] Running Loop=1
2019-12-03T18:32:20.819Z,1575397940.819 [lineCaptureHoming:Lap:Dive] Running Loop=1
2019-12-03T18:32:20.819Z,1575397940.819 [lineCaptureHoming:DiveCmd] Running Loop=1
2019-12-03T18:32:20.820Z,1575397940.820 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd
2019-12-03T18:32:20.820Z,1575397940.820 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-12-03T18:32:20.820Z,1575397940.820 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive
2019-12-03T18:32:20.820Z,1575397940.820 [lineCaptureHoming:DiveCmd:InitialDive:dive] Running Loop=1
2019-12-03T18:32:20.821Z,1575397940.821 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-12-03T18:32:20.821Z,1575397940.821 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-12-03T18:32:20.821Z,1575397940.821 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-12-03T18:32:20.821Z,1575397940.821 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-12-03T18:32:20.821Z,1575397940.821 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Initialize.
2019-12-03T18:32:20.822Z,1575397940.822 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Running Loop=1
2019-12-03T18:32:20.822Z,1575397940.822 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch](DEBUG): Initialize.
2019-12-03T18:32:20.822Z,1575397940.822 [lineCaptureHoming:DiveCmd:AltitudeServo] Running Loop=1
2019-12-03T18:32:20.822Z,1575397940.822 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-12-03T18:32:20.822Z,1575397940.822 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Running Loop=1
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Running Loop=1
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Running Loop=1
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Running Loop=1
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Initialize.
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Running Loop=1
2019-12-03T18:32:20.823Z,1575397940.823 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](INFO): Initialize.
2019-12-03T18:32:20.824Z,1575397940.824 [lineCaptureHoming:DiveCmd:DockHold] Running Loop=1
2019-12-03T18:32:20.824Z,1575397940.824 [lineCaptureHoming:DiveCmd:DockHold](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DockHold
2019-12-03T18:32:20.825Z,1575397940.825 [lineCaptureHoming:DiveCmd:DockHold:dive] Running Loop=1
2019-12-03T18:32:20.825Z,1575397940.825 [lineCaptureHoming:DiveCmd:DockHold:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DockHold:dive
2019-12-03T18:32:20.825Z,1575397940.825 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed] Running Loop=1
2019-12-03T18:32:20.825Z,1575397940.825 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Initialize.
2019-12-03T18:32:20.825Z,1575397940.825 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch] Running Loop=1
2019-12-03T18:32:20.825Z,1575397940.825 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Initialize.
2019-12-03T18:32:20.826Z,1575397940.826 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Running Loop=1
2019-12-03T18:32:20.826Z,1575397940.826 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-12-03T18:32:20.827Z,1575397940.827 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Running Loop=1
2019-12-03T18:32:20.827Z,1575397940.827 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-12-03T18:32:20.827Z,1575397940.827 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Running Loop=1
2019-12-03T18:32:20.828Z,1575397940.828 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Initialize.
2019-12-03T18:32:20.829Z,1575397940.829 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Running Loop=1
2019-12-03T18:32:20.829Z,1575397940.829 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Initialize.
2019-12-03T18:32:20.831Z,1575397940.831 [lineCaptureHoming:DiveCmd:DriftAwayFromDock] Stopped
2019-12-03T18:32:20.831Z,1575397940.831 [lineCaptureHoming:DiveCmd:DriftAwayFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock
2019-12-03T18:32:20.831Z,1575397940.831 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive] Stopped
2019-12-03T18:32:20.832Z,1575397940.832 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive
2019-12-03T18:32:20.833Z,1575397940.833 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed] Stopped
2019-12-03T18:32:20.833Z,1575397940.833 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-12-03T18:32:20.833Z,1575397940.833 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch] Stopped
2019-12-03T18:32:20.833Z,1575397940.833 [lineCaptureHoming:DiveCmd:DockHold] Stopped
2019-12-03T18:32:20.834Z,1575397940.834 [lineCaptureHoming:DiveCmd:DockHold](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DockHold
2019-12-03T18:32:20.834Z,1575397940.834 [lineCaptureHoming:DiveCmd:DockHold:dive] Stopped
2019-12-03T18:32:20.834Z,1575397940.834 [lineCaptureHoming:DiveCmd:DockHold:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DockHold:dive
2019-12-03T18:32:20.834Z,1575397940.834 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed] Stopped
2019-12-03T18:32:20.834Z,1575397940.834 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-12-03T18:32:20.835Z,1575397940.835 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch] Stopped
2019-12-03T18:32:20.835Z,1575397940.835 [lineCaptureHoming:DiveCmd:AltitudeServo] Stopped
2019-12-03T18:32:20.835Z,1575397940.835 [lineCaptureHoming:DiveCmd:AltitudeServo](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo
2019-12-03T18:32:20.835Z,1575397940.835 [lineCaptureHoming:DiveCmd:AltitudeServo:dive] Stopped
2019-12-03T18:32:20.836Z,1575397940.836 [lineCaptureHoming:DiveCmd:AltitudeServo:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive
2019-12-03T18:32:20.836Z,1575397940.836 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:A] Stopped
2019-12-03T18:32:20.836Z,1575397940.836 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy] Stopped
2019-12-03T18:32:20.836Z,1575397940.836 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-12-03T18:32:20.837Z,1575397940.837 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed] Stopped
2019-12-03T18:32:20.837Z,1575397940.837 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.SetSpeed](DEBUG): Uninitialize.
2019-12-03T18:32:20.837Z,1575397940.837 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo] Stopped
2019-12-03T18:32:20.837Z,1575397940.837 [lineCaptureHoming:DiveCmd:AltitudeServo:dive:D.AltitudeServo](DEBUG): Uninitialize.
2019-12-03T18:32:20.837Z,1575397940.837 [lineCaptureHoming:DiveCmd:InitialDive] Running Loop=1
2019-12-03T18:32:20.839Z,1575397940.839 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Running Loop=1
2019-12-03T18:32:20.839Z,1575397940.839 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Running Loop=1
2019-12-03T18:32:21.120Z,1575397941.120 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:21.213Z,1575397941.213 [lineCaptureHoming:Lap:C] Stopped
2019-12-03T18:32:21.213Z,1575397941.213 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-12-03T18:32:21.213Z,1575397941.213 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-12-03T18:32:21.214Z,1575397941.214 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-12-03T18:32:21.214Z,1575397941.214 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-12-03T18:32:21.557Z,1575397941.557 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-12-03T18:32:21.557Z,1575397941.557 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-12-03T18:32:21.557Z,1575397941.557 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-12-03T18:32:21.557Z,1575397941.557 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-12-03T18:32:21.558Z,1575397941.558 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-12-03T18:32:21.558Z,1575397941.558 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-12-03T18:32:21.558Z,1575397941.558 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-12-03T18:32:21.558Z,1575397941.558 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2019-12-03T18:32:21.558Z,1575397941.558 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2019-12-03T18:32:21.869Z,1575397941.869 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2019-12-03T18:32:21.870Z,1575397941.870 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2019-12-03T18:32:21.870Z,1575397941.870 [BuoyancyServo] Communications Fault, FailCount= 1
2019-12-03T18:32:21.870Z,1575397941.870 [BuoyancyServo](ERROR): Communications Fault
2019-12-03T18:32:21.913Z,1575397941.913 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2019-12-03T18:32:21.983Z,1575397941.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183221.58*58

2019-12-03T18:32:22.058Z,1575397942.058 [lineCaptureHoming:Lap:TerminalGuidance:C](IMPORTANT): Terminal guidance at range: 1.200001 m .
2019-12-03T18:32:22.058Z,1575397942.058 [lineCaptureHoming:Lap:TerminalGuidance:C] Stopped
2019-12-03T18:32:22.058Z,1575397942.058 [lineCaptureHoming:Lap:TerminalGuidance:D] Running Loop=1
2019-12-03T18:32:22.059Z,1575397942.059 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2019-12-03T18:32:22.059Z,1575397942.059 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-12-03T18:32:22.408Z,1575397942.408 [lineCaptureHoming:Lap:TerminalGuidance:D] Stopped
2019-12-03T18:32:22.408Z,1575397942.408 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture] Running Loop=1
2019-12-03T18:32:22.408Z,1575397942.408 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](DEBUG): Initialize.
2019-12-03T18:32:22.841Z,1575397942.841 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:23.194Z,1575397943.194 [PowerOnly](INFO): Powering up
2019-12-03T18:32:23.922Z,1575397943.922 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-12-03T18:32:23.922Z,1575397943.922 [BuoyancyServo](INFO): Powering down
2019-12-03T18:32:24.169Z,1575397944.169 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:24.664Z,1575397944.664 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2019-12-03T18:32:24.664Z,1575397944.664 [BuoyancyServo] No Fault, FailCount= 1
2019-12-03T18:32:25.026Z,1575397945.026 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-12-03T18:32:25.027Z,1575397945.027 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-12-03T18:32:25.395Z,1575397945.395 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:26.147Z,1575397946.147 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:26.556Z,1575397946.556 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:27.367Z,1575397947.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183227.01*52

2019-12-03T18:32:28.222Z,1575397948.222 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:29.786Z,1575397949.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:31.065Z,1575397951.065 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:31.811Z,1575397951.811 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:31.925Z,1575397951.925 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-12-03T18:32:31.925Z,1575397951.925 [RDI_Pathfinder](ERROR): Failed to parse:
:BS-3268,V
2019-12-03T18:32:32.212Z,1575397952.212 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:33.032Z,1575397953.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183232.67*56

2019-12-03T18:32:33.868Z,1575397953.868 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:35.441Z,1575397955.441 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:36.693Z,1575397956.693 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:37.463Z,1575397957.463 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:37.891Z,1575397957.891 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:38.690Z,1575397958.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183238.33*5D

2019-12-03T18:32:39.524Z,1575397959.524 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:41.097Z,1575397961.097 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:42.347Z,1575397962.347 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:43.119Z,1575397963.119 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:43.533Z,1575397963.533 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:44.349Z,1575397964.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183243.99*51

2019-12-03T18:32:45.235Z,1575397965.235 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:46.767Z,1575397966.767 [DUSBL_Hydroid](ERROR): No response from remote modem.
2019-12-03T18:32:48.018Z,1575397968.018 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:48.771Z,1575397968.771 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:49.183Z,1575397969.183 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:49.244Z,1575397969.244 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:32:49.244Z,1575397969.244 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311450288,35.0, -0.,1448.9,  0
2019-12-03T18:32:49.810Z,1575397969.810 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:32:50.021Z,1575397970.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183249.63*5E

2019-12-03T18:32:50.058Z,1575397970.058 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 1.20 m.
2019-12-03T18:32:52.449Z,1575397972.449 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:53.215Z,1575397973.215 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:53.624Z,1575397973.624 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:54.277Z,1575397974.277 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:32:54.465Z,1575397974.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183254.08*5F

2019-12-03T18:32:56.935Z,1575397976.935 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:32:57.667Z,1575397977.667 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:32:58.068Z,1575397978.068 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:32:58.621Z,1575397978.621 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:32:58.928Z,1575397978.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183258.53*5D

2019-12-03T18:33:01.348Z,1575397981.348 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:33:02.107Z,1575397982.107 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:33:02.512Z,1575397982.512 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:33:03.073Z,1575397983.073 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:33:03.350Z,1575397983.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183302.97*5B

2019-12-03T18:33:05.781Z,1575397985.781 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:33:06.555Z,1575397986.555 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:33:06.953Z,1575397986.953 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:33:07.569Z,1575397987.569 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:33:07.795Z,1575397987.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183307.42*56

2019-12-03T18:33:10.243Z,1575397990.243 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:33:10.998Z,1575397990.998 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:33:11.404Z,1575397991.404 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:33:12.073Z,1575397992.073 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:33:12.233Z,1575397992.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183311.87*58

2019-12-03T18:33:14.691Z,1575397994.691 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:33:15.463Z,1575397995.463 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:33:15.863Z,1575397995.863 [DDM](INFO): Retracting Whiskers
2019-12-03T18:33:15.894Z,1575397995.894 [DDM](INFO): Closing Latch
2019-12-03T18:33:15.929Z,1575397995.929 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:33:16.266Z,1575397996.266 [DDM](INFO): Retracting Whiskers
2019-12-03T18:33:16.292Z,1575397996.292 [DDM](INFO): Closing Latch
2019-12-03T18:33:16.521Z,1575397996.521 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:33:16.685Z,1575397996.685 [DDM](INFO): Retracting Whiskers
2019-12-03T18:33:16.774Z,1575397996.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183316.33*50

