Mongodb Replica Member Server Changed: Status Stuck In STARTUP. Missing config

I am on mongo v3.0.x and have a replication set with 3 members, but the second member (and entire server) was unexpectedly taken down and destroyed. I have stood up a new server to use as a replacement for the the second member and need help bringing it back to a working state. I am not sure if this is the proper way to bring a member back in, even though they have the same address (mongochat02).

Do I need to do a rs.reconfig() or remove(mongochat02) and add(mongochat02) again? Or am I supposed to follow a different procedure to get this member working?

When I issue rs.status():

001-rs:PRIMARY> rs.status()
{
    "set" : "001-rs",
    "date" : ISODate("2017-04-07T19:39:23.860Z"),
    "myState" : 1,
    "term" : NumberLong(-1),
    "heartbeatIntervalMillis" : NumberLong(2000),
    "members" : [
        {
            "_id" : 0,
            "name" : "mongochat01:27017",
            "health" : 1,
            "state" : 2,
            "stateStr" : "SECONDARY",
            "uptime" : 174004,
            "optime" : Timestamp(1491593961, 4),
            "optimeDate" : ISODate("2017-04-07T19:39:21Z"),
            "lastHeartbeat" : ISODate("2017-04-07T19:39:22.386Z"),
            "lastHeartbeatRecv" : ISODate("2017-04-07T19:39:21.977Z"),
            "pingMs" : NumberLong(0),
            "syncingTo" : "mongochat03:27017",
            "configVersion" : 3
        },
        {
            "_id" : 1,
            "name" : "mongochat02:27017",
            "health" : 0,
            "state" : 8,
            "stateStr" : "(not reachable/healthy)",
            "uptime" : 0,
            "optime" : Timestamp(0, 0),
            "optimeDate" : ISODate("1970-01-01T00:00:00Z"),
            "lastHeartbeat" : ISODate("2017-04-07T19:39:23.672Z"),
            "lastHeartbeatRecv" : ISODate("1970-01-01T00:00:00Z"),
            "pingMs" : NumberLong(0),
            "lastHeartbeatMessage" : "Operation timed out",
            "configVersion" : -1
        },
        {
            "_id" : 2,
            "name" : "mongochat03:27017",
            "health" : 1,
            "state" : 1,
            "stateStr" : "PRIMARY",
            "uptime" : 15127641,
            "optime" : Timestamp(1491593963, 2),
            "optimeDate" : ISODate("2017-04-07T19:39:23Z"),
            "electionTime" : Timestamp(1491419961, 1),
            "electionDate" : ISODate("2017-04-05T19:19:21Z"),
            "configVersion" : 3,
            "self" : true
        }
    ],
    "ok" : 1
}

While on mongochat02, when I issue rs.status()

> rs.status()
{
    "info" : "run rs.initiate(...) if not yet done for the set",
    "ok" : 0,
    "errmsg" : "no replset config has been received",
    "code" : 94
}

Connections seem to work up until the heartbeat. In the logs, there is the following error while on mongochat02:

2017-04-06T10:42:11.831-0600 I REPL     [ReplicationExecutor] Error in heartbeat request mongochat01:27017; ExceededTimeLimit: Operation timed out
2017-04-06T10:42:11.911-0600 I NETWORK  [initandlisten] connection accepted from 10.1.240.185:36358 #6671 (151 connections now open)
2017-04-06T10:42:11.947-0600 I REPL     [ReplicationExecutor] Error in heartbeat request to mongochat03:27017; ExceededTimeLimit: Operation timed out

This made me question if the members are unable to communicate with one another:

• All the members are able to ping one another

• But mongochat02 is unable to connect to mongochat03/01 through shell

  [root@mongochat02]$ mongo --host mongochat03:27017
  MongoDB shell version: 3.2.9
  connecting to: mongochat03:27017/test
  

  2017-04-07T14:02:03.411-0600 I NETWORK [thread1] Socket recv() errno:110 Connection timed out mongochat03:27017

  2017-04-07T14:02:03.411-0600 I NETWORK [thread1] SocketException: remote: (NONE):0 error: 9001 socket exception [RECV_ERROR] server [mongochat03:27017]