The jury reached its verdict on the second day of deliberations. The trial began on May 11.
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Goode was a medical technician and a mother of a young daughter. She went missing after attending a party on June 7, 2014.
A volunteer search party found her body 5 days later in the woods off Camden Court in Medford.
Goode had been stabbed 42 times.
Taylor was arrested in Vero Beach, Florida a month later on an unrelated warrant.
Taylor faces life in prison without parole. Sentencing is scheduled for July 29.