2019-12-03T18:33:17.074Z,1575397997.074 [DDM](INFO): Retracting Whiskers
2019-12-03T18:33:17.478Z,1575397997.478 [DDM](INFO): Retracting Whiskers
2019-12-03T18:33:19.157Z,1575397999.157 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:33:19.157Z,1575397999.157 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311453288,35.0, -0.1,   0.0,144

2019-12-03T18:33:19.190Z,1575397999.190 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:33:19.943Z,1575397999.943 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:33:20.348Z,1575398000.348 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:33:20.945Z,1575398000.945 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:33:21.209Z,1575398001.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183320.81*5C

2019-12-03T18:33:21.287Z,1575398001.287 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture](IMPORTANT): Docking sequence complete.
2019-12-03T18:33:21.287Z,1575398001.287 [lineCaptureHoming:Lap:TerminalGuidance:E.LineCapture] Stopped
2019-12-03T18:33:21.287Z,1575398001.287 [lineCaptureHoming:Lap:TerminalGuidance:Dock] Running Loop=1
2019-12-03T18:33:21.287Z,1575398001.287 [lineCaptureHoming:Lap:TerminalGuidance:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:Dock
2019-12-03T18:33:21.287Z,1575398001.287 [lineCaptureHoming:Lap:TerminalGuidance:Dock:A] Running Loop=1
2019-12-03T18:33:21.637Z,1575398001.637 [lineCaptureHoming:Lap:TerminalGuidance:Dock:A] Stopped
2019-12-03T18:33:21.637Z,1575398001.637 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B] Running Loop=1
2019-12-03T18:33:22.027Z,1575398002.027 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B](IMPORTANT): Holding depth at: 0.102328 m .
2019-12-03T18:33:22.027Z,1575398002.027 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B] Stopped
2019-12-03T18:33:22.028Z,1575398002.028 [lineCaptureHoming:Lap:TerminalGuidance:Dock:C] Running Loop=1
2019-12-03T18:33:22.433Z,1575398002.433 [lineCaptureHoming:Lap:TerminalGuidance:Dock:C] Stopped
2019-12-03T18:33:22.433Z,1575398002.433 [lineCaptureHoming:Lap:TerminalGuidance:Dock:D] Running Loop=1
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold] Running Loop=1
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DockHold
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold:dive] Running Loop=1
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold:dive](DEBUG): Aggregate::initialize lineCaptureHoming:DiveCmd:DockHold:dive
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed] Running Loop=1
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Initialize.
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch] Running Loop=1
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Initialize.
2019-12-03T18:33:22.434Z,1575398002.434 [lineCaptureHoming:DiveCmd:DockHold] Running Loop=1
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:DockHold:dive] Running Loop=1
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch] Running Loop=1
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed] Running Loop=1
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:InitialDive] Stopped
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:InitialDive:dive] Stopped
2019-12-03T18:33:22.435Z,1575398002.435 [lineCaptureHoming:DiveCmd:InitialDive:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive
2019-12-03T18:33:22.436Z,1575398002.436 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy] Stopped
2019-12-03T18:33:22.436Z,1575398002.436 [lineCaptureHoming:DiveCmd:InitialDive:dive:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-12-03T18:33:22.436Z,1575398002.436 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed] Stopped
2019-12-03T18:33:22.436Z,1575398002.436 [lineCaptureHoming:DiveCmd:InitialDive:dive:B.SetSpeed](DEBUG): Uninitialize.
2019-12-03T18:33:22.436Z,1575398002.436 [lineCaptureHoming:DiveCmd:InitialDive:dive:C.Pitch] Stopped
2019-12-03T18:33:22.897Z,1575398002.897 [lineCaptureHoming:Lap:TerminalGuidance:Dock:D] Stopped
2019-12-03T18:33:22.897Z,1575398002.897 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav] Running Loop=1
2019-12-03T18:33:22.897Z,1575398002.897 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav
2019-12-03T18:33:22.897Z,1575398002.897 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-12-03T18:33:22.897Z,1575398002.897 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-12-03T18:33:23.274Z,1575398003.274 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav] Stopped
2019-12-03T18:33:23.275Z,1575398003.275 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav
2019-12-03T18:33:23.275Z,1575398003.275 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav] Stopped
2019-12-03T18:33:23.275Z,1575398003.275 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-12-03T18:33:23.275Z,1575398003.275 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait] Running Loop=1
2019-12-03T18:33:23.275Z,1575398003.275 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:33:23.281Z,1575398003.281 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:33:23.281Z,1575398003.281 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:33:23.281Z,1575398003.281 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:33:29.101Z,1575398009.101 [Reporter](INFO): DDM.DDMMode 0 enum
2019-12-03T18:33:41.994Z,1575398021.994 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:33:41.994Z,1575398021.994 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:33:42.241Z,1575398022.241 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:33:42.242Z,1575398022.242 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming] Stopped
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes] Stopped
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:J] Stopped
2019-12-03T18:33:42.242Z,1575398022.242 [lineCaptureHoming:K.Mass] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:K.Mass](DEBUG): Uninitialize.
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DockHold
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold:dive] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold:dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:DiveCmd:DockHold:dive
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Uninitialize.
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:Lap] Stopped
2019-12-03T18:33:42.243Z,1575398022.243 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:Dive] Stopped
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:Dive](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:Dive:A] Stopped
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:Dive:A](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Dive:A
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:TerminalGuidance:B] Stopped
2019-12-03T18:33:42.244Z,1575398022.244 [lineCaptureHoming:Lap:TerminalGuidance:Dock] Stopped
2019-12-03T18:33:42.245Z,1575398022.245 [lineCaptureHoming:Lap:TerminalGuidance:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:Dock
2019-12-03T18:33:42.245Z,1575398022.245 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait] Stopped
2019-12-03T18:33:42.245Z,1575398022.245 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:33:42.618Z,1575398022.618 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:33:42.618Z,1575398022.618 [Default] Running Loop=1
2019-12-03T18:33:42.618Z,1575398022.618 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:33:42.618Z,1575398022.618 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:33:42.619Z,1575398022.619 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:33:42.619Z,1575398022.619 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:33:42.619Z,1575398022.619 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:33:42.619Z,1575398022.619 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:33:42.620Z,1575398022.620 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:33:42.620Z,1575398022.620 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:33:42.621Z,1575398022.621 [Default:A.Wait] Running Loop=1
2019-12-03T18:33:42.621Z,1575398022.621 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:33:42.693Z,1575398022.693 [Reporter](INFO): DDM.DDMMode no_value
2019-12-03T18:33:42.979Z,1575398022.979 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:33:43.383Z,1575398023.383 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:33:43.789Z,1575398023.789 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:33:44.191Z,1575398024.191 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:33:54.723Z,1575398034.723 [PowerOnly](INFO): Powering down
2019-12-03T18:33:55.980Z,1575398035.980 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:33:55.980Z,1575398035.980 [Default:A.Wait] Stopped
2019-12-03T18:33:55.980Z,1575398035.980 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:33:56.399Z,1575398036.399 [Default:CheckIn] Running Loop=1
2019-12-03T18:33:56.399Z,1575398036.399 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:33:56.399Z,1575398036.399 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:34:04.415Z,1575398044.415 [RDI_Pathfinder](ERROR): Failed to parse:.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T18:34:20.187Z,1575398060.187 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for BIT error
2019-12-03T18:34:20.188Z,1575398060.188 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311463388,35.0, -0.1, 
2019-12-03T18:34:29.977Z,1575398069.977 [CommandLine](IMPORTANT): got command run ./Missions/Maintenance/line_capture_homing_lab.xml
2019-12-03T18:34:29.978Z,1575398069.978 [MissionManager](INFO): Loading Mission: ./Missions/Maintenance/line_capture_homing_lab.xml
2019-12-03T18:34:30.211Z,1575398070.211 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 4.000000 h
2019-12-03T18:34:30.225Z,1575398070.225 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 60.000000 min
2019-12-03T18:34:30.227Z,1575398070.227 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2019-12-03T18:34:30.313Z,1575398070.313 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLat = 36.743600 arcdeg
2019-12-03T18:34:30.315Z,1575398070.315 [MissionManager](INFO): DefineArg lineCaptureHoming.DockLon = -121.880000 arcdeg
2019-12-03T18:34:30.325Z,1575398070.325 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLat = nan arcdeg
2019-12-03T18:34:30.327Z,1575398070.327 [MissionManager](INFO): DefineArg lineCaptureHoming.StartLon = nan arcdeg
2019-12-03T18:34:30.346Z,1575398070.346 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalRange = 650.000000 m
2019-12-03T18:34:30.348Z,1575398070.348 [MissionManager](INFO): DefineArg lineCaptureHoming.ArmRange = 40.000000 m
2019-12-03T18:34:30.359Z,1575398070.359 [MissionManager](INFO): DefineArg lineCaptureHoming.DockRange = 1.000000 m
2019-12-03T18:34:30.393Z,1575398070.393 [MissionManager](INFO): DefineArg lineCaptureHoming.TerminalGuidanceTimeout = 30.000000 min
2019-12-03T18:34:30.395Z,1575398070.395 [MissionManager](INFO): DefineArg lineCaptureHoming.DockTimeout = 60.000000 s
2019-12-03T18:34:30.401Z,1575398070.401 [MissionManager](INFO): DefineArg lineCaptureHoming.UpdateNav = 0 bool
2019-12-03T18:34:30.403Z,1575398070.403 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 90.000000 s
2019-12-03T18:34:30.414Z,1575398070.414 [MissionManager](INFO): DefineArg lineCaptureHoming.BreakOffRange = 0.000000 m
2019-12-03T18:34:30.416Z,1575398070.416 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutDistance = 150.000000 m
2019-12-03T18:34:30.426Z,1575398070.426 [MissionManager](INFO): DefineArg lineCaptureHoming.RolloutTime = 5.000000 min
2019-12-03T18:34:30.437Z,1575398070.437 [MissionManager](INFO): DefineArg lineCaptureHoming.HoldAltitude = 7.000000 m
2019-12-03T18:34:30.439Z,1575398070.439 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 15.000000 min
2019-12-03T18:34:30.449Z,1575398070.449 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepth = 20.000000 m
2019-12-03T18:34:30.451Z,1575398070.451 [MissionManager](INFO): DefineArg lineCaptureHoming.InitDepthTimeout = 30.000000 min
2019-12-03T18:34:30.461Z,1575398070.461 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 2.000000 count
2019-12-03T18:34:30.463Z,1575398070.463 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriod = 2.500000 s
2019-12-03T18:34:30.474Z,1575398070.474 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2019-12-03T18:34:30.476Z,1575398070.476 [MissionManager](INFO): DefineArg lineCaptureHoming.Speed = 0.000000 m/s
2019-12-03T18:34:30.499Z,1575398070.499 [MissionManager](INFO): DefineArg lineCaptureHoming.DepthDeadband = 0.010000 m
2019-12-03T18:34:30.509Z,1575398070.509 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeading = 0.800000 n/a
2019-12-03T18:34:30.511Z,1575398070.511 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeading = 0.002000 1/s
2019-12-03T18:34:30.522Z,1575398070.522 [MissionManager](INFO): DefineArg lineCaptureHoming.KpHeadingFinal = 1.600000 n/a
2019-12-03T18:34:30.533Z,1575398070.533 [MissionManager](INFO): DefineArg lineCaptureHoming.KiHeadingFinal = 0.004000 1/s
2019-12-03T18:34:30.542Z,1575398070.542 [MissionManager](INFO): DefineArg lineCaptureHoming.RudderDeadband = 0.050000 arcdeg
2019-12-03T18:34:30.561Z,1575398070.561 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 5.000000 m
2019-12-03T18:34:30.563Z,1575398070.563 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2019-12-03T18:34:30.573Z,1575398070.573 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2019-12-03T18:34:30.575Z,1575398070.575 [MissionManager](INFO): DefineArg lineCaptureHoming.Verbose = 1 bool
2019-12-03T18:34:30.586Z,1575398070.586 [MissionManager](INFO): DefineOutput lineCaptureHoming.HomingActive = 1 bool
2019-12-03T18:34:30.596Z,1575398070.596 [MissionManager](INFO): DefineOutput lineCaptureHoming.Docked = 0 bool
2019-12-03T18:34:30.599Z,1575398070.599 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockingDepth = 25.000000 m
2019-12-03T18:34:30.625Z,1575398070.625 [MissionManager](INFO): DefineOutput lineCaptureHoming.DiveMode = 0.000000 count
2019-12-03T18:34:30.627Z,1575398070.627 [MissionManager](INFO): DefineOutput lineCaptureHoming.DoingComms = 0.000000 count
2019-12-03T18:34:30.664Z,1575398070.664 [MissionManager](INFO): DefineOutput lineCaptureHoming.InitialDive = 1.000000 count
2019-12-03T18:34:30.668Z,1575398070.668 [MissionManager](INFO): DefineOutput lineCaptureHoming.MaintainAltitude = 2.000000 count
2019-12-03T18:34:30.687Z,1575398070.687 [MissionManager](INFO): DefineOutput lineCaptureHoming.WaitOnDock = 3.000000 count
2019-12-03T18:34:30.705Z,1575398070.705 [MissionManager](INFO): DefineOutput lineCaptureHoming.DetachFromDock = 4.000000 count
2019-12-03T18:34:30.754Z,1575398070.754 [lineCaptureHoming:B.Mass](DEBUG): Construct.
2019-12-03T18:34:30.793Z,1575398070.793 [lineCaptureHoming:DiveCmd:DockHold:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:34:30.795Z,1575398070.795 [lineCaptureHoming:DiveCmd:DockHold:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:34:30.860Z,1575398070.860 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:A.SetSpeed](DEBUG): Construct.
2019-12-03T18:34:30.878Z,1575398070.878 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch](DEBUG): Construct.
2019-12-03T18:34:30.905Z,1575398070.905 [lineCaptureHoming:DiveCmd:DriftAwayFromDock:dive:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-12-03T18:34:30.924Z,1575398070.924 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:34:30.965Z,1575398070.965 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Construct.
2019-12-03T18:34:31.026Z,1575398071.026 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Construct SetNav.
2019-12-03T18:34:31.036Z,1575398071.036 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Construct Wait.
2019-12-03T18:34:31.129Z,1575398071.129 [lineCaptureHoming:Lap:TerminalGuidance:Dock:BreakOffDock:D.Undock](DEBUG): Construct.
2019-12-03T18:34:31.191Z,1575398071.191 [lineCaptureHoming:Lap:Rollout:NavToStart:B.Waypoint](DEBUG): Construct Waypoint.
2019-12-03T18:34:31.232Z,1575398071.232 [lineCaptureHoming:Lap:Rollout:MaintainHeading:B.Wait](DEBUG): Construct Wait.
2019-12-03T18:34:31.305Z,1575398071.305 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Control="Tethys/Control"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:Sensor="Tethys/Sensor"
    xmlns:Units="Tethys/Units"
    xmlns:Universal="Tethys/Universal"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
    Id="lineCaptureHoming">

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

    <!-- Define mission arguments -->

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

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

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

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

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

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

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

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

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

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

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

    <DefineArg Name="DockTimeout"><Description>
        Maximum time duration for running in Dock lockout mode.
    </Description><Units:second/><Value>60</Value></DefineArg>

    <DefineArg Name="UpdateNav"><Description>
        When true, the mission updates the vehicle's position to DockLat/Lon
        when it comes within *DockRange* from the transponder.
    </Description><False/></DefineArg>

    <DefineArg Name="WaitOnDockTimeout"><Description>
        Time duration to wait on the dock after a successful line capture.
    </Description><Units:second/><Value>90</Value></DefineArg>

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

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

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

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

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

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

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

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

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

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

    <DefineArg Name="Speed"><Description>
        Thruster speed for the entier mission.
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

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

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

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

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

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

    <DefineArg Name="RudderDeadband"><Description>
        Degree of rounding in rudder command output values to
        use during Terminal Homing.
    </Description><Units:arcdeg/><Value>0.05</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>205</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="Verbose"><Description>
        Send LineCapture/Undock syslog messages to shore.
    </Description><True/></DefineArg>

    <!-- Mission Variables (don't change) -->

    <DefineOutput Name="HomingActive"><Description>
        Mission variable (don't change). The mission sets this to true when the
        vehicle is homing.
    </Description><True/></DefineOutput>

    <DefineOutput Name="Docked"><Description>
        Mission variable (don't change).
        The mission sets this to true to indicate a successful line capture.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DockingDepth"><Description>
        Mission variable (don't change).
        The mission sets this to the vehicle's depth following a successful line capture.
    </Description><Units:meter/><Value>25</Value></DefineOutput>

    <DefineOutput Name="DiveMode"><Description>
        Mission variable (don't change).
        The mission sets this variable to switch between dive modes.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="DoingComms"><Description>
        Mission variable (don't change).
        The mission will run in this to mode when running surface comms.
    </Description><Units:count/><Value>0</Value></DefineOutput>

    <DefineOutput Name="InitialDive"><Description>
        Mission variable (don't change).
        The mission will run in this mode when surface comms are done to
        dive the vehicle to DVL bottom range.
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="MaintainAltitude"><Description>
        Mission variable (don't change).
        The mission will run in this mode to dive the vehicle at a
        commanded altitude.
    </Description><Units:count/><Value>2</Value></DefineOutput>

    <DefineOutput Name="WaitOnDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to maintatin depth while the vehicle
        is latched on the dock.
    </Description><Units:count/><Value>3</Value></DefineOutput>

    <DefineOutput Name="DetachFromDock"><Description>
        Mission variable (don't change).
        The mission will run in this mode to drift away from the dock after is
        unlatched.
    </Description><Units:count/><Value>4</Value></DefineOutput>


    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

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

    <Aggregate Id="TrackTransponder">

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

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

    </Aggregate>

    <!-- Set default mass position -->

    <Guidance:Mass>
        <Parallel/>
        <Setting><Guidance:Mass.position/><Control:VerticalControl.massDefault/></Setting>
    </Guidance:Mass>


    <!-- Callable aggregates (priority matters, so these are done below important safety directives -->

    <Aggregate Id="DiveCmd">

        <Description>
            Called when the vehicle should be underwater. Arbitrates
            between 3 dive modes: 1) descend from the surface to initial
            depth. 2) follow commanded altitude. 3) drift away from dock
            to initial depth.
        </Description>

        <When>
            <Called/>
        </When>

        <Aggregate Id="DockHold">

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

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

            <Aggregate Id="dive">

                <Parallel/>

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

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

            </Aggregate>
            
        </Aggregate>


        <Aggregate Id="DriftAwayFromDock">

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

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

            <Aggregate Id="dive">

                <Sequence/>

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

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

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence. -->

    <Aggregate Id="Lap">

        <Sequence Repeat="Repeat"/>

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

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


        <Aggregate Id="MidcourseGuidance">

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

            <Sequence/>

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

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

        <Aggregate Id="TerminalGuidance">

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

            <Sequence/>

            <Assign><Parallel/><Control:HorizontalControl.rudDeadband/><Arg Name="RudderDeadband"/></Assign>

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

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

            <Guidance:LineCapture>
                <Sequence/>

                <Timeout Duration="TerminalGuidanceTimeout">
                    <Assign><Sequence/><Arg Name="Docked"/><False/></Assign>
                    <Syslog Severity="Important">Timed out while trying to dock at range: <Estimation:TrackAcousticContact.range_to_contact/><Units:meter/>.</Syslog>
                </Timeout>

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

            <Aggregate Id="Dock">

                <Sequence/>

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

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

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

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

                <Aggregate Id="UpdateNav">

                    <Sequence/>

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

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


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


                <Aggregate Id="BreakOffDock">

                    <Sequence/>

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

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

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

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

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

                </Aggregate>

            </Aggregate>

        </Aggregate>


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

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

            <Sequence/>

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

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

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

            <Aggregate Id="NavToStart">

                <Sequence/>

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

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

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

            <Aggregate Id="MaintainHeading">

                <Sequence/>

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

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

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

        </Aggregate>

    </Aggregate>

</Mission>


2019-12-03T18:34:31.307Z,1575398071.307 [CommandLine](IMPORTANT): Running ./Missions/Maintenance/line_capture_homing_lab.xml
2019-12-03T18:34:31.521Z,1575398071.521 [Default] Stopped
2019-12-03T18:34:31.521Z,1575398071.521 [Default](DEBUG): Aggregate::uninitialize Default
2019-12-03T18:34:31.521Z,1575398071.521 [Default:B.GoToSurface] Stopped
2019-12-03T18:34:31.522Z,1575398071.522 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-12-03T18:34:31.522Z,1575398071.522 [Default:CheckIn] Stopped
2019-12-03T18:34:31.522Z,1575398071.522 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:34:31.522Z,1575398071.522 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:34:31.522Z,1575398071.522 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2019-12-03T18:34:31.522Z,1575398071.522 [lineCaptureHoming] Running Loop=1
2019-12-03T18:34:31.522Z,1575398071.522 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2019-12-03T18:34:31.522Z,1575398071.522 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::initialize lineCaptureHoming:TrackTransponder
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:TrackTransponder:A.](INFO): Initializing TrackAcousticContact.
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:B.Mass] Running Loop=1
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:B.Mass](DEBUG): Initialize.
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:Lap] Running Loop=1
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2019-12-03T18:34:31.523Z,1575398071.523 [lineCaptureHoming:Lap:A] Running Loop=1
2019-12-03T18:34:31.524Z,1575398071.524 [lineCaptureHoming:Lap:A](IMPORTANT): Initiating homing sequence.
2019-12-03T18:34:31.524Z,1575398071.524 [lineCaptureHoming:Lap:A] Stopped
2019-12-03T18:34:31.532Z,1575398071.532 [lineCaptureHoming:Lap:B] Running Loop=1
2019-12-03T18:34:31.532Z,1575398071.532 [lineCaptureHoming:B.Mass] Running Loop=1
2019-12-03T18:34:31.533Z,1575398071.533 [lineCaptureHoming:TrackTransponder] Running Loop=1
2019-12-03T18:34:31.533Z,1575398071.533 [lineCaptureHoming:TrackTransponder:A.] Running Loop=1
2019-12-03T18:34:31.982Z,1575398071.982 [lineCaptureHoming:Lap:B] Stopped
2019-12-03T18:34:31.982Z,1575398071.982 [lineCaptureHoming:Lap:MidcourseGuidance] Running Loop=1
2019-12-03T18:34:31.982Z,1575398071.982 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:MidcourseGuidance
2019-12-03T18:34:31.982Z,1575398071.982 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Running Loop=1
2019-12-03T18:34:31.983Z,1575398071.983 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Initialize WaypointComponent.
2019-12-03T18:34:32.333Z,1575398072.333 [lineCaptureHoming:Lap:MidcourseGuidance] Stopped
2019-12-03T18:34:32.333Z,1575398072.333 [lineCaptureHoming:Lap:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidance
2019-12-03T18:34:32.333Z,1575398072.333 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint] Stopped
2019-12-03T18:34:32.334Z,1575398072.334 [lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint](DEBUG): Uninitialize WaypointComponent.
2019-12-03T18:34:32.334Z,1575398072.334 [lineCaptureHoming:Lap:TerminalGuidance] Running Loop=1
2019-12-03T18:34:32.334Z,1575398072.334 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance
2019-12-03T18:34:32.334Z,1575398072.334 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-12-03T18:34:32.334Z,1575398072.334 [lineCaptureHoming:Lap:TerminalGuidance:B] Running Loop=1
2019-12-03T18:34:32.746Z,1575398072.746 [lineCaptureHoming:Lap:TerminalGuidance:B](IMPORTANT): Terminal guidance at range: 1.259998 m .
2019-12-03T18:34:32.746Z,1575398072.746 [lineCaptureHoming:Lap:TerminalGuidance:B] Stopped
2019-12-03T18:34:32.746Z,1575398072.746 [lineCaptureHoming:Lap:TerminalGuidance:C] Running Loop=1
2019-12-03T18:34:32.746Z,1575398072.746 [lineCaptureHoming:Lap:TerminalGuidance:A] Running Loop=1
2019-12-03T18:34:33.145Z,1575398073.145 [lineCaptureHoming:Lap:TerminalGuidance:C] Stopped
2019-12-03T18:34:33.145Z,1575398073.145 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Running Loop=1
2019-12-03T18:34:33.145Z,1575398073.145 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](DEBUG): Initialize.
2019-12-03T18:34:34.439Z,1575398074.439 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:34:34.482Z,1575398074.482 [Reporter](INFO): DDM.DDMMode 0 enum
2019-12-03T18:34:34.694Z,1575398074.694 [DDM](INFO): Closing Latch
2019-12-03T18:34:35.098Z,1575398075.098 [DDM](INFO): Closing Latch
2019-12-03T18:34:35.131Z,1575398075.131 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:34:35.502Z,1575398075.502 [DDM](INFO): Closing Latch
2019-12-03T18:34:35.544Z,1575398075.544 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:34:35.906Z,1575398075.906 [DDM](INFO): Closing Latch
2019-12-03T18:34:36.073Z,1575398076.073 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:34:36.365Z,1575398076.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183436.00*55

2019-12-03T18:34:36.714Z,1575398076.714 [DDM](INFO): Changing to mode: 1
2019-12-03T18:34:36.714Z,1575398076.714 [DDM](INFO): Extending Whiskers.
2019-12-03T18:34:36.815Z,1575398076.815 [PowerOnly](INFO): Powering up
2019-12-03T18:34:37.118Z,1575398077.118 [DDM](INFO): Extending Whiskers.
2019-12-03T18:34:37.144Z,1575398077.144 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:34:37.522Z,1575398077.522 [DDM](INFO): Extending Whiskers.
2019-12-03T18:34:37.548Z,1575398077.548 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:34:37.927Z,1575398077.927 [DDM](INFO): Extending Whiskers.
2019-12-03T18:34:37.952Z,1575398077.952 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:34:38.330Z,1575398078.330 [DDM](INFO): Extending Whiskers.
2019-12-03T18:34:38.368Z,1575398078.368 [DDM](INFO): Arming. Opening Latch
2019-12-03T18:34:38.881Z,1575398078.881 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:34:39.605Z,1575398079.605 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:34:39.988Z,1575398079.988 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:34:40.497Z,1575398080.497 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:34:40.819Z,1575398080.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183440.47*57

2019-12-03T18:34:41.227Z,1575398081.227 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:34:41.228Z,1575398081.228 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311465488,35.0, -0.1,   0.0  0
2019-12-03T18:34:43.267Z,1575398083.267 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:34:44.047Z,1575398084.047 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:34:44.424Z,1575398084.424 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:34:44.953Z,1575398084.953 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:34:45.289Z,1575398085.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183444.91*58

2019-12-03T18:34:47.694Z,1575398087.694 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:34:48.468Z,1575398088.468 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:34:48.916Z,1575398088.916 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:34:49.401Z,1575398089.401 [Reporter](INFO): acoustic_contact_range 1.200001 m
2019-12-03T18:34:49.725Z,1575398089.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183449.33*5D

2019-12-03T18:34:49.797Z,1575398089.797 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](IMPORTANT): Final approach. Armed for intercept at range: 1.20 m.
2019-12-03T18:34:49.882Z,1575398089.882 [Reporter](INFO): DDM.DDMMode 1 enum
2019-12-03T18:34:52.147Z,1575398092.147 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:34:52.945Z,1575398092.945 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:34:53.317Z,1575398093.317 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:34:53.858Z,1575398093.858 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:34:54.155Z,1575398094.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183453.81*5F

2019-12-03T18:34:56.618Z,1575398096.618 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:34:57.363Z,1575398097.363 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:34:57.768Z,1575398097.768 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:34:58.294Z,1575398098.294 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:34:58.597Z,1575398098.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183458.23*5C

2019-12-03T18:35:01.041Z,1575398101.041 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:35:01.807Z,1575398101.807 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:35:02.205Z,1575398102.205 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:35:02.739Z,1575398102.739 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:35:03.033Z,1575398103.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183502.67*52

2019-12-03T18:35:05.488Z,1575398105.488 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:35:06.271Z,1575398106.271 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:35:06.644Z,1575398106.644 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:35:07.213Z,1575398107.213 [Reporter](INFO): acoustic_contact_range 1.319999 m
2019-12-03T18:35:07.471Z,1575398107.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183507.13*54

2019-12-03T18:35:09.074Z,1575398109.074 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T18:35:09.945Z,1575398109.945 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:35:10.690Z,1575398110.690 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:35:11.053Z,1575398111.053 [DDM](INFO): Retracting Whiskers
2019-12-03T18:35:11.080Z,1575398111.080 [DDM](INFO): Closing Latch
2019-12-03T18:35:11.121Z,1575398111.121 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:35:11.458Z,1575398111.458 [DDM](INFO): Retracting Whiskers
2019-12-03T18:35:11.496Z,1575398111.496 [DDM](INFO): Closing Latch
2019-12-03T18:35:11.657Z,1575398111.657 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:35:11.899Z,1575398111.899 [DDM](INFO): Retracting Whiskers
2019-12-03T18:35:11.924Z,1575398111.924 [DDM](INFO): Closing Latch
2019-12-03T18:35:11.973Z,1575398111.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183511.55*51

2019-12-03T18:35:12.267Z,1575398112.267 [DDM](INFO): Retracting Whiskers
2019-12-03T18:35:12.670Z,1575398112.670 [DDM](INFO): Retracting Whiskers
2019-12-03T18:35:14.367Z,1575398114.367 [lineCaptureHoming:TrackTransponder:A.](INFO): *** querying acoustic contact ***
2019-12-03T18:35:15.134Z,1575398115.134 [Micromodem](INFO): Nmea out: $CCPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*3E

2019-12-03T18:35:15.532Z,1575398115.532 [Micromodem](INFO): Nmea in: $SNPGT,0,14500,28,6F8F7A90,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,2000,4000,0*23

2019-12-03T18:35:16.062Z,1575398116.062 [Reporter](INFO): acoustic_contact_range 1.259998 m
2019-12-03T18:35:16.357Z,1575398116.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183516.00*56

2019-12-03T18:35:16.433Z,1575398116.433 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture](IMPORTANT): Docking sequence complete.
2019-12-03T18:35:16.433Z,1575398116.433 [lineCaptureHoming:Lap:TerminalGuidance:D.LineCapture] Stopped
2019-12-03T18:35:16.433Z,1575398116.433 [lineCaptureHoming:Lap:TerminalGuidance:Dock] Running Loop=1
2019-12-03T18:35:16.433Z,1575398116.433 [lineCaptureHoming:Lap:TerminalGuidance:Dock](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:Dock
2019-12-03T18:35:16.433Z,1575398116.433 [lineCaptureHoming:Lap:TerminalGuidance:Dock:A] Running Loop=1
2019-12-03T18:35:16.770Z,1575398116.770 [lineCaptureHoming:Lap:TerminalGuidance:Dock:A] Stopped
2019-12-03T18:35:16.770Z,1575398116.770 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B] Running Loop=1
2019-12-03T18:35:16.816Z,1575398116.816 [Reporter](INFO): DDM.DDMMode no_value
2019-12-03T18:35:17.116Z,1575398117.116 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T18:35:17.184Z,1575398117.184 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B](IMPORTANT): Holding depth at: 0.127653 m .
2019-12-03T18:35:17.184Z,1575398117.184 [lineCaptureHoming:Lap:TerminalGuidance:Dock:B] Stopped
2019-12-03T18:35:17.185Z,1575398117.185 [lineCaptureHoming:Lap:TerminalGuidance:Dock:C] Running Loop=1
2019-12-03T18:35:17.540Z,1575398117.540 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:35:17.613Z,1575398117.613 [lineCaptureHoming:Lap:TerminalGuidance:Dock:C] Stopped
2019-12-03T18:35:17.613Z,1575398117.613 [lineCaptureHoming:Lap:TerminalGuidance:Dock:D] Running Loop=1
2019-12-03T18:35:17.946Z,1575398117.946 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:35:18.039Z,1575398118.039 [lineCaptureHoming:Lap:TerminalGuidance:Dock:D] Stopped
2019-12-03T18:35:18.039Z,1575398118.039 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav] Running Loop=1
2019-12-03T18:35:18.039Z,1575398118.039 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav
2019-12-03T18:35:18.039Z,1575398118.039 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav] Running Loop=1
2019-12-03T18:35:18.039Z,1575398118.039 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Initialize SetNavComponent.
2019-12-03T18:35:18.348Z,1575398118.348 [DDM](INFO): Pausing: Closing Latch
2019-12-03T18:35:18.445Z,1575398118.445 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav] Stopped
2019-12-03T18:35:18.445Z,1575398118.445 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav
2019-12-03T18:35:18.445Z,1575398118.445 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav] Stopped
2019-12-03T18:35:18.445Z,1575398118.445 [lineCaptureHoming:Lap:TerminalGuidance:Dock:UpdateNav:A.SetNav](DEBUG): Uninitialize SetNavComponent.
2019-12-03T18:35:18.445Z,1575398118.445 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait] Running Loop=1
2019-12-03T18:35:18.445Z,1575398118.445 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:35:18.446Z,1575398118.446 [lineCaptureHoming:TrackTransponder] Stopped
2019-12-03T18:35:18.446Z,1575398118.446 [lineCaptureHoming:TrackTransponder](DEBUG): Aggregate::uninitialize lineCaptureHoming:TrackTransponder
2019-12-03T18:35:18.446Z,1575398118.446 [lineCaptureHoming:TrackTransponder:A.] Stopped
2019-12-03T18:35:39.746Z,1575398139.746 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:35:42.034Z,1575398142.034 [CommandLine](IMPORTANT): got command stop
2019-12-03T18:35:42.034Z,1575398142.034 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-12-03T18:35:42.229Z,1575398142.229 [MissionManager](INFO): MissionManager is completed.
2019-12-03T18:35:42.229Z,1575398142.229 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2019-12-03T18:35:42.229Z,1575398142.229 [lineCaptureHoming] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:B.Mass] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:B.Mass](DEBUG): Uninitialize.
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance:A] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance:Dock] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance:Dock](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:Dock
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait] Stopped
2019-12-03T18:35:42.230Z,1575398142.230 [lineCaptureHoming:Lap:TerminalGuidance:Dock:F.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:35:42.596Z,1575398142.596 [MissionManager](IMPORTANT): Started mission Default
2019-12-03T18:35:42.600Z,1575398142.600 [Default] Running Loop=1
2019-12-03T18:35:42.601Z,1575398142.601 [Default](DEBUG): Aggregate::initialize Default
2019-12-03T18:35:42.601Z,1575398142.601 [Default:B.GoToSurface] Running Loop=1
2019-12-03T18:35:42.601Z,1575398142.601 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-12-03T18:35:42.601Z,1575398142.601 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-12-03T18:35:42.601Z,1575398142.601 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-12-03T18:35:42.602Z,1575398142.602 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-12-03T18:35:42.602Z,1575398142.602 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-12-03T18:35:42.602Z,1575398142.602 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-12-03T18:35:42.603Z,1575398142.603 [Default:A.Wait] Running Loop=1
2019-12-03T18:35:42.603Z,1575398142.603 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:35:55.937Z,1575398155.937 [Default:A.Wait](INFO): Done Waiting.
2019-12-03T18:35:55.937Z,1575398155.937 [Default:A.Wait] Stopped
2019-12-03T18:35:55.937Z,1575398155.937 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:35:56.365Z,1575398156.365 [Default:CheckIn] Running Loop=1
2019-12-03T18:35:56.365Z,1575398156.365 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:35:56.365Z,1575398156.365 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:35:57.926Z,1575398157.926 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T18:35:57.927Z,1575398157.927 [NAL9602] Data Fault, FailCount= 5
2019-12-03T18:35:57.927Z,1575398157.927 [NAL9602](ERROR): Data Fault
2019-12-03T18:35:58.023Z,1575398158.023 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T18:35:58.023Z,1575398158.023 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-12-03T18:35:58.330Z,1575398158.330 [NAL9602](INFO): Powering down
2019-12-03T18:35:58.369Z,1575398158.369 [CommandLine](FAULT): Scheduling is paused
2019-12-03T18:35:58.370Z,1575398158.370 [CBIT](INFO): Critical error at 20191203T183558
2019-12-03T18:36:08.040Z,1575398168.040 [PowerOnly](INFO): Powering down
2019-12-03T18:36:08.885Z,1575398168.885 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T18:37:11.337Z,1575398231.337 [CommandLine](IMPORTANT): got command failComponent
2019-12-03T18:37:11.337Z,1575398231.337 [CommandLine](IMPORTANT): Failed components:
2019-12-03T18:37:11.337Z,1575398231.337 [CommandLine](IMPORTANT): NAL9602: Data Fault
2019-12-03T18:37:57.989Z,1575398277.989 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T18:37:57.989Z,1575398277.989 [NAL9602] No Fault, FailCount= 5
2019-12-03T18:37:58.319Z,1575398278.319 [NAL9602](INFO): Powering up NAL9602
2019-12-03T18:38:09.227Z,1575398289.227 [NAL9602](INFO): NAL9602 initialized
2019-12-03T18:40:31.892Z,1575398431.892 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:40:31.892Z,1575398431.892 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311524588,35.0, -0.1,   0.0,14
2019-12-03T18:40:56.528Z,1575398456.528 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T18:35:56.4Z
2019-12-03T18:40:56.544Z,1575398456.544 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:40:56.545Z,1575398456.545 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T18:41:04.576Z,1575398464.576 [DataOverHttps](INFO): Sending 109 bytes from file Logs/20191203T182246/Courier0021.lzma
2019-12-03T18:41:06.582Z,1575398466.582 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0021.lzma.bak
2019-12-03T18:41:06.582Z,1575398466.582 [DataOverHttps](INFO): SBD MOMSN=12114260
2019-12-03T18:41:19.352Z,1575398479.352 [CommandLine](IMPORTANT): got command burn on
2019-12-03T18:41:19.352Z,1575398479.352 [CommandLine](IMPORTANT): Activating dropweight wire
2019-12-03T18:41:24.290Z,1575398484.290 [DataOverHttps](INFO): Sending 1225 bytes from file Logs/20191203T182246/Express0022.lzma
2019-12-03T18:41:26.294Z,1575398486.294 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0022.lzma.bak
2019-12-03T18:41:26.294Z,1575398486.294 [DataOverHttps](INFO): SBD MOMSN=12114263
2019-12-03T18:41:28.447Z,1575398488.447 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T18:41:28.448Z,1575398488.448 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T18:41:28.448Z,1575398488.448 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:41:33.267Z,1575398493.267 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T18:41:50.238Z,1575398510.238 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:41:50.239Z,1575398510.239 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:41:52.259Z,1575398512.259 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:41:52.260Z,1575398512.260 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:42:06.566Z,1575398526.566 [CommandLine](IMPORTANT): got command burn off
2019-12-03T18:42:06.566Z,1575398526.566 [CommandLine](IMPORTANT): Deactivating dropweight wire
2019-12-03T18:42:10.874Z,1575398530.874 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T18:42:10.874Z,1575398530.874 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768V
2019-12-03T18:43:12.641Z,1575398592.641 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T18:43:43.342Z,1575398623.342 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:43:46.228Z,1575398626.228 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T18:43:46.228Z,1575398626.228 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,
2019-12-03T18:44:51.239Z,1575398691.239 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:44:51.239Z,1575398691.239 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120311570488,31,   0.0,1448.RA,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T18:46:29.028Z,1575398789.028 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T18:46:29.028Z,1575398789.028 [Default:CheckIn:C.Wait] Stopped
2019-12-03T18:46:29.028Z,1575398789.028 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:46:29.029Z,1575398789.029 [Default:CheckIn:D] Running Loop=1
2019-12-03T18:46:29.416Z,1575398789.416 [Default:CheckIn:D] Stopped
2019-12-03T18:46:29.416Z,1575398789.416 [Default:CheckIn:E] Running Loop=1
2019-12-03T18:46:29.861Z,1575398789.861 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 10.780258 min 
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn:E] Stopped
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn] Stopped
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn](INFO): Running loop #2
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn] Running Loop=2
2019-12-03T18:46:29.862Z,1575398789.862 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:46:29.863Z,1575398789.863 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:46:56.192Z,1575398816.192 [CommandLine](IMPORTANT): got command show variable powerOnly
2019-12-03T18:46:56.233Z,1575398816.233 [CommandLine](IMPORTANT): PowerOnly.loadControl (none)
2019-12-03T18:46:56.260Z,1575398816.260 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup (bool)
2019-12-03T18:46:56.261Z,1575398816.261 [CommandLine](IMPORTANT): PowerOnly.simulateHardware (bool)
2019-12-03T18:46:56.261Z,1575398816.261 [CommandLine](IMPORTANT): PowerOnly.sampleTime (second)
2019-12-03T18:46:56.315Z,1575398816.315 [CommandLine](IMPORTANT): PowerOnly.samplePowerOnly (bool)
2019-12-03T18:46:56.369Z,1575398816.369 [CommandLine](IMPORTANT): PowerOnly.component_voltage (volt)
2019-12-03T18:46:56.370Z,1575398816.370 [CommandLine](IMPORTANT): PowerOnly.component_avgVoltage (volt)
2019-12-03T18:46:56.370Z,1575398816.370 [CommandLine](IMPORTANT): PowerOnly.component_current (milliampere)
2019-12-03T18:46:56.371Z,1575398816.371 [CommandLine](IMPORTANT): PowerOnly.component_avgCurrent (milliampere)
2019-12-03T18:47:02.515Z,1575398822.515 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-12-03T18:47:02.596Z,1575398822.596 [NAL9602](FAULT): received: 
+CSQ:0

OK
2019-12-03T18:47:02.596Z,1575398822.596 [NAL9602] Data Fault, FailCount= 1
2019-12-03T18:47:02.596Z,1575398822.596 [NAL9602](ERROR): Data Fault
2019-12-03T18:47:02.699Z,1575398822.699 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T18:47:02.949Z,1575398822.949 [NAL9602](INFO): Powering down
2019-12-03T18:47:03.811Z,1575398823.811 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T18:47:03.811Z,1575398823.811 [NAL9602] No Fault, FailCount= 1
2019-12-03T18:47:04.843Z,1575398824.843 [CommandLine](IMPORTANT): got command report mod PowerOnly.component_avgCurrent
2019-12-03T18:47:04.993Z,1575398824.993 [Reporter](INFO): PowerOnly.component_avgCurrent no_value
2019-12-03T18:47:33.219Z,1575398853.219 [NAL9602](INFO): Powering up NAL9602
2019-12-03T18:47:44.126Z,1575398864.126 [NAL9602](INFO): NAL9602 initialized
2019-12-03T18:51:30.003Z,1575399090.003 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T18:46:29.9Z
2019-12-03T18:51:30.003Z,1575399090.003 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T18:51:30.004Z,1575399090.004 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T18:51:34.014Z,1575399094.014 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T18:51:38.021Z,1575399098.021 [DataOverHttps](INFO): Sending 553 bytes from file Logs/20191203T182246/Express0025.lzma
2019-12-03T18:51:40.026Z,1575399100.026 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0025.lzma.bak
2019-12-03T18:51:40.026Z,1575399100.026 [DataOverHttps](INFO): SBD MOMSN=12114396
2019-12-03T18:51:42.148Z,1575399102.148 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T18:51:42.148Z,1575399102.148 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T18:51:42.148Z,1575399102.148 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T18:52:04.710Z,1575399124.710 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T18:53:35.241Z,1575399215.241 [RDI_Pathfinder](ERROR): Failed to parse:
:R +0.00,        +0    +0.00,   0.00,7254.79
2019-12-03T18:53:37.251Z,1575399217.251 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:53:37.251Z,1575399217.251 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312055088,35.0, -0.1,   .9,  0
2019-12-03T18:53:42.964Z,1575399222.964 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T18:53:42.965Z,1575399222.965 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.0  +0.00,        +0.00,   0.00,7263.79
2019-12-03T18:56:42.707Z,1575399402.707 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T18:56:42.707Z,1575399402.707 [Default:CheckIn:C.Wait] Stopped
2019-12-03T18:56:42.707Z,1575399402.707 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T18:56:42.708Z,1575399402.708 [Default:CheckIn:D] Running Loop=1
2019-12-03T18:56:43.118Z,1575399403.118 [Default:CheckIn:D] Stopped
2019-12-03T18:56:43.118Z,1575399403.118 [Default:CheckIn:E] Running Loop=1
2019-12-03T18:56:43.516Z,1575399403.516 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 21.008630 min 
2019-12-03T18:56:43.516Z,1575399403.516 [Default:CheckIn:E] Stopped
2019-12-03T18:56:43.516Z,1575399403.516 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T18:56:43.516Z,1575399403.516 [Default:CheckIn] Stopped
2019-12-03T18:56:43.520Z,1575399403.520 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T18:56:43.520Z,1575399403.520 [Default:CheckIn](INFO): Running loop #3
2019-12-03T18:56:43.521Z,1575399403.521 [Default:CheckIn] Running Loop=3
2019-12-03T18:56:43.521Z,1575399403.521 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T18:56:43.521Z,1575399403.521 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T18:56:45.089Z,1575399405.089 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T18:56:45.089Z,1575399405.089 [NAL9602] Data Fault, FailCount= 2
2019-12-03T18:56:45.089Z,1575399405.089 [NAL9602](ERROR): Data Fault
2019-12-03T18:56:45.155Z,1575399405.155 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T18:56:45.494Z,1575399405.494 [NAL9602](INFO): Powering down
2019-12-03T18:56:46.353Z,1575399406.353 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T18:56:46.353Z,1575399406.353 [NAL9602] No Fault, FailCount= 2
2019-12-03T18:57:15.798Z,1575399435.798 [NAL9602](INFO): Powering up NAL9602
2019-12-03T18:57:26.704Z,1575399446.704 [NAL9602](INFO): NAL9602 initialized
2019-12-03T18:57:58.237Z,1575399478.237 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T18:57:58.237Z,1575399478.237 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T18:58:17.241Z,1575399497.241 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T18:58:17.241Z,1575399497.241 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312103088,35.0, -0.1,   0.0  0
2019-12-03T18:58:39.887Z,1575399519.887 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T18:58:39.887Z,1575399519.887 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-12-03T18:59:57.868Z,1575399597.868 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T18:59:57.872Z,1575399597.872 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.   +0.00,        +0.00,   0.00,7638.60
2019-12-03T19:01:43.696Z,1575399703.696 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T18:56:43.5Z
2019-12-03T19:01:43.697Z,1575399703.697 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:01:43.697Z,1575399703.697 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:01:48.946Z,1575399708.946 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T19:01:48.946Z,1575399708.946 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3768,V
2019-12-03T19:01:51.676Z,1575399711.676 [DataOverHttps](INFO): Sending 268 bytes from file Logs/20191203T182246/Express0028.lzma
2019-12-03T19:01:53.682Z,1575399713.682 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0028.lzma.bak
2019-12-03T19:01:53.682Z,1575399713.682 [DataOverHttps](INFO): SBD MOMSN=12114547
2019-12-03T19:01:55.819Z,1575399715.819 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:01:55.819Z,1575399715.819 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:01:55.819Z,1575399715.819 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:02:30.126Z,1575399750.126 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T19:02:38.233Z,1575399758.233 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:02:38.233Z,1575399758.233 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:02:59.236Z,1575399779.236 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:02:59.236Z,1575399779.236 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:03:00.853Z,1575399780.853 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:03:19.871Z,1575399799.871 [CommandLine](IMPORTANT): got command failComponent
2019-12-03T19:03:19.871Z,1575399799.871 [CommandLine](IMPORTANT): Failed components:
2019-12-03T19:03:19.871Z,1575399799.871 [CommandLine](IMPORTANT): No failed Components.
2019-12-03T19:03:22.915Z,1575399802.915 [CommandLine](IMPORTANT): got command failComponent hardware DDM
2019-12-03T19:03:22.916Z,1575399802.916 [DDM] Hardware Fault, FailCount= 1
2019-12-03T19:03:22.916Z,1575399802.916 [DDM](ERROR): Hardware Fault
2019-12-03T19:03:22.917Z,1575399802.917 [CommandLine](IMPORTANT): DDM failureMode is Hardware Fault
2019-12-03T19:03:23.042Z,1575399803.042 [DDM](INFO): Powering down
2019-12-03T19:03:23.257Z,1575399803.257 [CBIT](ERROR): Hardware Fault in component: DDM
2019-12-03T19:03:23.910Z,1575399803.910 [CBIT](INFO): Clearing failed state for component DDM
2019-12-03T19:03:23.910Z,1575399803.910 [DDM] No Fault, FailCount= 1
2019-12-03T19:03:26.274Z,1575399806.274 [DDM](INFO): Powering up
2019-12-03T19:03:26.274Z,1575399806.274 [DDM](DEBUG): Initializing DDM.
2019-12-03T19:03:36.781Z,1575399816.781 [DDM](INFO): Dynamic Docking Module:�����(
2019-12-03T19:03:36.967Z,1575399816.967 [Reporter](INFO): DDM.DDMMode 1 enum
2019-12-03T19:03:37.233Z,1575399817.233 [Reporter](INFO): DDM.DDMMode no_value
2019-12-03T19:03:37.586Z,1575399817.586 [DDM](INFO): Pause: Retracting whiskers
2019-12-03T19:03:37.990Z,1575399817.990 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T19:03:38.395Z,1575399818.395 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T19:03:38.801Z,1575399818.801 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T19:03:39.202Z,1575399819.202 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T19:03:39.606Z,1575399819.606 [DDM](INFO): Pausing: Retracting Whiskers
2019-12-03T19:04:42.266Z,1575399882.266 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T19:04:42.266Z,1575399882.266 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-12-03T19:04:55.584Z,1575399895.584 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:04:55.584Z,1575399895.584 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312170888,35.0, -.0,1448.9,  0
2019-12-03T19:05:40.858Z,1575399940.858 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:05:40.858Z,1575399940.858 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:06:56.409Z,1575400016.409 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:06:56.410Z,1575400016.410 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:06:56.410Z,1575400016.410 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:06:56.410Z,1575400016.410 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:06:56.820Z,1575400016.820 [Default:CheckIn:D] Stopped
2019-12-03T19:06:56.820Z,1575400016.820 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:06:57.205Z,1575400017.205 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 31.236991 min 
2019-12-03T19:06:57.205Z,1575400017.205 [Default:CheckIn:E] Stopped
2019-12-03T19:06:57.205Z,1575400017.205 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:06:57.205Z,1575400017.205 [Default:CheckIn] Stopped
2019-12-03T19:06:57.205Z,1575400017.205 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:06:57.206Z,1575400017.206 [Default:CheckIn](INFO): Running loop #4
2019-12-03T19:06:57.206Z,1575400017.206 [Default:CheckIn] Running Loop=4
2019-12-03T19:06:57.206Z,1575400017.206 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:06:57.206Z,1575400017.206 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:07:00.857Z,1575400020.857 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T19:07:00.857Z,1575400020.857 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,32768,V
2019-12-03T19:07:29.891Z,1575400049.891 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-12-03T19:07:29.972Z,1575400049.972 [NAL9602](FAULT): received: 
+CSQ:0

OK
2019-12-03T19:07:29.972Z,1575400049.972 [NAL9602] Data Fault, FailCount= 3
2019-12-03T19:07:29.972Z,1575400049.972 [NAL9602](ERROR): Data Fault
2019-12-03T19:07:30.091Z,1575400050.091 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T19:07:30.294Z,1575400050.294 [NAL9602](INFO): Powering down
2019-12-03T19:07:31.207Z,1575400051.207 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T19:07:31.207Z,1575400051.207 [NAL9602] No Fault, FailCount= 3
2019-12-03T19:07:41.222Z,1575400061.222 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:07:41.222Z,1575400061.222 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:08:00.598Z,1575400080.598 [NAL9602](INFO): Powering up NAL9602
2019-12-03T19:08:11.506Z,1575400091.506 [NAL9602](INFO): NAL9602 initialized
2019-12-03T19:08:12.308Z,1575400092.308 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T19:08:12.308Z,1575400092.308 [NAL9602] Data Fault, FailCount= 4
2019-12-03T19:08:12.309Z,1575400092.309 [NAL9602](ERROR): Data Fault
2019-12-03T19:08:12.353Z,1575400092.353 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T19:08:12.714Z,1575400092.714 [NAL9602](INFO): Powering down
2019-12-03T19:08:13.580Z,1575400093.580 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T19:08:13.581Z,1575400093.581 [NAL9602] No Fault, FailCount= 4
2019-12-03T19:08:43.014Z,1575400123.014 [NAL9602](INFO): Powering up NAL9602
2019-12-03T19:08:53.921Z,1575400133.921 [NAL9602](INFO): NAL9602 initialized
2019-12-03T19:11:57.381Z,1575400317.381 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T19:06:57.2Z
2019-12-03T19:11:57.381Z,1575400317.381 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:11:57.381Z,1575400317.381 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:12:00.993Z,1575400320.993 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-12-03T19:12:08.689Z,1575400328.689 [DataOverHttps](INFO): Sending 562 bytes from file Logs/20191203T182246/Express0031.lzma
2019-12-03T19:12:10.694Z,1575400330.694 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0031.lzma.bak
2019-12-03T19:12:10.694Z,1575400330.694 [DataOverHttps](INFO): SBD MOMSN=12114552
2019-12-03T19:12:12.763Z,1575400332.763 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:12:12.763Z,1575400332.763 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:12:12.763Z,1575400332.763 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:12:21.233Z,1575400341.233 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:12:21.234Z,1575400341.234 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00,   I,-32768,-32768,-32768,-32768,V
2019-12-03T19:12:31.696Z,1575400351.696 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:14:34.948Z,1575400474.948 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-12-03T19:14:34.950Z,1575400474.950 [BPC1](INFO): Received data from all battery sticks.
2019-12-03T19:15:06.885Z,1575400506.885 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T19:15:06.885Z,1575400506.885 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +0.00 +0.00,        +0.00,   0.00,8546.99
2019-12-03T19:16:55.574Z,1575400615.574 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:16:55.574Z,1575400615.574 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312290888,35,   0.0,1448.9,  0
2019-12-03T19:17:13.359Z,1575400633.359 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:17:13.359Z,1575400633.359 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:17:13.359Z,1575400633.359 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:17:13.360Z,1575400633.360 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:17:13.795Z,1575400633.795 [Default:CheckIn:D] Stopped
2019-12-03T19:17:13.795Z,1575400633.795 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:17:14.187Z,1575400634.187 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 41.519902 min 
2019-12-03T19:17:14.187Z,1575400634.187 [Default:CheckIn:E] Stopped
2019-12-03T19:17:14.187Z,1575400634.187 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:17:14.187Z,1575400634.187 [Default:CheckIn] Stopped
2019-12-03T19:17:14.188Z,1575400634.188 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:17:14.188Z,1575400634.188 [Default:CheckIn](INFO): Running loop #5
2019-12-03T19:17:14.188Z,1575400634.188 [Default:CheckIn] Running Loop=5
2019-12-03T19:17:14.196Z,1575400634.196 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:17:14.196Z,1575400634.196 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:17:46.870Z,1575400666.870 [NAL9602](ERROR): Failed to receive proper response when querying signal strength for MT queue check.
2019-12-03T19:17:46.952Z,1575400666.952 [NAL9602](FAULT): received: 
+CSQ:0

OK
2019-12-03T19:17:46.953Z,1575400666.953 [NAL9602] Data Fault, FailCount= 5
2019-12-03T19:17:46.953Z,1575400666.953 [NAL9602](ERROR): Data Fault
2019-12-03T19:17:46.995Z,1575400666.995 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T19:17:46.995Z,1575400666.995 [CBIT](CRITICAL): Data Fault in component: NAL9602
2019-12-03T19:17:47.254Z,1575400667.254 [NAL9602](INFO): Powering down
2019-12-03T19:17:47.358Z,1575400667.358 [CBIT](INFO): Critical error at 20191203T191746
2019-12-03T19:19:01.203Z,1575400741.203 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:19:01.203Z,1575400741.203 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,191203123114880.1,   0.0,1448.9,  0
2019-12-03T19:19:47.279Z,1575400787.279 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T19:19:47.279Z,1575400787.279 [NAL9602] No Fault, FailCount= 5
2019-12-03T19:19:47.647Z,1575400787.647 [NAL9602](INFO): Powering up NAL9602
2019-12-03T19:19:58.554Z,1575400798.554 [NAL9602](INFO): NAL9602 initialized
2019-12-03T19:19:59.362Z,1575400799.362 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-12-03T19:19:59.362Z,1575400799.362 [NAL9602] Data Fault, FailCount= 1
2019-12-03T19:19:59.362Z,1575400799.362 [NAL9602](ERROR): Data Fault
2019-12-03T19:19:59.465Z,1575400799.465 [CBIT](ERROR): Data Fault in component: NAL9602
2019-12-03T19:19:59.770Z,1575400799.770 [NAL9602](INFO): Powering down
2019-12-03T19:20:00.634Z,1575400800.634 [CBIT](INFO): Clearing failed state for component NAL9602
2019-12-03T19:20:00.634Z,1575400800.634 [NAL9602] No Fault, FailCount= 1
2019-12-03T19:20:30.075Z,1575400830.075 [NAL9602](INFO): Powering up NAL9602
2019-12-03T19:20:40.983Z,1575400840.983 [NAL9602](INFO): NAL9602 initialized
2019-12-03T19:21:14.116Z,1575400874.116 [NAL9602](INFO): SBD MO Status=2, MOMSN=10062, MT Status=2, MTMSN=0
2019-12-03T19:21:14.117Z,1575400874.117 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T19:21:29.466Z,1575400889.466 [NAL9602](INFO): SBD MO Status=0, MOMSN=10062, MT Status=0, MTMSN=0
2019-12-03T19:21:29.466Z,1575400889.466 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:22:14.366Z,1575400934.366 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-12-03T19:17:14.2Z
2019-12-03T19:22:14.366Z,1575400934.366 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:22:14.367Z,1575400934.367 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:22:22.452Z,1575400942.452 [DataOverHttps](INFO): Sending 225 bytes from file Logs/20191203T182246/Courier0033.lzma
2019-12-03T19:22:24.458Z,1575400944.458 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0033.lzma.bak
2019-12-03T19:22:24.458Z,1575400944.458 [DataOverHttps](INFO): SBD MOMSN=12114563
2019-12-03T19:22:41.905Z,1575400961.905 [DataOverHttps](INFO): Sending 314 bytes from file Logs/20191203T182246/Express0034.lzma
2019-12-03T19:22:43.910Z,1575400963.910 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0034.lzma.bak
2019-12-03T19:22:43.910Z,1575400963.910 [DataOverHttps](INFO): SBD MOMSN=12114566
2019-12-03T19:22:45.859Z,1575400965.859 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:22:45.859Z,1575400965.859 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:22:45.860Z,1575400965.860 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:22:47.040Z,1575400967.040 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:25:17.625Z,1575401117.625 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T192515
2019-12-03T19:25:25.364Z,1575401125.364 [DataOverHttps](INFO): Received command:ibit
2019-12-03T19:25:25.372Z,1575401125.372 [CommandLine](IMPORTANT): got command ibit
2019-12-03T19:25:25.473Z,1575401125.473 [IBIT](IMPORTANT): Beginning Initiated BIT
2019-12-03T19:25:25.473Z,1575401125.473 [IBIT](IMPORTANT): Beginning control surface checks.
2019-12-03T19:25:25.479Z,1575401125.479 [CBIT](IMPORTANT): Beginning ground fault scan
2019-12-03T19:25:36.444Z,1575401136.444 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.023500
CHAN A1 (24V): -0.026038
CHAN A2 (12V): -0.006167
CHAN A3 (5V): -0.001460
CHAN B0 (3.3V): 0.000372
CHAN B1 (3.15aV): 0.000267
CHAN B2 (3.15bV): 0.000195
CHAN B3 (GND): 0.002412
OPEN: 0.005047
Full Scale Calc: 4.765 mA, -1.589 mA
2019-12-03T19:25:40.890Z,1575401140.890 [IBIT](FAULT): Rudder: EXPECTED:15.000000 ACTUAL:14.975829
2019-12-03T19:25:40.890Z,1575401140.890 [IBIT](FAULT): Control surface position failure.
2019-12-03T19:27:16.569Z,1575401236.569 [IBIT](FAULT): Error acquiring IBIT communications status. Timeout expired.
2019-12-03T19:27:17.005Z,1575401237.005 [IBIT](IMPORTANT): Battery Status:
Battery Charge (AH): 0.000000
Voltage: 0.000000
2019-12-03T19:27:17.005Z,1575401237.005 [IBIT](IMPORTANT): batteryCapacityThreshold: 50.000000 Ah
2019-12-03T19:27:17.006Z,1575401237.006 [IBIT](IMPORTANT): batteryVoltageThreshold: 13.700000 V
2019-12-03T19:27:17.379Z,1575401237.379 [IBIT](IMPORTANT): bitHumidityThreshold: 55.000000 %
2019-12-03T19:27:17.380Z,1575401237.380 [IBIT](IMPORTANT): bitPressureThreshold: 0.750000 psi
2019-12-03T19:27:17.380Z,1575401237.380 [IBIT](IMPORTANT): Pressure:9.451637 PSI
2019-12-03T19:27:17.380Z,1575401237.380 [IBIT](IMPORTANT): Humidity:10.596996 %
2019-12-03T19:27:17.801Z,1575401237.801 [IBIT](IMPORTANT): Vehicle Pitch:-0.823951 degrees
2019-12-03T19:27:17.801Z,1575401237.801 [IBIT](IMPORTANT): Vehicle  Roll:6.051968 degrees
2019-12-03T19:27:17.802Z,1575401237.802 [IBIT](IMPORTANT): Vehicle  Heading:267.626648 degrees
2019-12-03T19:27:18.214Z,1575401238.214 [IBIT](IMPORTANT): surfaceThreshold: 1.000000 m
2019-12-03T19:27:18.214Z,1575401238.214 [IBIT](IMPORTANT): buoyancyNeutral: 254.999985 cc
2019-12-03T19:27:18.215Z,1575401238.215 [IBIT](IMPORTANT): massDefault: 0.380000 cm
2019-12-03T19:27:18.215Z,1575401238.215 [IBIT](IMPORTANT): stopDepth: 215.000000 m
2019-12-03T19:27:18.215Z,1575401238.215 [IBIT](IMPORTANT): abortDepth: 255.000000 m
2019-12-03T19:27:18.215Z,1575401238.215 [IBIT](IMPORTANT): IBIT FAILED
2019-12-03T19:27:46.480Z,1575401266.480 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:27:46.480Z,1575401266.480 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:27:46.480Z,1575401266.480 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:27:46.480Z,1575401266.480 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:27:46.947Z,1575401266.947 [Default:CheckIn:D] Stopped
2019-12-03T19:27:46.947Z,1575401266.947 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:27:47.295Z,1575401267.295 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 52.072445 min 
2019-12-03T19:27:47.295Z,1575401267.295 [Default:CheckIn:E] Stopped
2019-12-03T19:27:47.295Z,1575401267.295 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:27:47.295Z,1575401267.295 [Default:CheckIn] Stopped
2019-12-03T19:27:47.295Z,1575401267.295 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:27:47.295Z,1575401267.295 [Default:CheckIn](INFO): Running loop #6
2019-12-03T19:27:47.296Z,1575401267.296 [Default:CheckIn] Running Loop=6
2019-12-03T19:27:47.296Z,1575401267.296 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:27:47.296Z,1575401267.296 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:28:49.456Z,1575401329.456 [NAL9602](INFO): SBD MO Status=2, MOMSN=10063, MT Status=2, MTMSN=0
2019-12-03T19:28:49.456Z,1575401329.456 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T19:29:15.711Z,1575401355.711 [NAL9602](INFO): SBD MO Status=0, MOMSN=10063, MT Status=0, MTMSN=0
2019-12-03T19:29:15.711Z,1575401355.711 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:29:15.712Z,1575401355.712 [NAL9602](INFO): Failure count cleared after critical for NAL9602
2019-12-03T19:30:01.768Z,1575401401.768 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193001.00,A,3648.13358,N,12147.24825,W,0.156,182.01,031219,,,A*7B
2019-12-03T19:30:01.771Z,1575401401.771 [NAL9602](INFO): GPS fix at 20191203T193001: (36.802226, -121.787471)
2019-12-03T19:30:01.891Z,1575401401.891 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:30:01.892Z,1575401401.892 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:30:11.124Z,1575401411.124 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20191203T182246/Courier0036.lzma
2019-12-03T19:30:14.134Z,1575401414.134 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0036.lzma.bak
2019-12-03T19:30:14.134Z,1575401414.134 [DataOverHttps](INFO): SBD MOMSN=12114576
2019-12-03T19:30:33.955Z,1575401433.955 [DataOverHttps](INFO): Sending 1266 bytes from file Logs/20191203T182246/Express0037.lzma
2019-12-03T19:30:34.570Z,1575401434.570 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:30:40.990Z,1575401440.990 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0037.lzma.bak
2019-12-03T19:30:40.990Z,1575401440.990 [DataOverHttps](INFO): SBD MOMSN=12114579
2019-12-03T19:30:43.113Z,1575401443.113 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:30:43.113Z,1575401443.113 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:30:43.113Z,1575401443.113 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:31:57.855Z,1575401517.855 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-12-03T19:31:57.855Z,1575401517.855 [RDI_Pathfinder](ERROR): Failed to parse:
:RA   0.00,   0.00,   0.00,   0.00
2019-12-03T19:32:14.390Z,1575401534.390 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:32:14.391Z,1575401534.391 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312442788,35.0, -0.1,   0.0,1448.9,,  0.00,   0.00,   0.00,   0.00,   0.00
2019-12-03T19:35:43.694Z,1575401743.694 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:35:43.694Z,1575401743.694 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:35:43.695Z,1575401743.695 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:35:43.695Z,1575401743.695 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:35:44.127Z,1575401744.127 [Default:CheckIn:D] Stopped
2019-12-03T19:35:44.127Z,1575401744.127 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:35:44.497Z,1575401744.497 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 60.025448 min 
2019-12-03T19:35:44.497Z,1575401744.497 [Default:CheckIn:E] Stopped
2019-12-03T19:35:44.497Z,1575401744.497 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:35:44.497Z,1575401744.497 [Default:CheckIn] Stopped
2019-12-03T19:35:44.497Z,1575401744.497 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:35:44.498Z,1575401744.498 [Default:CheckIn](INFO): Running loop #7
2019-12-03T19:35:44.498Z,1575401744.498 [Default:CheckIn] Running Loop=7
2019-12-03T19:35:44.498Z,1575401744.498 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:35:44.498Z,1575401744.498 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:35:46.470Z,1575401746.470 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,193545.00,A,3648.14054,N,12147.20826,W,0.039,42.81,031219,,,D*49
2019-12-03T19:35:46.473Z,1575401746.473 [NAL9602](INFO): GPS fix at 20191203T193545: (36.802342, -121.786804)
2019-12-03T19:35:46.524Z,1575401746.524 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:35:46.524Z,1575401746.524 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:35:56.564Z,1575401756.564 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191203T182246/Courier0039.lzma
2019-12-03T19:35:58.216Z,1575401758.216 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:35:58.216Z,1575401758.216 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312481188,35.0  0.0,1448.9,  0
2019-12-03T19:35:58.570Z,1575401758.570 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0039.lzma.bak
2019-12-03T19:35:58.570Z,1575401758.570 [DataOverHttps](INFO): SBD MOMSN=12114610
2019-12-03T19:36:20.024Z,1575401780.024 [NAL9602](INFO): SBD MO Status=2, MOMSN=10064, MT Status=2, MTMSN=0
2019-12-03T19:36:20.024Z,1575401780.024 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T19:36:20.200Z,1575401780.200 [DataOverHttps](INFO): Sending 257 bytes from file Logs/20191203T182246/Express0041.lzma
2019-12-03T19:36:22.206Z,1575401782.206 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0041.lzma.bak
2019-12-03T19:36:22.206Z,1575401782.206 [DataOverHttps](INFO): SBD MOMSN=12114613
2019-12-03T19:36:24.529Z,1575401784.529 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:36:24.529Z,1575401784.529 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:36:24.530Z,1575401784.530 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:36:37.850Z,1575401797.850 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:36:37.850Z,1575401797.850 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:36:46.283Z,1575401806.283 [NAL9602](INFO): SBD MO Status=2, MOMSN=10064, MT Status=2, MTMSN=0
2019-12-03T19:36:46.284Z,1575401806.284 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T19:37:03.292Z,1575401823.292 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-12-03T19:37:10.119Z,1575401830.119 [NAL9602](INFO): SBD MO Status=0, MOMSN=10064, MT Status=0, MTMSN=0
2019-12-03T19:37:10.119Z,1575401830.119 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:37:40.050Z,1575401860.050 [RDI_Pathfinder](ERROR): Failed to parse:
:B  +0.00,        +0.00,        +0.00,   0.00,9897.67
2019-12-03T19:37:40.840Z,1575401860.840 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:38:54.371Z,1575401934.371 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:38:54.372Z,1575401934.372 [RDI_Pathfinder](ERROR): Failed to parse:
:TS2510788,35.0, -0.1,   0.0,1448.9,  0
2019-12-03T19:40:15.198Z,1575402015.198 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-3268,-32768,V
2019-12-03T19:40:19.218Z,1575402019.218 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:40:19.218Z,1575402019.218 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312523288,31,   0.0,1448.9,  0
2019-12-03T19:40:41.863Z,1575402041.863 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T19:41:25.089Z,1575402085.089 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:41:25.089Z,1575402085.089 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:41:25.089Z,1575402085.089 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:41:25.089Z,1575402085.089 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:41:25.512Z,1575402085.512 [Default:CheckIn:D] Stopped
2019-12-03T19:41:25.513Z,1575402085.513 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:41:25.925Z,1575402085.925 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 65.715198 min 
2019-12-03T19:41:25.925Z,1575402085.925 [Default:CheckIn:E] Stopped
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn] Stopped
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn](INFO): Running loop #8
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn] Running Loop=8
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:41:25.926Z,1575402085.926 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:41:27.870Z,1575402087.870 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194127.00,A,3648.13823,N,12147.20520,W,0.058,102.40,031219,,,D*75
2019-12-03T19:41:27.872Z,1575402087.872 [NAL9602](INFO): GPS fix at 20191203T194127: (36.802304, -121.786753)
2019-12-03T19:41:27.948Z,1575402087.948 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:41:27.948Z,1575402087.948 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:41:35.202Z,1575402095.202 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:41:35.202Z,1575402095.202 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-32768,-3:BE,-32768,-32768,-32768,V
2019-12-03T19:41:37.620Z,1575402097.620 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191203T182246/Courier0045.lzma
2019-12-03T19:41:39.626Z,1575402099.626 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0045.lzma.bak
2019-12-03T19:41:39.626Z,1575402099.626 [DataOverHttps](INFO): SBD MOMSN=12114618
2019-12-03T19:41:51.308Z,1575402111.308 [NAL9602](INFO): SBD MO Status=2, MOMSN=10065, MT Status=2, MTMSN=0
2019-12-03T19:41:51.308Z,1575402111.308 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T19:41:58.195Z,1575402118.195 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2019-12-03T19:41:58.195Z,1575402118.195 [RDI_Pathfinder](ERROR): Failed to parse:
:TS,19120312541188,35.0, -.0,1448.9,  0
2019-12-03T19:41:58.265Z,1575402118.265 [DataOverHttps](INFO): Sending 317 bytes from file Logs/20191203T182246/Express0046.lzma
2019-12-03T19:42:00.270Z,1575402120.270 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0046.lzma.bak
2019-12-03T19:42:00.270Z,1575402120.270 [DataOverHttps](INFO): SBD MOMSN=12114621
2019-12-03T19:42:03.102Z,1575402123.102 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:42:03.102Z,1575402123.102 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:42:03.102Z,1575402123.102 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:42:19.991Z,1575402139.991 [NAL9602](INFO): SBD MO Status=2, MOMSN=10065, MT Status=2, MTMSN=0
2019-12-03T19:42:19.992Z,1575402139.992 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T19:42:20.904Z,1575402140.904 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2019-12-03T19:42:20.904Z,1575402140.904 [RDI_Pathfinder] Communications Fault, FailCount= 1
2019-12-03T19:42:20.904Z,1575402140.904 [RDI_Pathfinder](ERROR): Communications Fault
2019-12-03T19:42:20.905Z,1575402140.905 [RDI_Pathfinder](ERROR): Failed to parse:
2019-12-03T19:42:20.947Z,1575402140.947 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2019-12-03T19:42:21.285Z,1575402141.285 [RDI_Pathfinder](INFO): Powering down
2019-12-03T19:42:22.044Z,1575402142.044 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2019-12-03T19:42:22.044Z,1575402142.044 [RDI_Pathfinder] No Fault, FailCount= 1
2019-12-03T19:42:29.683Z,1575402149.683 [NAL9602](INFO): SBD MO Status=0, MOMSN=10065, MT Status=0, MTMSN=0
2019-12-03T19:42:29.683Z,1575402149.683 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:42:35.373Z,1575402155.373 [RDI_Pathfinder](ERROR): Failed to parse:Pathfinder
2019-12-03T19:43:00.387Z,1575402180.387 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:46:57.536Z,1575402417.536 [Micromodem](INFO): Nmea in: 731*13

2019-12-03T19:46:57.537Z,1575402417.537 [Micromodem](ERROR): Response from modem failed NMEA checksum: 731*13
 expected 0
2019-12-03T19:47:03.686Z,1575402423.686 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:47:03.686Z,1575402423.686 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:47:03.686Z,1575402423.686 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:47:03.686Z,1575402423.686 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:47:04.064Z,1575402424.064 [Default:CheckIn:D] Stopped
2019-12-03T19:47:04.064Z,1575402424.064 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:47:04.465Z,1575402424.465 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 71.357731 min 
2019-12-03T19:47:04.465Z,1575402424.465 [Default:CheckIn:E] Stopped
2019-12-03T19:47:04.465Z,1575402424.465 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:47:04.465Z,1575402424.465 [Default:CheckIn] Stopped
2019-12-03T19:47:04.465Z,1575402424.465 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:47:04.466Z,1575402424.466 [Default:CheckIn](INFO): Running loop #9
2019-12-03T19:47:04.466Z,1575402424.466 [Default:CheckIn] Running Loop=9
2019-12-03T19:47:04.466Z,1575402424.466 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:47:04.466Z,1575402424.466 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:47:06.439Z,1575402426.439 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,194705.00,A,3648.15664,N,12147.19183,W,5.190,24.63,031219,,,D*4B
2019-12-03T19:47:06.441Z,1575402426.441 [NAL9602](INFO): GPS fix at 20191203T194705: (36.802611, -121.786530)
2019-12-03T19:47:06.497Z,1575402426.497 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:47:06.497Z,1575402426.497 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:47:15.840Z,1575402435.840 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191203T182246/Courier0048.lzma
2019-12-03T19:47:17.801Z,1575402437.801 [NAL9602](INFO): SBD MO Status=0, MOMSN=10066, MT Status=0, MTMSN=0
2019-12-03T19:47:17.801Z,1575402437.801 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:47:17.846Z,1575402437.846 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0048.lzma.bak
2019-12-03T19:47:17.846Z,1575402437.846 [DataOverHttps](INFO): SBD MOMSN=12114626
2019-12-03T19:47:26.710Z,1575402446.710 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:47:26.710Z,1575402446.710 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:47:36.329Z,1575402456.329 [DataOverHttps](INFO): Sending 154 bytes from file Logs/20191203T182246/Express0049.lzma
2019-12-03T19:47:38.979Z,1575402458.979 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0049.lzma.bak
2019-12-03T19:47:38.979Z,1575402458.979 [DataOverHttps](INFO): SBD MOMSN=12114630
2019-12-03T19:47:40.519Z,1575402460.519 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:47:40.519Z,1575402460.519 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:47:40.519Z,1575402460.519 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:47:48.502Z,1575402468.502 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:48:52.771Z,1575402532.771 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:48:52.771Z,1575402532.771 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:49:02.860Z,1575402542.860 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2019-12-03T19:49:02.860Z,1575402542.860 [RDI_Pathfinder](ERROR): Failed to parse:
:RA

2019-12-03T19:49:07.334Z,1575402547.334 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2019-12-03T19:49:07.334Z,1575402547.334 [RDI_Pathfinder](ERROR): Failed to parse:
:BD,        +     +0.00,        +0.00,391.99
2019-12-03T19:49:26.325Z,1575402566.325 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:49:26.325Z,1575402566.325 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:50:50.352Z,1575402650.352 [RDI_Pathfinder](ERROR): Failed to parse:
:BE,-32768,-32768,-32768,V
2019-12-03T19:52:05.463Z,1575402725.463 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:52:05.463Z,1575402725.463 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   68.99
2019-12-03T19:52:41.059Z,1575402761.059 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:52:41.059Z,1575402761.059 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:52:41.059Z,1575402761.059 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:52:41.059Z,1575402761.059 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:52:41.442Z,1575402761.442 [Default:CheckIn:D] Stopped
2019-12-03T19:52:41.442Z,1575402761.442 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:52:41.848Z,1575402761.848 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 76.980697 min 
2019-12-03T19:52:41.852Z,1575402761.852 [Default:CheckIn:E] Stopped
2019-12-03T19:52:41.852Z,1575402761.852 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:52:41.852Z,1575402761.852 [Default:CheckIn] Stopped
2019-12-03T19:52:41.853Z,1575402761.853 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:52:41.853Z,1575402761.853 [Default:CheckIn](INFO): Running loop #10
2019-12-03T19:52:41.853Z,1575402761.853 [Default:CheckIn] Running Loop=10
2019-12-03T19:52:41.853Z,1575402761.853 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:52:41.853Z,1575402761.853 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:52:43.828Z,1575402763.828 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195243.00,A,3648.32633,N,12147.65342,W,21.071,268.83,031219,,,D*42
2019-12-03T19:52:43.830Z,1575402763.830 [NAL9602](INFO): GPS fix at 20191203T195243: (36.805439, -121.794224)
2019-12-03T19:52:43.882Z,1575402763.882 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:52:43.882Z,1575402763.882 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:52:53.432Z,1575402773.432 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20191203T182246/Courier0051.lzma
2019-12-03T19:52:55.438Z,1575402775.438 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0051.lzma.bak
2019-12-03T19:52:55.438Z,1575402775.438 [DataOverHttps](INFO): SBD MOMSN=12114635
2019-12-03T19:53:00.808Z,1575402780.808 [NAL9602](INFO): SBD MO Status=0, MOMSN=10067, MT Status=0, MTMSN=0
2019-12-03T19:53:00.808Z,1575402780.808 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:53:14.051Z,1575402794.051 [DataOverHttps](INFO): Sending 222 bytes from file Logs/20191203T182246/Express0052.lzma
2019-12-03T19:53:16.062Z,1575402796.062 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0052.lzma.bak
2019-12-03T19:53:16.062Z,1575402796.062 [DataOverHttps](INFO): SBD MOMSN=12114638
2019-12-03T19:53:18.197Z,1575402798.197 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:53:18.197Z,1575402798.197 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:53:18.197Z,1575402798.197 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:53:31.498Z,1575402811.498 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T19:53:49.319Z,1575402829.319 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2019-12-03T19:53:49.319Z,1575402829.319 [RDI_Pathfinder](ERROR): Failed to parse:
:BS,-32768,-3276,V
2019-12-03T19:55:49.686Z,1575402949.686 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2019-12-03T19:55:49.686Z,1575402949.686 [RDI_Pathfinder](ERROR): Failed to parse:
:RA,  0.00,   0.00,   0.00,   0.00
2019-12-03T19:56:09.498Z,1575402969.498 [RDI_Pathfinder](ERROR): Failed to parse:
:SA,   +0.00,   +0.00,  0.00
2019-12-03T19:58:18.806Z,1575403098.806 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T19:58:18.806Z,1575403098.806 [Default:CheckIn:C.Wait] Stopped
2019-12-03T19:58:18.806Z,1575403098.806 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T19:58:18.807Z,1575403098.807 [Default:CheckIn:D] Running Loop=1
2019-12-03T19:58:19.183Z,1575403099.183 [Default:CheckIn:D] Stopped
2019-12-03T19:58:19.183Z,1575403099.183 [Default:CheckIn:E] Running Loop=1
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 82.609692 min 
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn:E] Stopped
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn] Stopped
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn](INFO): Running loop #11
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn] Running Loop=11
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T19:58:19.606Z,1575403099.606 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T19:58:21.572Z,1575403101.572 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,195820.00,A,3648.47305,N,12149.52297,W,0.894,55.45,031219,,,D*4A
2019-12-03T19:58:21.577Z,1575403101.577 [NAL9602](INFO): GPS fix at 20191203T195820: (36.807884, -121.825383)
2019-12-03T19:58:21.632Z,1575403101.632 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T19:58:21.632Z,1575403101.632 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T19:58:31.216Z,1575403111.216 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20191203T182246/Courier0054.lzma
2019-12-03T19:58:33.222Z,1575403113.222 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Courier0054.lzma.bak
2019-12-03T19:58:33.222Z,1575403113.222 [DataOverHttps](INFO): SBD MOMSN=12114643
2019-12-03T19:58:37.732Z,1575403117.732 [NAL9602](INFO): SBD MO Status=0, MOMSN=10068, MT Status=0, MTMSN=0
2019-12-03T19:58:37.733Z,1575403117.733 [NAL9602](INFO): No messages in MT queue
2019-12-03T19:58:51.848Z,1575403131.848 [DataOverHttps](INFO): Sending 260 bytes from file Logs/20191203T182246/Express0055.lzma
2019-12-03T19:58:53.854Z,1575403133.854 [DataOverHttps](INFO): Moved sent file to Logs/20191203T182246/Express0055.lzma.bak
2019-12-03T19:58:53.854Z,1575403133.854 [DataOverHttps](INFO): SBD MOMSN=12114646
2019-12-03T19:58:55.972Z,1575403135.972 [Default:CheckIn:Read_Iridium] Stopped
2019-12-03T19:58:55.972Z,1575403135.972 [Default:CheckIn:C.Wait] Running Loop=1
2019-12-03T19:58:55.972Z,1575403135.972 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-12-03T19:59:08.430Z,1575403148.430 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T20:02:35.335Z,1575403355.335 [RDI_Pathfinder](ERROR): Failed to parse:
68,-32768,-32768,V
2019-12-03T20:03:11.152Z,1575403391.152 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-12-03T20:03:15.169Z,1575403395.169 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.243557
2019-12-03T20:03:46.301Z,1575403426.301 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-12-03T20:03:56.519Z,1575403436.519 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-12-03T20:03:56.519Z,1575403436.519 [Default:CheckIn:C.Wait] Stopped
2019-12-03T20:03:56.519Z,1575403436.519 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-12-03T20:03:56.520Z,1575403436.520 [Default:CheckIn:D] Running Loop=1
2019-12-03T20:03:56.929Z,1575403436.929 [Default:CheckIn:D] Stopped
2019-12-03T20:03:56.929Z,1575403436.929 [Default:CheckIn:E] Running Loop=1
2019-12-03T20:03:57.358Z,1575403437.358 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 88.238802 min 
2019-12-03T20:03:57.358Z,1575403437.358 [Default:CheckIn:E] Stopped
2019-12-03T20:03:57.358Z,1575403437.358 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-12-03T20:03:57.358Z,1575403437.358 [Default:CheckIn] Stopped
2019-12-03T20:03:57.358Z,1575403437.358 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-12-03T20:03:57.359Z,1575403437.359 [Default:CheckIn](INFO): Running loop #12
2019-12-03T20:03:57.359Z,1575403437.359 [Default:CheckIn] Running Loop=12
2019-12-03T20:03:57.359Z,1575403437.359 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-12-03T20:03:57.359Z,1575403437.359 [Default:CheckIn:Read_GPS] Running Loop=1
2019-12-03T20:03:59.319Z,1575403439.319 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,200358.00,A,3648.44709,N,12149.60305,W,0.486,191.45,031219,,,D*77
2019-12-03T20:03:59.321Z,1575403439.321 [NAL9602](INFO): GPS fix at 20191203T200358: (36.807451, -121.826718)
2019-12-03T20:03:59.374Z,1575403439.374 [Default:CheckIn:Read_GPS] Stopped
2019-12-03T20:03:59.374Z,1575403439.374 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-12-03T20:04:20.735Z,1575403460.735 [NAL9602](INFO): SBD MO Status=2, MOMSN=10069, MT Status=2, MTMSN=0
2019-12-03T20:04:20.735Z,1575403460.735 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2019-12-03T20:04:21.441Z,1575403461.441 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-12-03T20:04:35.699Z,1575403475.699 [RDI_Pathfinder](ERROR): Failed to parse:
:BI,-32768,-32768,-32768,-32768,V
2019-12-03T20:04:44.967Z,1575403484.967 [NAL9602](INFO): SBD MO Status=0, MOMSN=10069, MT Status=0, MTMSN=0
2019-12-03T20:04:44.967Z,1575403484.967 [NAL9602](INFO): No messages in MT queue
2019-12-03T20:04:56.581Z,1575403496.581 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-12-03T20:05:15.670Z,1575403515.670 [NAL9602](INFO): Not Powering down - fast GPS
2019-12-03T20:05:31.721Z,1575403531.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-12-03T20:05:45.445Z,1575403545.445 [DataOverHttps](IMPORTANT): SBD MTMSN=20191203T200543
2019-12-03T20:05:45.450Z,1575403545.450 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004161
2019-12-03T20:05:53.180Z,1575403553.180 [DataOverHttps](INFO): Sending 63 bytes from file Logs/20191203T182246/Courier0057.lzma
2019-12-03T20:05:53.182Z,1575403553.182 [DataOverHttps](INFO): Received command:restart logs